信 息 科 学 与 工 程 学 院

College of Information Science and Engineering

厚德笃志,勤思敏行

基本信息

basic information

  • 所在院系(中心): 电子工程系
  • 学历: 博士
  • 政治面貌: 中共党员
  • 邮件地址: bhe@ouc.edu.cn
  • 办公电话: 13969676009
  • 办公室: 山东省青岛市崂山区松岭路238号中国海洋大学信息科学与工程学院

何 波

He Bo

课程介绍

course introduction

DSP技术及应用:本科生课程, 秋季学期;无人系统设计:研究生课程,秋季学期。

教育及工作经历

education and work experience

何波,中国海洋大学信息科学与工程学院教授,电子工程系副主任,水下机器人实验室主任,目前担任科技部863海洋传感器主题项目的首席专家。1999年于哈尔滨工业大学获得工学博士学位,2000-2002年于新加坡南洋理工大学从事智能机器人方面的博士后研究。

研究方向

research direction

何波教授及其科研团队长期从事海洋探测传感器以及水下机器人导航、控制方面的科研工作。研究方向之一是海洋机器人系统,包括水下自主机器人AUV、远程操控型水下航行器ROV、水下滑翔机AUG和自主式水面无人监测艇ASV。具体研究涉及:航行器平台的控制系统、通信系统、能源与供电系统、决策与路径规划、导航定位系统、传感器集成与数据采集系统、数据处理与计算系统、控制台(基地)系统、航行器运动力学分析与机械机构设计、各种测试标定与海试实验等。迄今为止,已经研制成功“C-Ranger”、“旗鱼”系列AUV共3台。“C-Ranger”参加了十一五863科技成果展;“旗鱼”参加了2013年山东国际机器人展,获“十大优秀产品奖”。研究方向之二是机器人持久自治性(或持久自主性),在AUV SLAM方面已经取得较多成果。机器学习是另一个重要的研究方向,此方向的研究主要面向解决机器人在目标识别、路经规划和决策中遇到的难题,也有助于实现机器人持久自治性,涉及的主要机器学习算法包括:Extreme Learning Machines,Deep Learning等。近年,更多地致力于基于水下运动平台的Ocean Mapping理论方法与应用研究。主持国家重点研发计划项目1项、863课题2项、军口项目1项、国家自然基金1项以及省部级项目5项。近年发表与本课题相关论文50余篇,其中SCI/EI收录约40余篇。获得相关专利授权6项,软件登记2项。

研究项目

research project

1.基于数据驱动技术和智慧型复合材料的自主式水下航行器研发, 编号: 2016YFC0301400, 国家重点研发计划, 项目首席, 1000万元, 2016-7~2020,6.
2.大尺度海底环境下自主式水下机器人的同时定位与地图构建,编号:41176076,国家自然科学基金面上项目,项目负责人,72万,2012.1~2015.12
3.新型海洋监测探侧传感器研发,编号:2014AA093400,863主题项目,1476万元,项目总负责人、首席专家,2014-2016。
4.小型AUV系统研制与海试检验,中央高校科研业务费-仪器专项,项目负责人,100万元,2015~2016
5.声学滑翔机系统研制,编号:2012AA091004,863课题,子课题负责人,2012.1~2015.12
6.基于同时定位与地图构建方法的AUV自主导航技术,编号:2006AA09Z231,863课题,项目负责人,82万,2006.12~2010.7
7.基于声纳和水下视觉的深海复杂环境下AUV组合导航系统关键技术(子课题),编号:2009AA12Z330,863课题,子课题负责人,18万,2009.1~2010.12
8.30公斤级便携式水下自主观测平台,编号:2013GHY11507,山东省科技计划项目,副组长,2013-2015
9.海底未知环境下具备自主导航能力的水下航行器研制,编号:2008GG1005011,省科技攻关,项目负责人,2008.1~2010.12
10.大尺度海底未知环境下的AUV定位与地图构建方法研究,编号:BS2009HZ006,省博士基金,项目负责人,2009.12~2012.12
11.水下机器人在大尺度海底环境下实现自主导航的关键技术研究,编号:10-3-4-1-3-jch,市科技计划,项目负责人,2010.1~2012.12
12.小型水下运载平台关键技术研究,中央高校基本科研业务费项目,项目负责人,2010.12~2012.12

学术成果

academic achievements

主持国家重点研发计划项目1项、863课题2项、军口项目1项、国家自然基金1项以及省部级项目5项。近年发表与本课题相关论文50余篇,其中SCI/EI收录约40余篇。获得相关专利授权6项,软件登记2项。

论文专利

patent of the paper

部分论文
[1] He, B.*, Sun, T., Yan, T. et al. A pruning ensemble model of extreme learning machine with 1/2 regularizer, Multidim Syst Sign Process. doi:10.1007/s11045-016-0437-9,2016 (SCI)
[2] Xingshuai Dong, Bo He*,et al. Monocular visual-IMU odometry using multi-channel image patch exemplars, Multimedia Tools and Applications, on-line, Oct. 2016. (SCI)
[3] Bo He*, Lulu Ying, Shujing Zhang, Xiao Feng, Tianhong Yan, Rui Nian, Yue Shen, Autonomous navigation based on unscented-FastSLAM using particle swarm optimization for autonomous underwater vehicles, Measurement, 71(2015):89-101. (SCI)
[4] B. He*, S.J. Zhang, T. H. Yan, T. Zhang, Y. Liang, H. J. Zhang, 2011, A Novel Combined SLAM Based on RBPF-SLAM and EIF-SLAM for Mobile System Sensing in a Large Scale Environment, Sensors, 2011, 11(11): 10197-10219. (SCI)
[5] Shujing Zhang, Bo He*, Lulu Ying, Minghui Li and Guang Yuan. Autonomous Navigation with Constrained Consistency for C-Ranger. International Journal of Advanced Robotic Systems, 2014, 11:84. doi: 10.5772/58582. (SCI)
[6] B. He*, B. Wang, T. Yan and Y. Han, A distributed parallel motion control for the multi-thruster autonomous underwater vehicle, Mechanics Based Design of Structures and Machines, 41(), pp236-257, 2013. (SCI)
[7] B. He*, H. J. Zhang, C. Li, S. J. Zhang, Y. Liang, T. H. Yan, 2011. Autonomous Navigation for Autonomous Underwater Vehicles Based on Information Filters and Active Sensing. Sensors, 2011, 11(12): 10958-10980. (SCI)
[8] Bo He, Dongxun Xu, Rui Nian*, Mark van Heeswijk, Qi Yu, Yoan Miche, Amaury Lendasse, Fast face recognition via sparse coding and extreme learning machine, Cognitive Computation, 2013, ( SCI)
[9] Bo Han, Bo He*, Tingting Sun, Tianhong Yan, Mengmeng Ma,Yue Shen, Amaury Lendasse, HSR: L 1/2-regularized sparse representation for fast face recognition using hierarchical feature selection, Neural Computation and Applications, 2015,DOI 10.1007/s00521-015-1907-y. (SCI)
[10] Shujing Zhang, Bo He*, Fast Face Recognition Via Sparse Coding and Extreme Learning Machine, Cognitive Computation,2014 ( SCI)
[11] B. He*; Y. Liang; X. Feng; R. Nian; T. Yan; M. Li; S. Zhang. AUV SLAM and Experiments Using a Mechanical Scanning Forward-looking Sonar. Sensors, 2012, 12, 9836-9410. ( SCI)
[12] Yang Liu, Bo He*, Diya Dong, Yue Shen, Tianhong Yan, Rui Nian, and Amaury Lendasse, Particle Swarm Optimization based Selective Ensemble of Online Sequential Extreme Learning Machine, Mathematical Problems in Engineering, Volume 2015 (2015), in press, 12 pages (SCI)
[13] Bo Han, Bo He*, Mengmeng Ma, Tingting Sun, Tianhong Yan, and Amaury Lendasse, Mathematical Problems in Engineering, RMSE-ELM: Recursive Model Based Selective Ensemble of Extreme Learning Machines for Robustness Improvement, Mathematical Problems in Engineering,Volume 2014 (2014), Article ID 395686, 12 pages (SCI)
[14] R. Nian, B. He*, ROV-based Underwater Vision System for Intelligent Fish Ethology Research, International Journal of Advanced Robotic Systems, Vol,13(10), 2013. ( SCI)
[15] Bo Han, Bo He*. LARSEN-ELM: Selective Ensemble of Extreme Learning Machines using LARS for Blended Data, Neurocomputing, 2014 ( SCI)
[16] Rui Nian, Bo HE*, Extreme Learning Machine towards Dynamic Model Hypothesis in Fish Ethology Research, Neurocomputing, 2014 ( SCI)
[17] Rui Nian, Bo He*, Lendasse, Amaury,3D object recognition based on a geometrical topology model and extreme learning machine,Neural Computing and Applications, 22(3-4), pp427-433, 2013. ( SCI)
[18] T. H. Yan, B. He*, X. D. Chen, and X. S. Xu, The Discrete-Time Sliding Mode Control with Computation Time Delay for Repeatable Run-out Compensation of Hard Disk Drives, Mathematical Problems in Engineering, 2013, pp1-13. (SCI)
[19] Rui Nian, Bo He*, Mark van Heeswijk, Qi Yu, Yoan Miche, Amaury Lendasse, Extreme learning machine towards dynamic model hypothesis in fish ethology research. Neurocomputing, 2014. ( SCI)
[20] R. Nian, F. Liu, B. He*. An Early Underwater Artificial Vision Model in Ocean Investigation via Independent Component Analysis. Sensors. 2013; 13(7):9104-9131. ( SCI)
[21] Qi Yu, Mark van Heeswijk, Yoan Miche, Rui Nian, Bo He, Eric Séverin and Amaury Lendasse. Ensemble Delta Test- Extreme Learning Machine (DT-ELM) For Regression, In Neurocomputing. 2014, Available online 29 October 2013. ( SCI)
[22] Bo He, Accurate pose estimation for a 2WS/4WS vehicle, Journal of Dynamics of Continuous, Discrete and Impulsive Systems, Series B, Supp, 2006, pp:317-323(SCI)
[23] Shujing Zhang, Bo He, SLAM and a Novel Loop Closure Detection for Autonomous Underwater Vehicles, IEEE Conf., OCEANS, 2013(EI)
[24] Xiaoyan Jiang, Bo He, Rao-blackwellised Particle Filter SLAM with Consistent Mapping for AUVs, IEEE Conf., OCEANS, 2013(EI)
[25] Shujing Zhang, Bo He*, Xiao Feng, Guang Yuan, ICM:an efficient data association for SLAM in stochastic mapping, International Conference on Control, Automation, Robotics and Vision, December 5-7, 2012, Guangzhou, China (EI). (EI)
[26] Bo He, Precise navigation for a 4WS mobile robot, Journal of Zhejiang University Science A, Vol.7, no.2, 2006, pp.185-193. (EI)
[27] Bo He and Lili Yang, Localization and map building based on particle filter and unscented Kalman filter for an AUV, Proceedings of the 4nd IEEE conf. Industrial Electronics and Applications, pp.3926-3930, Xi’an, April, 2009. (EI)
[28] Bo He, Yitong Wang, Ke Yang, Nini Yu, Chunrong Lv and Guijie Liu, Simultaneous localization and mapping using imaging sonar for an autonomous underwater vehicle, Proceedings of the Sixth International Symposium on Underwater Technology, pp.219-226.Wuxi, April, 2009.
[29] Bo He, Ke Yang, Shuai Zhao and Yitong Wang, Underwater Simultaneous localization and mapping based on EKF and point-features, Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation. pp. 4845-4850, Auguest, Changchun. (EI)
[30] Bo He, Bingsen Li, Design of behavior-based modular decision-making control system for autonomous underwater vehicle, Proceedings of the 6th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD'09),pp.76-80, Tianjing, Aug, 2009. (EI)
[31] Li Bai, Bo He, Luyue Huang, Tao Zhang and Guijie Liu, SINS/GPS/COMPASS-based integrated navigation for an autonomous underwater vehicle, Proceedings of the Sixth International Symposium on Underwater Technology, pp.173-178, Wuxi, June, 2009.
[32] Guijie Liu, Meng Wang, Bo He, Baogang Wang, Weijie Yuan, Dynamics modeling and control simulation of autonomous underwater vehicle, Proceedings of the Sixth International Symposium on Underwater Technology, pp. 46-51.Wuxi,2009.
[33] Bo He, Chunrong Lv, Lili Yang and Nini Yu, Exploration with loop-closing in depth-fixed navigation for autonomous underwater vehicle, Proceedings of the 2009 International Conference on Information Engineering, pp.459-463, Taiyuan June, 2009. (EI)
[34] Bo He, Hongge Ran, Ke Yang, Luyue Huang and Chunyun Ren, Path planning and tracking for autonomous underwater vehicles, Proceedings of the 2009 IEEE International Conference on Information and Automation, pp728-733, Macau June, 2009. (EI)
[35] Bo He, Nini Yu, Robot-centered localization and map building for autonomous underwater vehicle, Proceedings of 2009 International Conference on Computational Intelligence and Natural Computing, pp.4845-4850, Wuhan, June, 2009.(EI)
[36] Bo He, Ke Yao, Bingsen Li, Chunyun Ren and Jing Luo, Design and reliability analysis of data logging and management system for AUV, Proceedings of 2009 WASE International Conference on Information Engineering, pp.75-78, Taiyuan June, 2009. (EI)
[37] Bo He, Tao Zhang, Guijie Liu.A New SLAM Algorithm Particle Filter-based for Autonomous Underwater Vehicle, The 3rd International Conference on Computer and Electrical Engineering,2010,v5,pp.521-524 (EI)
[38] 鞠纯纯,何波等,基于粒子滤波器的SLAM的仿真研究,系统仿真学报,2007年,Vol.19(16):3715-3719 (EI)
[39] 刘保龙,何波等,移动机器人未知环境地图构建仿真平台,系统仿真学报,2007年,Vol.19(13):2940-2944 (EI).
[40] 赵璇,何波等,基于粒子滤波的机器人定位及动态目标跟踪,系统仿真学报,2008年,Vol.20(23):6490-6494 (EI).
[41] 冉红格,何波,刘贵杰,AUV 中数字电子罗盘的误差分析及校正,中国海洋大学学报(自然版),2009 年9 月,Vol.39: 459-462
[42] 王猛,刘贵杰,何波,基于Adams 与Matlab/Simulink 的水下自航行器协同仿真,中国机械工程学报,2009 年 第10 期,Vol.45(10): 22-29(EI)
[43] Shuai Zhao, Bo He, A Sonar Data Processing System of Underwater Robot Based on C6000 DSP, Proceedings of 2nd International Asia conf. on Informatics in Control, Automation and Robotics, Wuhan, March, 2010, p.315-317(EI)
[44] Bo He, Sha Qixin, Self-rescue System Based on Behavior Decision-making and Computed Torque Control for AUV, Proceedings of international Conference on Measuring Tech. and Mechatronics Automation. Changsha,2010,p.326-329 (EI)
[45] Bo He, Xiang Zhou, Path Planning and Tracking for AUV in Large-scale Environment, Proceedings of 2nd International Asia conf. on Informatics in Control, Automation and Robotics, March, 2010, p.318-321 (EI)
[46] Bo He, Hongen Ren, Design and Simulation of Behavior-Based Reactive Decision-making Control System for Autonomous Underwater Vehicle, Proceedings of 2nd International Asia conf. on Informatics in Control, Automation and Robotics, March, 2010, p.647-651(EI)
[47] Jing Luo, Bo He, Data Association for AUV Localization and Map Building, Proceedings of international Conference on Measuring Tech. and Mechatronics Automation. Changsha, 2010, p.886-889(EI)
[48] Yingying Han, Bo He, A Distributed Motion Control System for the C-RANGER Autonomous Underwater Vehicle, Proceedings of 2nd International Asia conf. on Informatics in Control, Automation and Robotics, March, 2010, p332-335 (EI)
[49] Luyue Huang, Bo He, An Autonomous Navigation algorithm for underwater vehicles Based on inertial measurement units and sonar, Proceedings of 2nd International Asia conf. on Informatics in Control, Automation and Robotics, March, 2010, p311-314(EI)

专利登记授权
[1]何波、赵帅、田舒、陈树娟,发明专利“机械扫描式成像声纳的运动失真补偿方法”,2010.11, ZL200910018935.1,国家发明
[2]何波、王国宇,发明专利“采用同时定位与地图构建方法的自主式水下机器人”,2011.1,ZL200810237864.X,国家发明
[3]何波,韩盈盈等,运行状态检测的直流电机驱动系统,200820173574.9,2009年授权实用新型
[4]何波,任红恩,通用多串行总线转换装置,200820174181.X,2009年授权实用新型
[5]何波,用于圆柱形金属舱的环形漏液检测装置,200820174002.2,2009年授权实用新型
[6]何波,用于水下有刷直流电机的无接触式测速装置,200820225151.7,2009年授权实用新型
软件著作权登记
[1]何波,自主式水下机器人的舱载控制软件,2010SR018318,2010年计算机软件著作权登记。
[2]何波,基于SLAM的AUV模拟仿真平台,2010SR018319,2010年计算机软件著作权登记

研究生招生条件

postgraduate admissions conditions

中国海洋大学水下机器人实验室(UVL)拥有一流的科研环境、科研配套,学术氛围浓厚,欢迎有志于各类机器人特别是海洋机器人系统研究的同学们来攻读硕士学位和博士学位。实验室研究方向主要包括各种机器人平台研制、导航与控制算法研究、机器学习算法研究等。在水下机器人实验室,同学们将从事以下研发活动:
(1)机器人领域前沿算法研究,包括导航/控制/通信/机器学习。要求(以下至少2项):扎实的数学基础、良好的英文能力和专业知识,C语言或Matlab编程。
(2)嵌入式实时系统研发、电子系统硬件研发。要求(以下至少2项):良好的电子工程基础、单片机/DSP/ARM/FPGA等经验、电路硬件开发经验、C语言编程等。注:另有较强机械工程、电子工程、自动化工程动手技能的同学优先考虑。
(3)各类机器人系统的测控、通信程序研发与测试。要求(以下至少2项):良好的电子工程专业基础、C/C++编程经验(包括多线程编程)、Linux下程序设计等。
(4)所有同学应有较高的团队合作素养。