ZHANG Jianwei

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Name Title Research Center Research Interests

ZHANG Jianwei

Chief Scientists

Center for Cognitive Technology

multimodal informatin processing; cognitive sensor fusion;  fast learning algorithms; neuro-fuzzy models for sensory-motor control tasks; reinforcement learning of assembly sequences; natural human-robot interaction
1.        2002 – present Full Professor (C4) and Head, Institute of Technical Aspects of Multimodal Systems, University of Hamburg, Germany
2.        1994 – 2001 Habilitation, Faculty of Technologies, University of Bielefeld, Germany
3.        1990 – 1994 Doctoral student, Faculty of Informatics, University of Karlsruhe
4.        1986 – 1989 Master studies, Department of Computer Science, Tsinghua University, China
5.        1981 – 1986 Bachelor studies, Department of Computer Science, Tsinghua University, China
Present and Past Positions 
Representative Publications 
1.        Zhang, J. Ein integriertes Verfahren zur effizienten Planung und Ausführung von Roboterbewegungen in unscharfen Umgebungen, Number 77 in DISKI (Dissertationen zur Künstlichen Intelligenz), Infix-Verlag, Sankt Augustin, 1995.
2.        Zhang, J. & Knoll, A., Constructing Fuzzy Controllers with B-Spline Models — Principles and Applications. International Journal of Intelligent Systems, 13(2/3): 257–286, 1998.
3.        Zhang, J. & Knoll, A., Designing fuzzy controllers by rapid learning, Fuzzy Sets and Systems, 13(2), 287-301, 1998.
4.        Zhang, J., Knoll, A., & Schwert, V., Situated neuro-fuzzy control for vision-based robot localization. Journal of Robotics and Autonomous Systems, 28, 71-82, 1999.
5.        Zhang, J., Knoll, A., & Schmidt, R., A neuro-fuzzy control model for fine-positioning of manipulators. Journal of Robotics and Autonomous Systems, 32, 101–113, 2000.
6.        Lütkemeyer, D., Poggendorf, I., Scherer, T., Zhang, J., Knoll, A., & Lehmann, J. , First steps in robot automation of sampling and sample management during cultivation of mammalian cells in pilot scale. Biotechnology Progress, 16, 822–828, 2000.
7.        Zhang, J., & Knoll, A. A General Learning Approach to Visually Guided 3D Positioning and Pose Control of Robot Arms, Biologically Inspired Robot Behavior Engineering, 417-438, 2001.
8.        Zhang, J., & Knoll, A. Integrating deliberative and reactive strategies via fuzzy modular control, Fuzzy logic techniques for autonomous vehicle navigation, 367-387, 2001.
9.        Zhang, J., Koeper, S., & Knoll, A. Extracting compact fuzzy rules based on adaptive data approximation using B-Splines. International Journal of Information Sciences, 142, 227–248, 2002.
10.    Ferch, M., & Zhang, J. Learning cooperative grasping with the graph representation of a state-action space, Journal of Robotics and Autonomous Systems, 38(3-4), 183 – 198, 2002.
11.    Rossler, B., Zhang, J., & Knoll, A., Visual Guided Grasping of Aggregates Using Self Valuing Learning, In Robotics and Automation, 2002. Proceedings. ICRA'02. IEEE International Conference on, 4, 3912-3917, 2002.
12.    Zhang, J., & Quoy, M., Advances in robot skill learning, in Journal of Robotics and Autonomous Systems, Journal of Robotics and Autonomous Systems, 38(3-4), 135 – 136, 2002.
13.    Zhang, J. & Knoll, A., A two-arm situated artificial communicator for interactive assembly. IEEE Transactions on Industrial Electronics, 50(4), 651–658, 2003.
14.    Zhang, J. & Ferch, F., Extraction and transfer of fuzzy control rules for sensor-based robotic operations. Fuzzy Sets and Systems, 134, 147-167, 2003.
15.    Zhang, J., & Rössler, B. Grasp Learning by Active Experimentation Using Continuous B-Spline Model, In Autonomous robotic systems, 353-372, 2003.
16.    Popescu, D., & Zhang, J. Fuzzy expert systemfor range estimation, Studies in Informatics and Control, 12/2, 101-109, 2003.
17.    Popescu, D., & Zhang, J. Fuzzy expert system based on symmetry features for range estimations, Proceedings of the 6th International Conference on Climbing and Walking Robots, 1007-1014, 2003.
18.    Popescu, N., & Zhang, J. Image feature extraction for a robust vision-based localization of a mobile robot, Studies in Informatics and Control, 12/2, 2003.
19.    Zhang, J., & Rössler, B., Self-valuing learning and generalization with application in visually guided grasping of complex objects. Journal of Robotics and Autonomous Systems, 47, 117-127, 2004.
20.    Rotaru, C., Grand, Th., & Zhang, J. Extracting road features from color images using a cognitive approach, Intelligent Vehicles, 2004.
21.    Huebner, K., Westhoff, D., & Zhang, J. Optimized Quantitative Bilateral Symmetry Detection, International Journal of Information Acquisition, 2(3), 241 - 249, 2005.
22.    Zhang, H., Zhang, J., Liu, R., & Zong, G., Realization of a service robot for leaning spherical surfaces. International Journal of Advanced Robotic Systems, Vol.2 No.1, pp53-58, 2005.
23.    Zhang, H., Wang, W., Deng, Z., Zong, G., & Zhang, J., A Novel Reconfigurable Robot for Urban Search and Rescue, International Journal of Advanced Robotic Systems, Vol.3 No.4, pp. 359-366, 2006.
24.    Mäder, A., & Zhang, J. An Autonomous Smart Vision System for FireWire Cameras, WSEAS Transactions on Systems, Issue 6, Vol. 5, June 2006.
25.    Zhang, H., Zhang, J., Wang, W., Liu, R., & Zong, G. Sky Cleaner 3 - A Real Pneumatic Climbing Robot for Glass-Wall Cleaning, IEEE Robotics & Automation Magazine, Vol 13, No.1, pp.32-41, March 2006.
26.    Zhang, H., Zhang, J., Wang, W., Liu, R., & Zong, G., A Series of Pneumatics Glass-wall Cleaning Robots for High-rise Buildings, Industrial Robot: An International Journal, Vol.34, No.2, 2007, pp.150-160, 2007.
27.    Zhang, H., Zhang, J., Liu, R., & Zong, G. , Mechanical Design and Dynamics of an Autonomous Climbing Robot for Elliptic Half-shell Cleaning, International Journal of Advanced Robotic Systems, 2007.
28.    Chen, S., Li, Y., Zhang, J., & Wang, W., Active Sensor Planning for Multiview Vision Tasks, Springer, 2007.
29.    Hübner, K., & Zhang, J. Symmetry Signatures for Image-Based Applications in Robotics, in G. Obinata, A. Dutta (Ed.), Vision Systems, pp. 541-564. ISBN 978-3-902613-01-1, 2007.
30.    Rotaru, C., Graf, T., & Zhang, J. Color image segmentation in HSI space for automotive applications, Journal of Real-Time Image Processing, 3(4), 311-322. 2008.
31.    Wang, W. Zhang, H., Zong, G., & Zhang, J. Force cooperation in a reconfigurable field multirobot system, Journal of Field Robotics, 25(11‐12), 922-938. 2008.
32.    Chen, S., Li, Y., & Zhang, J., Vision Processing for Realtime 3D Data Acquisition Based on Coded Structured Light. IEEE Transactions on Image Processing, 17(2),167–176, 2008.
33.    Maeder, A., Bistry, H., & Zhang, J., Intelligent Vision Systems for Robotic Applications, International Journal of Information Acquisition, 5(3), 259-267, 2008.
34.    Wang, W., Zhang, H., Wang, Y., Wang, K., & Zhang, J, Analysis of the Kinematics of Module Climbing Caterpillar Robots, in Proceeding of 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2008), 84-89, 2008 (Best Conference Paper).
35.    Elmogy, M., Habel, C., & Zhang, J., Spatial Language for Route-Based Humanoid Robot Navigation, Cognitive Processing, 10(2), 208-211, 2009.
36.    Zhang, H., Wang, W., Gonzalez-Gomez, J., & Zhang, J., Design and Realization of a Novel Modular Climbing Caterpillar Using Low-frequency Vibrating Passive Suckers, Advanced Robotics, 23, 889-906, 2009.
37.    Zhang, H., Grove, M., Schütz, B., & Zhang, J., A Flexible Educational Robotics System, International Journal of Software Engineering and Computing, 1(1), 1-8, 2009.
38.    Yao, C., Zhang J., & Zhang, H., Cell Identification and Boundary Segmentation by a Statistical Shape Model, International Journal of Software Engineering and Computing, 1(1), 25-30, 2009.
39.    Zhang, H., Zhang, J., & Wang, W. , From the biological model to a small climbing caterpillar robot, Int. J. Advanced Mechatronic Systems, Vol. 2, No. 1/2, pp. 90-98, 2010.
40.    Yu, J., Tan, M., & Zhang, J., Swimming simulation and system implementation of a multilink robotic fish, International Journal of Information and Systems Sciences, Vol. 6, No. 4, 2010.
41.    Wang, W., Yu, W., & Zhang, H., JL-2: An Improved Self-reconfigurable Mobile Multi-robot System, International Journal of Advanced Robotic Systems, Vol. 7, No. 1, pp. 9-18, 2010.
42.    Chen, S.Y., Zhang, JH., Zhang, H., Guan, Q., Du, Y., Yao, Ch., & Zhang, J., Myocardial Motion Analysis for Determination of Tei-Index of Human Heart, Sensors, Vol.10, No.12, pp. 11428-11439, 2010.
43.    Zhang, L., Hu, Y., & Zhang, J., Multiview Geometry in Traditional Vision and Omnidirectional Vision under the L∞-Norm, IET Computer Vision, 6(1), 13-20, 2010.
44.    Wang, C., Sun, L., Chen, Z., Zhang, J., & Yang, S. Multi-scale blind motion deblurring using local minimum. Inverse Problems, 26(1), 015003. 2010.
45.    Chen, S. Y., Zhang, J., Zhang, H., Kwok, N. M., & Li, Y. F. Active Lighting Control for Vision-Based Robotic Manipulation, IEEE Transactions on Industrial Electronics, 59(8), 3254-3263, 2010.
46.    Elmogy, M., Habel, C., & Zhang, J., Multimodal Cognitive Interface for Robot Navigation, Cognitive Processing, Vol. 12, No. 1, pp. 53-65, 2011.
47.    Klimentjew, D., Flick, N. E., Bosselmann, T., & Zhang, J. Hypergraph-Oriented 3D Reconstruction, Interpretation And Analysis Of Air Flows, International Journal of Mechatronics and Automation (IJMA), Vol. 1, No. 1, pp. 9-18, 2011.
48.    Yu, J.; Wang, M.; Tan, M., & Zhang, J., Three-dimensional swimming, IEEE Robotics and Automation Magazine, 18(4): 47–58, 2011.
49.    Off, D., & Zhang, J. Multimodal Integration Processes in Plan-Based Service Robot Control, Tsinghua Science and Technology Journal, Vol. 16, No.1, pp. 1-6, 2011.
50.    Hu, Y., Zhang, J., Wan, Z., & Lin, J., Design and analysis of a 6-DOF mobile parallel robot with 3 limbs. Journal of mechanical science and technology, 25(12), 3215-3222. 2011.
51.    Zhang, J., Zhang, L., Hu, Y., & Zhang, J., The Open Source Robot Operating System ROS, Science Press, 2012 (in Chinese).
52.    Yao, C., Zhang, J., Chen, M., Guan, Q., & Scalia, M. Incorporating a Local Binary Fitting Model into a Maximum Regional Difference Model for Extracting Microscopic Information under Complex Conditions. Mathematical Problems in Engineering, 474938 , 2012.
53.    Schroeder, S., Epplée, S., Zhang, J., Meyer-Hamme, G., Friedemann, T., & Hu, W. Mathematical Reflections on Acupoint Combinations in the Traditional Meridian Systems. Evidence-Based Complementary and Alternative Medicine, 268237 , 2012.
54.    Chen, S., Zhao, M., Wu, G., Yao, C., & Zhang, J., Recent Advances in Morphological Cell Image Analysis, Computational and mathematical methods in medicine, 101536 , 2012.
55.    Yao, C., Zhang, J., Wu, G., & Zhang, H., Motion Analysis of Live Objects by Super-Resolution Fluorescence Microscopy. Computational and mathematical methods in medicine , 859398 , 2012.
56.    Zhang, J., Liu, S., Li, Y. F., & Zhang, J., Target Contour Recovering for Tracking People in Complex Environments. Computational and mathematical methods in medicine, 506908 , 2012.
57.    Wang, C., Sun, L., Cui, P., Zhang, J., & Yang, S., Analyzing Image Deblurring Through Three Paradigms. IEEE Transactions on Image Processing , 21(1), 115-129 , 2012.
58.    Yu, J. Ding, R. Yang, Q. Tan, M. Wang, W., & Zhang, J., On a bio-inspired amphibious robot capable of multimodal motion, IEEE/ASME Transactions on Mechatronics, 17(5),847–856, 2012.
59.    Yu, J., Su, Z., Wang, M., Tan, M., & Zhang, J., Control of yaw and pitch maneuvers of a multilink dolphin robot, IEEE Transactions on Robotics, 28(2), 2012.
60.    Chen, S. Y., Zhang, J., Zhang, H., Kwok, N. M., & Li, Y. F. Intelligent Lighting Control for Vision-Based Robotic Manipulation, IEEE Transactions on Industrial Electronics, Vol. 59, No.8, pp. 3254 – 3263, 2012.
61.    Chen, S., Teng, Z., Guan, Q., & Zhang, J., Computational Evaluation of Myocardial Performance from Four-Dimensional Images. Circulation, 126(Suppl 21), A12470-A12470, 2012.
62.    Wang, M., Yu, J., Tan, M., & Zhang, J., Multimodal swimming control of a robotic fish with pectoral fins using a CPG network. Chinese Science Bulletin, 57(10), 1209-1216, 2012.
63.    Dias, J., Sahbani, A., Seneviratne, L., Zeghloul, S., & Zhang, J., Special issue "Autonomous Grasping". Robotics and Autonomous Systems, 60(3), 323-325, 2012.
64.    Hueser, M., & Zhang, J., Visual programming by demonstration of grasping skills in the context of a mobile service robot using 1D-topology based self-organizing-maps. Robotics and Autonomous Systems , 60(3), 463-472, 2012.
65.    Chen, S., Zhang, J., Li, Y., & Zhang, J., A Hierarchical Model Incorporating Segmented Regions and Pixel Descriptors for Video Background Subtraction. IEEE Transactions on Industrial Informatics, 8(1), 118-127, 2012.
66.    Zhang, J., Zhang J., & Chen, S., Discover Novel Visual Categories from Dynamic Hierarchies Using Multimodal Attributes. IEEE Transactions on Industrial Informatics. 9(3), 1688-1696, 2013.
67.    Bernardino, A., Henriques, M., Hendrich, N., & Zhang, J., Precision Grasp Synergies for Dexterous Robotic Hands, Proc. Int. Conference on Robotics and Biomimetics, ROBIO-2013, pp. 62-67 (Best Conference Paper).
68.    Yu, J., Wang, M., Su, Z., Tan, M. & Zhang, J., Dynamic modeling of a CPG-governed multijoint robotic fish, Advanced Robotics, vol. 27, no. 4, pp. 275–285, 2013.
69.    Xiao, J., Zhang, J., Adler, B., Zhang, H., & Zhang, J., Three-dimensional point cloud plane segmentation in both structured and unstructured environments. Robotics and Autonomous Systems, 61(12), 1641-1652, 2013.
70.    Yu, J., Ding, R., Yang, Q., Tan M., & Zhang, J., Amphibious Pattern Design of a Robotic Fish with Wheel-propeller-fin Mechanisms. Journal of Field Robotics, 30(5), 702-716, 2013.
71.    Xiao, J., Adler, B., & Zhang, J., Planar Segment Based Three-dimensional Point Cloud Registration in Outdoor Environments. Journal of Field Robotics, 30(4), 552-582, 2013.
72.    Schroeder, S., Meyer-Hamme, G., & Zhang, J., An Acupuncture Research Protocol Developed from Historical Writings by Mathematical Reflections: A Rational Individualized Acupoint Selection Method for Immediate Pain Relief. Evidence-Based Complementary and Alternative Medicine, 256754, 2013.
73.    Adler, B., Xiao, J., & Zhang, J. , Autonomous Exploration of Urban Environments using Unmanned Aerial Vehicles. Journal of Field Robotics, 31(6), 912–939, 2014.
74.    Hu, Y. , Jin, H., L. Zhang, J. Zhang, & P. Zhang, State Recognition of Pedicle Drilling with Force Sensing in a Robotic Spinal Surgical System, IEEE Transaction on Mechatronics, 19(1), 357-365, 2014.
75.    He, J., & Zhang, J., In-hand haptic perception in dexterous manipulations, Science China Information Sciences, 57(12), 120207, 2014.
76.    Song, Y., Wang, H., & Zhang, J., A Vision-Based Broken Strand Detection Method for a Power-Line Maintenance Robot, IEEE Transactions on Power Delivery, 29(5), 2154-2161, 2014.
77.    Li, G., Zhang, H., Zhang, J., & Hildre, H. P., An Approach for Adaptive Limbless Locomotion Using a CPG-Based Reflex Mechanism, Journal of Bionic Engineering, 11(3), 389-399, 2014.
78.    Hu, X., Zhang, J., Qi, P., & Zhang, B., Modeling response properties of V2 neurons using a hierarchical K-means model, Neurocomputing, 134, 198-205, 2014.
79.    Wu, Z., Yu, J., Tan, M., & Zhang, J., Kinematic Comparison of Forward and Backward Swimming and Maneuvering in a Self-Propelled Sub-Carangiform Robotic Fish. , Journal of Bionic Engineering, 11(2), 199-212, 2014.
80.    Bai, T., Li, Y., & Zhou, X., Monocular human motion tracking with discriminative sparse representation. Advanced Robotics, 28(6), 389-401, 2014.
81.    Yu, J., Tan, M., Chen, J., & Zhang ,J., A Survey on CPG-Inspired Control Models and System Implementation. IEEE Transactions on neural networks and learning systems, 25(3), 441-456, 2014.
82.    Liu, H., Yuan, M., Sun, F., & Zhang, J., Spatial Neighborhood-Constrained Linear Coding for Visual Object Tracking. IEEE Transactions on Industrial Informatics, 10(1), 469-480, 2014.
83.    Jin, H., Hu, Y., Tian, W., Zhang, P., Zhang, J., & Li B., Safety analysis and control of a robotic spinal surgical system. Mechatronics, 24(1), 55-65, 2014.
84.    Su, Z., Yu, J., Tan, M., & Zhang, J., Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish. IEEE/ASME Transactions on Mechatronics, 19(1), 329-338 , 2014.
85.    Yu, J., Wang, K., Tan, M., & Zhang, J., Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces. The Scientific World Journal, 631296, 2014.
86.    Jin, H., Hu, Y., Tian, W., Zhang, P., Zhang, J., & Li, B., Safety analysis and control of a robotic spinal surgical system. Mechatronics, 2014. 24(1): 55–65.
87.    Chen, L., Zhang, J., Chen, S., Lin, Y., Yao, C., & Zhang, J., Hierarchical Mergence Approach to Cell Detection in Phase Contrast Microscopy Images. Computational and mathematical methods in medicine, 758587, 2014.
88.    Hu, Y., Jin, H., Zhang, L., Zhang, J., & Zhang, P., State Recognition of Pedicle Drilling with Force Sensing in a Robotic Spinal Surgical System. IEEE Transaction on Mechatronics, 9(1), 357-365, 2014.
89.    Hu, X., Zhang, J., Li, J. & Zhang, B. Sparsity-regularized HMAX for visual recognition, PloS one, 9(1),1–12, 2014.
90.    Hertzberg, J., Zhang, J., Zhang, L., Sebastian, R., Bernd, N., Jos, L., Krishna, S., Anthony G., Alessandro, S., Federico, P., Masoumeh, M., Stefan, K., Martin, G., Sebastian, S., Luis, S., Miguel, O., Gi, H., Hamidreza, K., Vahind, M., Lothar, H., Wilfried, B., "The RACE Project", KI - Künstille Intelligenz Journal, Springer Berlin Heidelberg, 2014.
91.    Jin, H., Tian, W., Hu, Y., Zhang, P., Song, Z., & Zhang, J., Kinematics and Cooperative Control of a Robotic Spinal Surgery System. Robotica, 34(1), 226-242, 2014.
92.    Hendrich, N., Bistry, H., & Zhang, J., Architecture and Software Design for a Service Robot in an Elderly-Care Scenario, Engineering, 1(1), 27-35, 2015.
93.    Gan, Y., Xia, Z., Xiong, J., Zhao, Q., Hu, Y., & Zhang, J., Towards Accurate Tooth Segmentation from Computed Tomography Images Using a Hybrid Level Set Model, Medical Physics, 42(1), 14-27, 2015
94.    Zhang, J., Chen, Z., Hu, Y., Zhang, J., Luo, Z., & Dong, X., Multitasking Planning and Executing of Intelligent Vehicles for Restaurant Service by Networking. International Journal of Distributed Sensor Networks. 273825, 14, 2015.
95.    Krupke, D., Wasserfall, F., Hendrich, N., & Zhang, J., Printable modular robot: an application of rapid prototyping for flexible robot design, Industrial Robot International Journal, 42(2), 149-155, 2015.
96.    Shen, H., He, B., Zhang, J., Chen, S.,Obtaining four-dimensional vibration information for vibrating surfaces with a Kinect sensor. Measurement ,65 (2015) 149–165.
97.    Deng, Z., Jin, H., Hu, Y., He, Y., Zhang, P., Tian, W., & Zhang, J., Fuzzy force control and state detection in vertebral lamina milling, Mechatronics, 2016, 35:1–10.
98.    He, Y., Zhang, P., Jin, H., Hu, Y., & Zhang, J., Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom. Journal of Mechanical Design, 2016, 138:1-11.
99.    Deng, Z., Mi, J., Chen, Z., Einig. L., Zhou, C., & Zhang, J., Learning human compliant behavior from demonstration for force-based robot manipulation, IEEE Intl. Conference on Robotics and Biomimetics, (ROBIO 2016), December 3-7, 2016, Qingdao, China (Best T.J, Tarn Paper).
100.Jin,H., Chen, Q., Chen, Z., Hu, Y., & Zhang, J., Multi-LeapMotion sensor based demonstration for robotic refine tabletop object manipulation task, CAAI Transactions on Intelligence Technology, 1(1):104-113, 2016.
Intelligent property 
Phone   0755-86392183
Email   jw.zhang@siat.ac.cn