Jianda Han

• Ph.D.
• Professor (Full) at Chinese Academy of Sciences

Recognizing the corresponding neural activities of independent components(ICs) obtained by independent component analysis(ICA) is of prime importance to take use of ICA in EEG analysis. There are many methods trying to solve this problem. But most of them combining ICA, a unsupervised method, and recognition of ICs in a separate way. In this paper,...

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SM...

To propose an accurate and less complex model of a special unmanned aerial vehicle (UAV), namely tilt-rotor UAV (TRUAV), this study identifies the active model-based nonlinear system of a quad-TRUAV. First, a nominal nonlinear model of the vehicle is formulated. Some unstructured nonlinearities are ignored to reduce the complexity of the model. The...

Due to the convenience in applications, interconnection and damping assignment passivity-based control (IDA-PBC) is applied widely to reformulate the nonlinear robust control as the total energy shaping. However, only few researches focus on the fault-tolerant control (FTC) method based on IDA-PBC, which limits its applications under actuator fault...

A stable transition from free-motion to contact phase is extremely significant for a UAV interacting with its objects and environment. Oscillations may occur at the contact point if the force controller of the UAV fails to accommodate to the environment parameters, which are usually unknown to the UAV. In this paper, the acceleration feedback contr...

The 7 degrees of freedom (DOF) redundant manipulator greatly improves obstacle/singularity avoidance capability and operational flexibility. However, the inverse kinematics problem of this manipulator is very difficult to solve because it has an infinite number of solutions. This paper uses a new numerical sequence processing method with a closed-l...

In sEMG-based recognition systems, accuracy is severely worsened by disturbances, such as electrode shifts by doffing/donning. Traditional recognition models are fixed or static, with limited abilities to work in the presence of the disturbances. In this paper, a transfer learning method is proposed to reduce the impact of electrode shifts. In the...

Objective. Due to low spatial resolution and poor signal-to-noise ratio of electroencephalogram (EEG), high accuracy classifications still suffer from lots of obstacles in the context of motor imagery (MI)-based brain-machine interface (BMI) systems. Particularly, it is extremely challenging to decode multiclass MI EEG from the same upper limb. Thi...

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this paper, system modelin...

The aerial manipulator is a special and new type of flying robot composed of a rotorcraft unmanned aerial vehicle (UAV) and a/several manipulator/s. It has gained a lot of attention since its initial appearance in 2010. This is mainly because it enables traditional UAVs to conduct versatile manipulating tasks from air, considerably enriching their...

In this paper, a parallelogram set-membership estimation (PSME) algorithm is proposed to perform osteotomy trajectory estimation in two dimension plane with high accuracy to achieve high-precision osteotomy by an orthopedic surgery robot and meet the safety requirements of osteotomy. First, to realize the tight envelope of the estimated set on the...

The tilt rotor unmanned aerial vehicle (TRUAV) has attracted considerable attention in recent years, and its control design, particularly during the transition procedure, is still a challenge. Aiming at this difficulty and by introducing virtual control inputs, a nonlinear model of the TRUAV as an equivalent linear parameter varying (LPV) system fo...

An aerial manipulator is a new kind of flying robot system composed of a rotorcraft unmanned aerial vehicle (UAV) and a multi-link robotic arm. It gives the flying robot the capacity to complete manipulation tasks. Steady flight is essential for an aerial manipulator to complete manipulation tasks. This paper focuses on the steady flight control pe...

In this paper, a simple active-model-based control scheme is developed for the quadrotor slung load (QSL) system. The scheme works to improve the rejection of the influences caused by the abruptly changed load as a complementary enhancement while maintaining the structure and parameters of the original controller. A linearized model is first constr...

Traditional myoelectric prostheses that employ a static pattern recognition model to identify human movement intention from surface electromyography (sEMG) signals hardly adapt to the changes in the sEMG characteristics caused by interferences from daily activities, which hinders the clinical applications of such prostheses. In this paper, we focus...

A novel framework is established for accurate modeling of Powered Parafoil Unmanned Aerial Vehicle (PPUAV). The model is developed in the following three steps: obtaining a linear dynamic model, simplifying the model structure, and estimating the model mismatch due to model variance and external disturbance factors. First, a six degree-of-freedom l...

Due to their location, malignant brain tumors are one of the humanity’s greatest killers, among these tumors, gliomas are the most common. The early detection of gliomas can contribute to the design of proper treatment schemes and thus improve the survival rate of patients. However, it’s a challenging task to detect gliomas within the complex struc...

The control of quadrotor slung load (QSL) systems is a challenging task as a result of some distinguishing features like the multiple nonlinearities and time-varying load swing. To design an effective control scheme, the top priority is to establish an excellent model. In this paper, a practical active modeling method based on the Kalman Filter (KF...

A major factor blocking the practical application of brain-computer interfaces (BCI) is the long calibration time. To obtain enough training trials, participants must spend a long time in the calibration stage. In this paper, we propose a new framework to reduce the calibration time through knowledge transferred from the electroencephalogram (EEG)...

High accuracy decoding of electroencephalogram (EEG) signal is still a major challenge that can hardly be solved in the design of an effective motor imagery-based brain-computer interface (BCI), especially when the signal contains various extreme artifacts and outliers arose from data loss. The conventional process to avoid such cases is to directl...

Bevel-tip needles have the potential to improve paracentetic precision and decrease paracentetic traumas. In order to drive bevel-tip needles precisely with the constrains of path length and path dangerousness, we propose a closed-loop control method that only requires the position of the needle tip and can be easily applied in a clinical setting....

This paper aims to give an overview of multi-lift rotorcraft (MLR) systems’ theoretical research and associated flight tests in the past years, making it possible to inform researchers of future applications or strategies of related research. Analyzing some published papers searched on online databases, hot issues such as modeling, configurations,...

Design of the hollow modular joint plays an important role in modern robot layout, fixation, and wiring. In this paper, a hollow modular joint that meets the requirement of a minimally invasive surgical robot is proposed. The mechanical and control design is sequentially illustrated, and the torque sensor and its optimization are provided. Furtherm...

Intermediate screw fixation at the fracture level has been widely accepted to treat thoracolumbar burst fractures, but no study has shown the effect of the extent and location of fixation. The effect of the extent and location of fixation on short- or long-segment pedicle screw fixation through intermediate screw fixation at the fracture level in t...

Loop Closure Detection (LCD) is the essential module in the simultaneous localization and mapping (SLAM) task. In the current appearance-based SLAM methods, the visual inputs are usually affected by illumination, appearance and viewpoints changes. Comparing to the visual inputs, with the active property, light detection and ranging (LiDAR) based po...

Objective: To discuss the feasibility and accuracy of a specific computer-assisted individual drill guide template (CIDGT) for minimally invasive lumbar pedicle screw placement trajectory (MI-LPT) through a bovine cadaveric experimental study. Design: A 3-D reconstruction model, including lumbar vertebras (L1-L5), was generated, and the optimal...

Purpose: We investigated the incidence and pattern of traumatic fractures resulting from motor vehicle collisions in a population of children and adolescents (≤18 years old) and to determine the risk factors for nerve injury. Methods: We retrospectively reviewed 734 patients admitted to our university-affiliated hospitals from 2001 to 2010. Res...

Tilt rotor unmanned aerial vehicle (TRUAV) is a transformable aircraft with abilities of hovering and high-speed cruise. Its transition control is still a difficult point due to varying structure and dynamic behaviour. The main contribution of this paper is to put forward a transition control method based on backstepping for a quad-TRUAV, and fault...

Loop closure detection (LCD) is the key module in appearance based simultaneously localization and mapping (SLAM). However, in the real life, the appearance of visual inputs are usually affected by the illumination changes and texture changes under different weather conditions. Traditional methods in LCD usually rely on handcraft features, however,...

Stable feature extraction is the key for the Loop closure detection (LCD) task in the simultaneously localization and mapping (SLAM) framework. In our paper, the feature extraction is operated by using a generative adversarial networks (GANs) based unsupervised learning. GANs are powerful generative models, however, GANs based adversarial learning...

Objective: To investigate the epidemiological features of child and adolescent (≤18 years old) patients managed for traumatic skull fractures (TSKFs) and associated traumatic brain injury (TBI). Design: 393 Patients who were children and adolescent who had TSKFs admitted to our university affiliated hospitals between January 2003 and December 20...

OBJECTIVES No studies have compared monoaxial and polyaxial pedicle screws with regard to the von Mises stress of the instrumentation, intradiscal pressures of the adjacent segment and adjacent segment degeneration. METHODS Short-segment monoaxial/polyaxial pedicle screw fixation techniques were compared using finite element methods, and the redis...

The aim of this study is to investigate the incidence and pattern of traumatic fractures (TFs) as a result of falls in a population of children and adolescents (≤18 years old) in China. This was a cross-sectional study. We retrospectively reviewed 1412 patients who were children and adolescents with TFs as a result of falls admitted to our universi...

Objective In the course of clinical treatment, several medical media are required by a phy-sician in order to provide accurate and complete information about a patient. Medical image registra-tion techniques can provide a richer diagnosis and treatment information to doctors and to provide a comprehensive reference source for the researchers involv...

This paper studies the modeling and control of a quadrotor with a suspended load. It is shown that the excessive load swing is the part of the system dynamics, which may degrade the quadrotor control performance. A detailed analysis about the system modeling with the load swing effect is carried out based on Newton-Euler and Euler-Lagrange method....

Affine quadratic stability (AQS) is usually devoted to stability analysis of the linear parameter-varying (LPV) system. In this paper, the main contribution is to put forward state feedback control methods for the affine parameter-dependent LPV system based on AQS, guaranteed cost control and LPV linear quadratic regulator (LQR) included for good c...

The standard method for prediction of the absence and presence of pain has long been self-report. However, for patients with major cognitive or communicative impairments, it would be better if clinicians could quantify pain without having to rely on the patient's self-description. Here, we present a newly pain intensity measurement method based on...

Due to the couplings among joint-relative muscles, it is a challenge to accurately estimate continuous multi-joint movements from multi-channel sEMG signals. Traditional approaches always build a nonlinear regression model, such as artificial neural network, to predict the multi-joint movement variables using sEMG as inputs. However, the redundant...

Actuator faults are inevitable but affect reliability and safety of unmanned helicopters (UHs), especially when there are actuator constraints. In this paper, self-healing control, which is an extended active fault-tolerant control (FTC) method with reference redesign on-line, is proposed to analyze and to guarantee the safety of single-rotor UHs (...

In this paper, an impedance control is proposed for a robotic needle with a fiber optic force sensor. The fiber optic force sensor is placed at the tip of the needle to directly measure the interaction force between needle and soft tissue, overcoming the noise like friction force. The sensor is sensitive to the temperature condition, and their rela...

To investigate the incidence and pattern of traumatic spinal fractures (TSFs) and associated spinal cord injury (SCI) resulting from motor vehicle collisions (MVCs). This was a cross-sectional study. We retrospectively reviewed 698 patients with TSFs resulting from MVCs admitted to our university-affiliated hospitals from 2001 to 2011. The incidenc...

To investigate the incidence and pattern of patients managed for traumatic upper cervical spinal fractures (TUCSFs) in teaching hospitals in China over 13 years. We retrospectively reviewed 351 patients with TUCSF admitted to our teaching hospitals. Incidence rates were calculated with respect to age, gender, etiologies of trauma, anatomical distri...

Although there exist some unmanned surface platforms, and parts of them have been applied in flooding disaster relief, the autonomy of these platforms is still so weak that most of them can only work under the control of operators. The primary reason is the difficulty of obtaining a dynamical model that is sufficient rich for model-based control an...

In this paper, an active model based control scheme is developed for the Pneumatic Artificial Muscle (PAM), to compensate for the uncertainties in the dynamics model of PAM. Firstly, a simplified three-element model with respect to a specific range of pressure is formulated as the reference model. Secondly, a Kalman filter is adopted to actively es...

Many studies about the characteristics of spinal tuberculosis (STB) have been published, but none has investigated the predictive factors for lower-extremity motor or sensory deficits (LMSD) in patients with STB. The objective of this study was to find early predictive factors for LMSD and evaluate surgical results of patients with STB. From 2001 t...

Kinect-like depth sensors have been widely used in rehabilitation systems. However, single depth sensor processes limb-blocking, data loss or data error poorly, making it less reliable. This paper focus on using two Kinect sensors and data fusion method to solve these problems. First, two Kinect sensors capture the motion data of the healthy arm of...

Hand motion recognition based on surface electromyography (sEMG) has drawn much attention over last decades. Generally, sEMG can be non-invasively measured on the skin, and then different stable features directly relating to hand motion are extracted from the preprocessed sEMG. In order to improve computational efficiency, some dimension-reduction...

Traditional rehabilitation techniques have limited effects on the recovery of patients with tetraplegia. A brain-computer interface (BCI) provides an interactive channel that does not depend on the normal output of peripheral nerves and muscles. In this paper, an integrated framework of a noninvasive electroencephalogram (EEG)-based BCI with a noni...

The bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to a target precisely. In this paper, a driving method is proposed to steer flexible needles to a target in...

Heterogeneous robot introduce a higher perception ability than single type robots in outdoor environments. One key problem is to making the 3D environmental model from the cooperated robots in real time, especially in the unstructured environment. Based on our previous work on outdoor environment registration method, in this paper, we introduce a G...

Most of the existing PID parameters tuning methods are only effective with pre-known accurate system models, which often require some strict identification experiments and thus infeasible for many complicated systems. Actually, in most practical engineering applications, it is desirable for the PID tuning scheme to be directly based on the input-ou...

Surface electromyography (sEMG) has been applied extensively in gestures recognition. In order to improve the recognition accuracy, multi-channel sEMG is conventionally sampled, which also increases the complexity of applications. To solve the problem, a novel gesture recognition method based on sEMG decomposition is proposed. Sampling sEMG signals...

In this paper, an active modeling approach for a pneumatic artificial muscle (PAM) is being considered. The PAM's nonlinearity, hysteresis and time-varying characteristics cause difficulties in modeling its behavior and designing high-performance controllers. Here, a generalized three-element model of a PAM is proposed to obtain the reference model...

Rotor flying manipulator (RFM), a new kind of mobile robot system being composed of a rotor flying robot (RFR) and a (several) manipulator(s), has absorbed great attentions in recent years because it enables a RFR to complete active tasks such as mastering and transporting objects. However, steady control of the RFM during both maneuvering and oper...

The bevel-tip flexible needle is an improvement of the clinical puncture needle and has the potential to reduce surgery traumas and improve puncture accuracy. Due to the nonholonomic kinematics model, it is difficult to drive flexible needles to track a pre-plan path. In this paper, we propose an effective path tracking control method based on Mode...

Background: Robot-assisted manipulation is promising for solving problems such as understaffing and the risk of infection in gastro-intestinal endoscopy. However, the commonly used friction rollers in few existing systems have a potential risk of deforming flexible endoscopes for non-uniform clamping. Methods: This paper presents a robotic syste...

One of the main applications of mobile robots is the large-scale perception of the outdoor environment. One of the main challenges of this application is fusing environmental data obtained by multiple robots, especially heterogeneous robots. This paper proposes an enhanced iterative closest point (ICP) method for the fast and accurate registration...

This paper investigates the problem of actuator stuck failures under constraints. In order to guarantee the post-failure system stability and acceptable performance, self-healing control framework is proposed which includes self-healing management module, fault-tolerant controller, reference redesigner and anti-windup compensator. Because of the ex...

Surface electromyography (sEMG) signals are human's own resources, which contain a wealth of information associated with one's movement. Thus, there is a natural advantage in utilizing sEMG signals as interface media to construct human-robot interaction (HRI) systems. The key to realize a natural HRI with sEMG is recognizing human's motion intentio...

Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints). The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematical...

Although unmanned surface vehicles (USVs) have been extensively researched and applied to many typical scenarios, high-performance autonomous control is still an open problem. One of their major problem stems from the difficulty in constructing a sufficient accurate and sufficient simple control-oriented dynamics model. Owing to the highly complica...

In this paper, we present a method of detecting the collapsed buildings with the aerial images which are captured by an unmanned aerial vehicle (UAV) for the postseismic evaluation. Different from the conventional methods that apply the satellite images or the high-altitude UAV for the coarse disaster evaluation over large area, the purpose of this...

Exploration of polar regions is of great importance to scientific research. Unfortunately, due to the harsh environment, most of the regions on the Antarctic continent are still unreachable for humankind. Therefore, in 2011, the Chinese National Antarctic Research Expedition (CHINARE) launched a project to design a rover to conduct large-scale scie...

This paper considers the problem of generating dynamically feasible and collision free trajectory for un-manned aerial vehicles(UAVs) in cluttered environments. General random-based searching algorithms output piecewise linear paths, which cause big discrepancy when used as navigation reference for UAVs with high speed. Meanwhile, the disturbance m...

A dynamic threat and disturbance rejected path reshaping method is proposed. The method is based upon parametric Bezier curve called Local Optimal Reshaping(LOR), which is easy to adjust the reference velocity for navigation. Before implementation, only minimal safe margin and maximum curvature are needed. The method also purposefully biases the re...

Design of the hollow modular joint plays an important role in modern robot layout, fix and wiring. This paper designed a novel hollow modular joint which can meet the requirement of the slave hand of a Minimally Invasive Surgical robot. The mechanical and control design is illustrated sequentially. The torque sensor and its optimization are given....

A novel kinodynamic planning framework, which covers path panning, smoothing, tracking and emergency threat managing, is proposed. The framework is proposed based on sampling-based algorithm, which is improved to ensure dynamics feasibility as well as emergency threat management ability by applying Bezier curve and Extending Forbidden respectively....

Powered Parafoil UAV (PPUAV) is a kind of different aircraft from common UAVs. It consists of parafoil canopy, payload and suspension lines and has the adventages of simple structure, low cost and high load weigh ratio, which is suitable for large-area and long-time surveillance and airdrop missions. This type of UAV has the problems of adding mass...

The persistent localization of moving targets is one of the most important applications of mobile robot systems. However, the sensors on each individual robot are often not sufficiently accurate for this task, presenting a severe limitation on the application of robots to many situations. To overcome this problem, systems of multiple robots have be...

Missing data are a common drawback that pattern recognition techniques need to handle when solving real-life classification tasks. This paper first discusses problems in handling high-dimensional samples with missing values by the Gaussian mixture model (GMM). Since fitting the GMM by directly using high-dimensional samples as inputs is difficult d...

During a percutaneous soft tissue puncture, a puncture needle is inserted into the layered tissues with various material properties, and the interactive force at the needle tip occurs discriminately. To measure the force and identify the boundaries of the layered tissues in the puncture path, a fiber optic force sensor was fabricated, and the force...

Rotorcraft unmanned aerial vehicles (RUAV) have been widely used in many fields. However, one of the bottleneck problems of RUAV control is how to ensure its motion steady under huge external disturbances such as wind. In this paper, a new algorithm on disturbance estimation is proposed using UKF algorithm and acceleration measurements. Firstly, th...

The adaptive extended set-membership filter (AESMF) algorithm for robots' online modelling is today proposed for use in this field. Compared to the traditional ESMF, this novel filter method improves estimation accuracy under variable boundaries of unknown but bounded (UBB) process noise, which is often caused by the uncertainties of robotic dynami...