Wei Yanhui

Department: Faculty of Intelligent Science and Engineering

Discipline: Control Science and Engineering

Position:

Title: Professor

Supervisor qualification: Doctoral supervisor

Master's Advisor

Tel: 0451-82518042

Fax: 0451-82518042

Email: wyhhit@163.com

Zip Code: 150001

Address: 2012 Room 61# Building 145 NANTONG street NANGANG

Personal profile

Wei Yanhui, male, born in September 1978, Doctor of engineering, professor, doctoral supervisor, Director of Inertial Navigation and Measurement and Control Technology Institute.

He is mainly engaged in the research of Marine intelligent engineering equipment technology, underwater robotic arm technology, operational underwater robot and other fields. As the project leader, he has obtained more than ten projects such as the National Nature Foundation, the Navy Pre-research Project, the doctoral foundation of the Ministry of Education, the postdoctoral fund, the Army horizontal project, and the Air Force horizontal project. He won the first prize, the second prize, the third prize and the second prize of National Defense Progress in Heilongjiang Province. As chief editor, he has published 2 monographs, 3 textbooks and 1 book. He has published more than 70 articles, applied for more than 40 patents, has authorized 18, accepted 18, and supervised more than 40 master's students and 2 doctoral students.

Since the work began, the structural design of the gyro navigator for LC505 terrain vehicle has been carried out. Through theoretical calculation, digital simulation and a lot of test corrections, the scale design problems of shaft preload and friction have been solved, and the system has been successfully applied to H9A terrain vehicle. The whole system design of fiber optic gyro strapdown system is carried out. Through theoretical simulation calculation and repeated test in Jiuquan test Site, the problem of vibration isolation and temperature field compensation under big impact is solved. As the technical leader of the project, I developed a heavy-duty ROV with a depth of 3000 meters, solved the key problems of ROV underwater dynamic positioning, hydraulic system design, underwater robot arm control, etc. The designed ROV control system has been applied in the ROV system of a private company in Shenzhen, and the project has successfully completed lake and sea trials and achieved the expected results.

Teaching situation:

Teaching situation: Taught 2 undergraduate courses and 1 graduate course

Won the third prize of 2014 Excellent Undergraduate lecturing teacher

Teaching reform: Obtained 1 provincial education reform project, 3 school-level education reform projects, and 2 teaching reform articles.

Training students: supervising 1 doctoral student and assisting 3 doctoral students; There are 14 postgraduate students.

Won the 2013 and 2014 excellent undergraduate tutor.

Served as the class director of 09421, 13421 and 17410, and won the school-level excellent class teacher twice.

Published works: As chief editor published 2 monographs, published 3 textbooks, participated in editing 1.

Research status:

Awards: Won the first prize, second prize, third prize and second prize of National Defense Progress in Heilongjiang Province.

Patent status: As the first inventor authorized 18 invention patents, accepted 18.

Published articles: Since my appointment, I have published more than 60 articles, 2 in SCI Region I, 2 in SCI Region II, and more than 30 in EI.

Scientific research projects: As the project leader, he has obtained more than ten projects such as the National Nature Foundation, the Navy Pre-research Project, the doctoral foundation of the Ministry of Education, the postdoctoral fund, the horizontal project of the Army and the horizontal project of the Air Force.

As the technical leader of the project, he undertook one international cooperation project of the Ministry of Science and Technology (with a total amount of 21.3 million yuan) and one national defense basic pre-research project (second in the university).

Educational experience

1.2003/9 -- 2008/4, Harbin Institute of Technology, Mechanical and Electronic Engineering, PhD;

2.2001/9 -- 2003/7, Harbin Institute of Technology, Mechanical and Electronic Engineering, Master;

3.1997/9 -- 2001/7, Harbin Institute of Technology, Mechanical and Electronic Engineering, Bachelor;

Work experience

1.2015/2-2016/1, Visiting Scholar, School of Engineering, California Polytechnic State University, USA;

2.2010/7- Now, Harbin Engineering University, School of Automation, teacher;

3.2008/4-2010/7, Postdoctoral Fellow, Harbin Engineering University;

Research direction

1. Intelligent control technology of underwater robot

On the basis of summarizing the research results of control methods of underwater vehicle at home and abroad, the integrated design method of overall technology and control technology of underwater vehicle is studied. For special underwater tasks, the research focuses on the hydrodynamic analysis of underwater vehicle body, the distribution of propeller and regulating rudder, environment perception and reconstruction, underwater vehicle control, path navigation methods, etc. In terms of the dynamics of underwater vehicles, the decoupling process is carried out, and the control of underwater vehicles is attempted by multi-controller joint control. The navigation and control system is designed in an integrated way, and the propeller power system is also used as the source of position navigation information of the underwater vehicle, which increases the information integration degree of the control system and improves the intelligence of the control method of the underwater vehicle. By verifying the control methods of different types of AUVs in different environments, such as micro-AUVs, multi-wing AUVs, operational AUVs, etc., good results are obtained, especially for the state control of AUVs under different forms of external interference.

In this direction, as the technical leader of the project, I obtained 1 international cooperation project of the Ministry of Science and Technology, published 1 book, 2 patents, and published more than 20 papers, including 14 SCI and EI retrieval papers.

2. Motion control of underwater robot arm

On the basis of the research of space robot arm, the development of underwater robot arm and the research of motion control method are carried out. In this direction, there are two main aspects of work: A single underwater camera is combined with an underwater robot arm to conduct research on the accurate fixed-point operation technology of the visually guided underwater robot arm. The research focuses on underwater imaging and processing technology of the underwater camera under low light conditions, underwater target recognition technology, accurate stability control technology of the underwater robot arm under external interference conditions, and intelligent operation technology of the visually guided underwater robot arm. The coordinated control of the underwater robot arm and the underwater robot is combined to carry out the research of the two. The research focuses on the task-based intelligent planning technology of the underwater robot arm, the overall motion modeling technology of the UVMS system, the motion self-stabilizing regulation technology of the underwater robot, and the task-based coordinated control technology of the UVMS system. The above research not only solves the key problems of underwater robot control, but also provides technical solutions for Marine biology research, Marine mineral exploration, and intelligent detection of Marine engineering equipment, which has important scientific research significance and huge engineering value.

In this direction, I obtained 1 naval equipment pre-research project, published 1 related work, 4 patents, and published more than 10 papers, including 4 SCI and EI retrieval papers.

3. Ocean wave active compensation technology

Aiming at the problem of safe transportation of personnel and equipment for offshore wind turbine platform and offshore oil platform, the development of active compensation boarding system for ocean waves is carried out. According to the international DNV standard, combined with the implementation of the sea conditions, the boarding system mechanism was analyzed and checked, and the hybrid mechanism composed of six free hydraulic parallel platform and three degrees of freedom series mechanism was determined as the compensation system scheme, and the combination of optical fiber strapdown system and differential GPS was used as the measurement device of the position and attitude of the operation and maintenance ship. This research direction is still blank in China, which has broad market space in offshore wind farms and application space in warship replenishment operations.

Undertake a project

As the project leader and project technical leader, undertake the following projects:

1. Naval equipment pre-research project, fixed-point operation technology of underwater robotic arm based on visual guidance, 1.1 million yuan, under research;

2. Basic scientific research, advanced manufacturing technology of precision installation and adjustment of high-precision intelligent magnetic levitation gyro orientation instrument, 6.4 million yuan, in research;

3. Naval equipment pre-research project, large depth integrated navigation technology, 700,000 yuan, under research;

4. Heilongjiang Provincial Natural Fund Project, research on coordinated control method of UVMS, 120,000 yuan, in research;

5. Supported by the special Fund for Basic scientific Research and Operation of Central universities, Research on dynamic positioning and ROV cooperative operation control and stability of deep water pipe laying operation, 120,000 yuan, in research;

6. International Science and Technology Cooperation Project of the Ministry of Science and Technology of China, Joint research and development of underwater robots for deep-sea oil exploitation, 21.3 million yuan, concluded;

7. Ministry of Industry and Information Technology project, high-precision positioning and orientation system, 5 million yuan, completed;

8. The International science and Technology cooperation project of the Ministry of Science and Technology of China, the introduction of a new generation of high-precision gyroscopes and systems, 10 million yuan, has been completed;

9. Funded by the special Fund for basic scientific Research and Operation of central universities, research on time-delay switching control of deep-sea ROV dynamic positioning, 60,000 yuan, has been completed;

10. National Natural Science Foundation of China Youth Project, Research on kinematics solving Method of Reconfigurable Robot based on configurational plane matching, 250,000 yuan, completed;

11. Special Research Fund for doctoral program of universities and colleges, research on motion control of reconfigurable robots, 40,000 yuan, completed;

12. Harbin Science and Technology Innovation Talent Research special fund project, research on intelligent control system of reconfigurable robot module, 45,000 yuan, completed;

13. Funded by the special Fund for basic scientific research of central universities, the research on AUV local path planning strategy under unknown environment, 20,000 yuan, has been completed;

14. Funded by the Special Fund for Basic scientific Research and Operation Expenses of Central universities, the research on key technologies of reconfigurable robots, 100,000 yuan, has been completed;

15. China Postdoctoral Foundation Project, Research on motion control of two-wheeled self-balancing robots with variable loads, 30,000 yuan, completed;

16. Postdoctoral Fund project of Heilongjiang Province, Research on key technology of two-wheeled self-balancing robot with variable load, 30,000 yuan, has been completed.

Academic exchange

1. Established extensive cooperative relations with the Far East Branch of the Russian Academy of Sciences, and jointly developed a 3,000-meter underwater geophysical exploration underwater robot in response to CNOOC's geophysical exploration needs;

2. Cooperated with Okayama University, Japan to conduct research on underwater image acquisition and processing, and sent students to study and exchange;

3. Establish cooperative research relationship with California Polytechnic University;

4. Conduct scientific research on Marine life with the City University of Hong Kong.