Page 87 - 2017 Brochure
P. 87
研究員
劉進興 Jing-Sin Liu
Associate Research Fellow
Ph.D., Electrical Engineering, National Taiwan University
Tel: +886-2-2788-3799 ext. 1813 Fax: +886-2-2782-4814
Email: liu@iis.sinica.edu.tw
http://www.iis.sinica.edu.tw/pages/liu
• Ph.D., Department of Electrical Engineering, National Taiwan University (1990)
• Assistant Research Fellow, Institute of Information Science, Academia Sinica (1990-1994)
• Associate Research Fellow, Institute of Information Science, Academia Sinica (1994-present)
• Associate Professor (Adjunct), Electrical Engineering, National Tsing Hua University (1991-1994)
• IEEE Senior Member (2016-present)
Research Description potential functions, which are a solution to the boundary value
problem of the Laplace equation. This approach is inspired from
In recent years, we have seen the broadening and emerging by the analogous fluid mechanics of an irrotational, incompressible
commercialization of mobile robotic technologies for home and non-viscous fluid particle. Real-world experiments and GPU
assistance (such as cooking and cleaning), generalized healthcare, implementation of the log-space finite difference method on the
medical surgery and warehouse implementations. Despite the Laplace equation with boundary conditions are used to evaluate
variety of tasks performed, the different designs of robots and the real-time and anytime performance of the OA system.
diverse applications (context for the task), utilization of multiple
sensors to make robots capable of correct and robust planning, Our future work is toward 3D scenarios:
navigation and manipulation is essential to successful task
completion. (1) P ath planning of unmanned aerial vehicles on the configuration
space of SE(3), such as path planning based on geodesics.
I am interested in making methodological advances with respect
to design, development and field-testing of real-time trajectory (2) Manipulation planning, such as grasping.
planning and navigation algorithms for wheeled mobile robots,
subject to environment and kinodynamic constraints in a space with
static and moving obstacles. Our most recent work is to develop
a real-time obstacle avoidance (OA) system, based on harmonic
Publications 6. KM Chiu, JS Liu and SR Yang, “Robot Routing Using Clustering-
Based Parallel Genetic Algorithm with Migration,” Journal of
1. PL Kuo, CH Wang, HJChou and JS Liu, “A Real-Time Streamline- Communication Engineering and Networks, volume 2, number 2,
based Obstacle Avoidance System for Curvature-Constrained pages 71-83, April 2014
Nonholonomic Robots,” The 6th International Symposium on
Advanced Control of Industrial Processes (AdCONIP), Taipei, 7. YS Chou and JS Liu, “A Robotic Indoor 3D Mapping System Using a
Taiwan,.2017. 2D Laser Range Finder Mounted on a Rotating Four-bar Linkage of a
Mobile Platform,” International Journal of Advanced Robotic Systems,
2. Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu, “A Comparative Study volume 10, pages 1-10, January 2013,
of Time-Optimal Trajectory Planning Along Lane-Change Path for
Unicycle,” 第二十四屆全國自動化科技研討會 (Automation 2016), Taichung, 8. T.C. Liang, JS Liu, GT Hung anf YZ Chang, “Practical and flexible
Taiwan, November 2016, Student Paper Award (2nd Place) path planning for car-like mobile robots using maximal-curvature
cubic spirals,” Robotics and Autonomous Systems, volume 52, number
3. Kunlin Wu, TJ Ho, Sean A. Huang, KH Lin, YC Lin and Jing-Sin Liu, 4, pages 312-335, 2005
“Path Planning and Replanning for Mobile Robot Navigation on 3D
Terrain : An Approach Based on Geodesic,” Mathematical Problems 9. Ho, Y. J., & Liu, J. S. Collision-free curvature-bounded smooth path
in Engineering, volume 2016, pages 12, October 2016 planning using composite Bezier curve based on Voronoi diagram.
IEEE International Symposium on Computational Intelligence in
4. Liu JS, Pan WH, Ku WY, Tsao YH, Chang YZ, “Simulation-based Robotics and Automation, pp. 463-468, 2009
fast collision detection for scaled convex polyhedral objects in motion
by exploiting analytical contact equations,” Robotica, volume 34, 10. Lai, H. C., Liu, J. S., Lee, D. T., & Wang, L. S.. Design parameters
number 1, pages 118-134, January 2016 study on the stability and perception of riding comfort of the electrical
motorcycles under rider leaning. Mechatronics, 13(1), 49-76,2003.
5. Y.-L. Ting,J.-S. Liu and Y.-S. Chou, “Waypoint navigation with
limit cycle avoidance for mobile robot in unknown static indoor
environments,” Journal of Mechatronics, volume 3, number 1, pages
9-20, March 2015
85
劉進興 Jing-Sin Liu
Associate Research Fellow
Ph.D., Electrical Engineering, National Taiwan University
Tel: +886-2-2788-3799 ext. 1813 Fax: +886-2-2782-4814
Email: liu@iis.sinica.edu.tw
http://www.iis.sinica.edu.tw/pages/liu
• Ph.D., Department of Electrical Engineering, National Taiwan University (1990)
• Assistant Research Fellow, Institute of Information Science, Academia Sinica (1990-1994)
• Associate Research Fellow, Institute of Information Science, Academia Sinica (1994-present)
• Associate Professor (Adjunct), Electrical Engineering, National Tsing Hua University (1991-1994)
• IEEE Senior Member (2016-present)
Research Description potential functions, which are a solution to the boundary value
problem of the Laplace equation. This approach is inspired from
In recent years, we have seen the broadening and emerging by the analogous fluid mechanics of an irrotational, incompressible
commercialization of mobile robotic technologies for home and non-viscous fluid particle. Real-world experiments and GPU
assistance (such as cooking and cleaning), generalized healthcare, implementation of the log-space finite difference method on the
medical surgery and warehouse implementations. Despite the Laplace equation with boundary conditions are used to evaluate
variety of tasks performed, the different designs of robots and the real-time and anytime performance of the OA system.
diverse applications (context for the task), utilization of multiple
sensors to make robots capable of correct and robust planning, Our future work is toward 3D scenarios:
navigation and manipulation is essential to successful task
completion. (1) P ath planning of unmanned aerial vehicles on the configuration
space of SE(3), such as path planning based on geodesics.
I am interested in making methodological advances with respect
to design, development and field-testing of real-time trajectory (2) Manipulation planning, such as grasping.
planning and navigation algorithms for wheeled mobile robots,
subject to environment and kinodynamic constraints in a space with
static and moving obstacles. Our most recent work is to develop
a real-time obstacle avoidance (OA) system, based on harmonic
Publications 6. KM Chiu, JS Liu and SR Yang, “Robot Routing Using Clustering-
Based Parallel Genetic Algorithm with Migration,” Journal of
1. PL Kuo, CH Wang, HJChou and JS Liu, “A Real-Time Streamline- Communication Engineering and Networks, volume 2, number 2,
based Obstacle Avoidance System for Curvature-Constrained pages 71-83, April 2014
Nonholonomic Robots,” The 6th International Symposium on
Advanced Control of Industrial Processes (AdCONIP), Taipei, 7. YS Chou and JS Liu, “A Robotic Indoor 3D Mapping System Using a
Taiwan,.2017. 2D Laser Range Finder Mounted on a Rotating Four-bar Linkage of a
Mobile Platform,” International Journal of Advanced Robotic Systems,
2. Chien-Sheng Wu, Zih-Yun Chiu, Jing-Sin Liu, “A Comparative Study volume 10, pages 1-10, January 2013,
of Time-Optimal Trajectory Planning Along Lane-Change Path for
Unicycle,” 第二十四屆全國自動化科技研討會 (Automation 2016), Taichung, 8. T.C. Liang, JS Liu, GT Hung anf YZ Chang, “Practical and flexible
Taiwan, November 2016, Student Paper Award (2nd Place) path planning for car-like mobile robots using maximal-curvature
cubic spirals,” Robotics and Autonomous Systems, volume 52, number
3. Kunlin Wu, TJ Ho, Sean A. Huang, KH Lin, YC Lin and Jing-Sin Liu, 4, pages 312-335, 2005
“Path Planning and Replanning for Mobile Robot Navigation on 3D
Terrain : An Approach Based on Geodesic,” Mathematical Problems 9. Ho, Y. J., & Liu, J. S. Collision-free curvature-bounded smooth path
in Engineering, volume 2016, pages 12, October 2016 planning using composite Bezier curve based on Voronoi diagram.
IEEE International Symposium on Computational Intelligence in
4. Liu JS, Pan WH, Ku WY, Tsao YH, Chang YZ, “Simulation-based Robotics and Automation, pp. 463-468, 2009
fast collision detection for scaled convex polyhedral objects in motion
by exploiting analytical contact equations,” Robotica, volume 34, 10. Lai, H. C., Liu, J. S., Lee, D. T., & Wang, L. S.. Design parameters
number 1, pages 118-134, January 2016 study on the stability and perception of riding comfort of the electrical
motorcycles under rider leaning. Mechatronics, 13(1), 49-76,2003.
5. Y.-L. Ting,J.-S. Liu and Y.-S. Chou, “Waypoint navigation with
limit cycle avoidance for mobile robot in unknown static indoor
environments,” Journal of Mechatronics, volume 3, number 1, pages
9-20, March 2015
85
