![Ze Ji BEng, MSc, PhD, FHEA](https://profiles-cardiff.imgix.net/attachments/3587?w=200&h=200&auto=format&crop=faces&fit=crop&q=90")
Dr Ze Ji
(he/him)
BEng, MSc, PhD, FHEA
Senior Lecturer (Teaching and Research)
- Available for postgraduate supervision
Overview
Call for Papers: Robot Learning for Autonomous Navigation (IET Cyber-Systems and Robotics) - Deadline can be extended.
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I am the recipient of the Royal Academy of Engineering Industrial Fellowship, hosted by Spirent Communications Ltd.
I am a senior lecturer (associate professor) of Robotics and Autonomous Systems at the School of Engineering, Cardiff University, and the Group leader of Robotics and Autonomous Intelligent Machines (RAIM). I am also the co-investigator/theme leader of the IROHMS (Research Centre for AI, Robotics and Human Machine Systems) funded by ERDF through WEFO.
I currently serve as an associate editor for
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science (Robotics section)
- Industrial Robot
- International Journal on Interactive Design and Manufacturing (IJDM)
- IEEE Access
I am managing the Robotics and Autonomous Systems Laboratory, which provides cutting-edge robotic facilities, including two Kuka Lbr iiwa robots, Robotnik Vogui+, three Kuka youbots, some turtlebots, some drones, advanced vision systems (3D cameras, etc), and sensors. We have also built two USVs (unmanned surface vehicles) with student projects in the past years.
I have held multiple positions as a robotics and autonomous systems researcher and engineer in both academia and industry (Dyson, Lenovo, and Autonomous Surface Vehicles). My PhD was sponsored as part of the EU FP6 project, TAI- CHI (Tangible Acoustic Interfaces for Computer Human Interaction), which won the best exhibit prize of EU FP6 exhibition in Helsinki, Finland, in 2006.
My research experience in robotics is broad, including indoor mobile robots, industrial robot manipulators, humanoid robots, and outdoor unmanned autonomous surface vehicles. My research is primarily focused on Robot Perception And Learning (RoPAL), covering a broad range of subjects, including simultaneous localisation and mapping (SLAM), robot vision, robot reinforcement learning, tactile sensing, deep learning, smart sensing, and their applications on autonomous robot navigation, manipulation and, more broadly, smart manufacturing.
At Dyson, as a robotics systems engineer, I have filed and published patents in the area of mobile robotics. The main project there was the Dyson 360 robot, which utilises a 360 camera for indoor localisation and mapping (Visual SLAM). I worked at Lenovo on service robotics, as a Robotic Systems Architect and Technical Leader of a team of 10 researchers and engineers with backgrounds in machine learning, computer vision, slam, cloud, and IoT. At ASV (Autonomous Surface Vehicles), I have successfully, as a core research member, delivered several projects funded by Innovate UK, DSTL, and NOC/SBRI. Before these, I had been working as a research fellow in academia for a number of EU FP6 & FP7 projects, such as TAI-CHI, IWARD (Intelligent Robot Swarm for Attendance, Recognition, Cleaning, and Delivery), ROBOSKIN (Skin-based technologies and capabilities for safe, autonomous and interactive robots), and SRS (Multi-Role Shadow Robotic System for Independent Living).
Here is the group Github account for projects carried out with our RoPAL team.
Publication
2025
- Wei, C., Han, H., Xia, Y. and Ji, Z. 2025. TDAD: Self-supervised industrial anomaly detection with a two-stage diffusion model. Computers in Industry 164, article number: 104192. (10.1016/j.compind.2024.104192)
- Jia, W., Wang, Z., Zhao, R., Ji, Z., Yin, X. and Liu, G. 2025. FBSM: Foveabox-based boundary-aware segmentation method for green apples in natural orchards. Expert Systems with Applications 260, article number: 125426. (10.1016/j.eswa.2024.125426)
2024
- Gao, Y., Lin, F., Cai, B., Wu, J., Wei, C., Grech, R. and Ji, Z. 2024. Mapless navigation via Hierarchical Reinforcement Learning with memory-decaying novelty. Robotics and Autonomous Systems 182, article number: 104815. (10.1016/j.robot.2024.104815)
- Wu, Z., Wei, C., Xia, Y. and Ji, Z. 2024. SAITI-DCGAN: Self-attention based deep convolutional generative adversarial networks for data augmentation of infrared thermal images. Applied Sciences 14(23), article number: 11391. (10.3390/app142311391)
- Tian, S., Wei, C., Li, Y. and Ji, Z. 2024. FGRL: Federated growing reinforcement learning for resilient mapless navigation in unfamiliar environments. Applied Sciences 14(23), article number: 11336. (10.3390/app142311336)
- You, Y., Cai, B., Pham, D. T., Liu, Y. and Ji, Z. 2024. A human digital twin approach for fatigue-aware task planning in human-robot collaborative assembly. Computers & Industrial Engineering, article number: 110774. (10.1016/j.cie.2024.110774)
- Wang, C., Wang, J., Ma, Z., Xu, M., Qi, K., Ji, Z. and Wei, C. 2024. Integrated learning-based framework for autonomous quadrotor UAV landing on a collaborative moving UGV. IEEE Transactions on Vehicular Technology 73(11), pp. 16092-16107. (10.1109/TVT.2024.3425755)
- Jia, W. et al. 2024. FCOS-EAM: An accurate segmentation method for overlapping green fruits. Computers and Electronics in Agriculture 226, article number: 109392. (10.1016/j.compag.2024.109392)
- Gao, Y., Lin, F., Wei, C., Grech, R. and Ji, Z. 2024. Target tracking for quadrotors based on deep reinforcement learning. Presented at: 30th IEEE International Conference on Mechatronics and Machine Vision in Practice, Leeds, UK, 3-5 October 202430th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE, (10.1109/M2VIP62491.2024.10746058)
- Gao, Y., Wu, J., Yang, X. and Ji, Z. 2024. Efficient hierarchical reinforcement learning for mapless navigation with predictive neighbouring space scoring. IEEE Transactions on Automation Science and Engineering 21(4), pp. 5457-5472. (10.1109/TASE.2023.3312237)
- Tong, Y., Zhang, Q. and Ji, Z. 2024. Evaluating human-robot interaction user experiences in manufacturing: An initial assessment framework. Presented at: 2024 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, USA, 26 - 30 Aug 20242024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). IEEE pp. 244-249., (10.1109/RO-MAN60168.2024.10731394)
- Wei, C., Han, H., Wu, Z., Xia, Y. and Ji, Z. 2024. Transformer-based multi-scale reconstruction network for defect detection of infrared images. IEEE Transactions on Instrumentation and Measurement 73, article number: 5037414. (10.1109/TIM.2024.3481573)
- Le Roux, L., Soroka, A., Ji, Z., Kerfiden, P. and Bigot, S. 2024. Developing rapid metal AM deformations prediction using CNN. Presented at: 17th CIRP Conference on Intelligent Computation in Manufacturing Engineering, Gulf of Naples, Italy, 12-14 July 2023, Vol. 126. pp. 567-572., (10.1016/j.procir.2024.08.241)
- Wu, J., Lai, Y., Xu, M. and Ji, Z. 2024. Fusion of short-term and long-term attention for video mirror detection. Presented at: IEEE Conference on Multimedia Expo 2024, Niagara Falls, Canada, 15-19 July 20242024 IEEE International Conference on Multimedia and Expo (ICME). IEEE pp. 1-9., (10.1109/icme57554.2024.10688367)
- Njuod, A., Wu, J., Lai, Y. and Ji, Z. 2024. GRPSNET: Multi-class part parsing based on graph reasoning. Presented at: IEEE Conference on Multimedia Expo 2024, Niagara Falls, Canada, 15-19 July 2024IEEE International Conference on Multimedia and Expo (ICME). IEEE pp. 1-10., (10.1109/ICME57554.2024.10687831)
- Lin, F., Wei, C., Grech, R. and Ji, Z. 2024. VO-safe reinforcement learning for drone navigation. Presented at: IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 13-17 May 2024Proceedings of International Conference on Robotics and Automation (ICRA). IEEE pp. 279-285., (10.1109/ICRA57147.2024.10611487)
- Lambay, A., Liu, Y., Morgan, P. L. and Ji, Z. 2024. Machine learning assisted human fatigue detection, monitoring, and recovery: a review. Digital Engineering 1, article number: 100004. (10.1016/j.dte.2024.100004)
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. Defining the ideal criteria for stable skeletonisation in object point clouds. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wen, Q., Tafrishi, S., Ji, Z. and Lai, Y. 2024. What criteria define an ideal skeletonisation reference in object point clouds?. Presented at: TAROS (Towards Autonomous Robotic Systems), London, UK, 21-23 August 2024.
- McGhan, F., Ji, Z. and Grech, R. 2024. Localisation-aware fine-tuning for realistic PointGoal navigation. Presented at: 25th Towards Autonomous Robotic Systems (TAROS) Conference, London, UK, 21 – 23 August 2024.
- Cai, B., Wei, C. and Ji, Z. 2024. Deep reinforcement learning with multiple unrelated rewards for AGV mapless navigation. IEEE Transactions on Automation Science and Engineering (10.1109/TASE.2024.3410162)
- Tong, Y., Zhang, Q., Munguia Galeano, F. and Ji, Z. 2024. AR and HRC integration for enhanced pragmatic quality. Presented at: The 25th IEEE International Conference on Industrial Technology, Bristol, UK, 25-27 March 20242024 IEEE International Conference on Industrial Technology (ICIT). IEEE, (10.1109/ICIT58233.2024.10540971)
- You, Y., Liu, Y. and Ji, Z. 2024. Human digital twin for real-time physical fatigue estimation in human-robot collaboration. Presented at: IEEE International Conference on Industrial Technology (ICIT), Bristol, United Kingdom, 25-27 March 20242024 IEEE International Conference on Industrial Technology (ICIT). IEEE, (10.1109/ICIT58233.2024.10541029)
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. GLSkeleton: A geometric Laplacian-based skeletonisation framework for object point clouds. IEEE Robotics and Automation Letters 9(5), pp. 4615-4622. (10.1109/LRA.2024.3384128)
- Yang, X. and Ji, Z. 2024. Accelerating multi-step sparse reward reinforcement learning. Presented at: Cardiff University Engineering Research Conference 2023, Cardiff, UK, 12-14 July 2023 Presented at Spezi, E. and Bray, M. eds.Proceedings of the Cardiff University Engineering Research Conference 2023. Cardiff: Cardiff University Press pp. 86-90., (10.18573/conf1.u)
- Yang, X., Wu, J., Lai, Y. and Ji, Z. 2024. GAM: General Affordance-based Manipulation for contact-rich object disentangling tasks. Neurocomputing 578, article number: 127386. (10.1016/j.neucom.2024.127386)
- Munguia‐Galeano, F., Zhu, J., Hernández, J. D. and Ji, Z. 2024. Learning to bag with a simulation‐free reinforcement learning framework for robots. IET Cyber-Systems and Robotics 6(2), article number: e12113. (10.1049/csy2.12113)
- Wei, C., Wu, J., Xia, Y. and Ji, Z. 2024. Fast autonomous exploration with sparse topological graphs in large-scale environments. International Journal of Intelligent Robotics and Applications 8, pp. 111-121. (10.1007/s41315-023-00318-7)
- Sun, J., Wu, J., Ji, Z. and Lai, Y. 2024. A survey of object goal navigation. IEEE Transactions on Automation Science and Engineering (10.1109/TASE.2024.3378010)
- Rayamane, P., Herbert, P., Munguia-Galeano, F. and Ji, Z. 2024. PnuTac: A vision-based pneumatic tactile sensor for slip detection and object classification. Presented at: 29th IEEE International Conference On Mechatronics And Machine Vision In Practice, 21 - 24 November 2023Proceedings 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE, (10.1109/M2VIP58386.2023.10413420)
- Herbert, P., Wu, J., Ji, Z. and Lai, Y. 2024. Benchmarking visual SLAM methods in mirror environments. Computational Visual Media 10(2), pp. 215-241. (10.1007/s41095-022-0329-x)
- Sun, J., Wu, J., Ji, Z. and Lai, Y. 2024. RSMPNet: Relationship guided semantic map prediction. Presented at: IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Hawaii, USA, 4-8 January 2024.
- Wang, T., Wu, J., Ji, Z. and Lai, Y. 2024. Sparse Convolutional Networks for Surface Reconstruction from Noisy Point Clouds. Presented at: IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Hawaii, USA, 4-8 January 2024.
- You, Y., Liu, Y. and Ji, Z. 2024. Human digital twin for real-time physical fatigue estimation in human-robot collaboration. Presented at: The 25th IEEE International Conference on Industrial Technology, 25-27 March 2024.
- Lambay, A. J., Morgan, P. L., Liu, Y. and Ji, Z. 2024. Model training through synthetic data generation:Investigating the impact on human physical fatigue. Presented at: International Conference on Applied Human Factors and Ergonomics and the Affiliated Conferences, Nice, France, 24 - 27 July 2024 Presented at Nunes, I. L. ed.AHFE International: Human Factors and Systems Interaction, Vol. 154. New York: AHFE Open Access pp. 22-31., (10.54941/ahfe1005349)
- Chen, Z., Ji, Z., Huo, J. and Gao, Y. 2024. SCaR: Refining skill chaining for long-horizon robotic manipulation via dual regularization. Presented at: NeurIPS 2024, Vancouver, 10-15 December 2024.
2023
- Wei, C., Wang, H., Bai, H., Ji, Z. and Liu, Z. 2023. PPLC: Data-driven offline learning approach for excavating control of cutter suction dredgers. Engineering Applications of Artificial Intelligence 125, article number: 106708. (10.1016/j.engappai.2023.106708)
- Munguia-Galeano, F., Tan, A. and Ji, Z. 2023. Deep reinforcement learning with explicit context representation. IEEE Transactions on Neural Networks and Learning Systems (10.1109/TNNLS.2023.3325633)
- Tong, Y., Zhang, Q., Munguia Galeano, F. and Ji, Z. 2023. Designing an AR facial expression system for human-robots collaboration. Presented at: 28th International Conference on Automation and Computing (ICAC), Birmingham, UK, 30 August - 1 September 2023Proceedings of 28th International Conference on Automation and Computing. IEEE, (10.1109/ICAC57885.2023.10275175)
- Yang, X., Ji, Z., Wu, J. and Lai, Y. 2023. Recent advances of deep robotic affordance learning: a reinforcement learning perspective. IEEE Transactions on Cognitive and Developmental Systems 15(3), pp. 1139-1149. (10.1109/TCDS.2023.3277288)
- Lu, Y., Du, S., Ji, Z., Yin, X. and Jia, W. 2023. ODL Net: Object detection and location network for small pears around the thinning period. Computers and Electronics in Agriculture 212, article number: 108115. (10.1016/j.compag.2023.108115)
- Lu, Y., Sun, M., Guan, Y., Lian, J., Ji, Z., Yin, X. and Jia, W. 2023. SOD head: A network for locating small fruits from top to bottom in layers of feature maps. Computers and Electronics in Agriculture 212, article number: 108133. (10.1016/j.compag.2023.108133)
- Munguia-Galeano, F., Arroyo, L. O., Villarreal-Cervantes, M. G. and Ji, Z. 2023. Towards integrating 3D printing and automated assembly. Presented at: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 26-30 August 2023Proceedings of 19th International Conference on Automation Science and Engineering. IEEE pp. 1-7., (10.1109/CASE56687.2023.10260529)
- Rayamane, P., Munguia Galeano, F., Tafrishi, S. A. and Ji, Z. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Annual Conference Towards Autonomous Robotic Systems, 13-15 September 2023 Presented at Iida, F. et al. eds.TAROS 2023: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science book series Vol. 14136. Cham, Switzerland: Springer pp. 431-442., (10.1007/978-3-031-43360-3_35)
- Wei, C., Li, Y., Ouyang, Y. and Ji, Z. 2023. Deep reinforcement learning with heuristic corrections for UGV navigation. Journal of Intelligent and Robotic Systems 109, article number: 18. (10.1007/s10846-023-01950-y)
- Lu, Y., Ji, Z., Yang, L. and Jia, W. 2023. Mask Positioner: An effective segmentation algorithm for green fruit in complex environment. Journal of King Saud University - Computer and Information Sciences 35(7), article number: 101598. (10.1016/j.jksuci.2023.101598)
- Zhao, R., Guan, Y., Lu, Y., Ji, Z., Yin, X. and Jia, W. 2023. FCOS-LSC: A novel model for green fruit detection in a complex orchard environment. Plant Phenomics 5, article number: 69. (10.34133/plantphenomics.0069)
- Munguia-Galeano, F., Veeramani, S., Hernández, J. D., Wen, Q. and Ji, Z. 2023. Affordance-based human-robot interaction with reinforcement learning. IEEE Access 11, pp. 31282-31292. (10.1109/ACCESS.2023.3262450)
- Alsudays, N., Wu, J., Lai, Y. and Ji, Z. 2023. Afpsnet: multi-class part parsing based on scaled attention and feature fusion. Presented at: IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Waikoloa, Hawaii,, 3-7 Jan 20232023 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV). IEEE pp. 4022-4031., (10.1109/WACV56688.2023.00402)
- Gao, Y., Ji, Z., Wu, J., Wei, C. and Grech, R. 2023. Hierarchical reinforcement learning-based mapless navigation with predictive exploration worthiness. Presented at: IEEE International Conference on Mechatronics and Automation, Harbin, Heilongjiang, China, 6-9 August 2023.
- Bhaduri, D., Mason, B., Bigot, S. and Ji, Z. 2023. Development and realisation of a metal additive manufacturing pilot line and post-processing of parts via laser ablation and polishing. Presented at: 8th Industrial Laser Applications Symposium, Daventry, UK, 22 - 23 March 2023.
- Wang, T., Wu, J., Ji, Z. and Lai, Y. 2023. RPS-Net: Indoor scene point cloud completion using RBF-point sparse convolution. Presented at: EG UK Computer Graphics & Visual Computing, Aberystwyth, UK, 14-15 September 2023Proceedings EG UK Computer Graphics & Visual Computing. Eurographics - The European Association for Computer Graphics, (10.2312/cgvc.20231188)
2022
- Meng, J., Liu, Y., Bucknall, R., Guo, W. and Ji, Z. 2022. Anisotropic GPMP2: a fast continuous-time Gaussian processes based motion planner for unmanned surface vehicles in environments with ocean currents. IEEE Transactions on Automation Science and Engineering 19(4), pp. 3914-3931. (10.1109/TASE.2021.3139163)
- Feng, S., Chen, Z., Bircher, B., Ji, Z., Nyborg, L. and Bigot, S. 2022. Predicting laser powder bed fusion defects through in-process monitoring data and machine learning. Materials & Design 222, article number: 111115. (10.1016/j.matdes.2022.111115)
- Fajardo, J. M., González Roldan, F., Realpe, S., Hernandez, J. D., Ji, Z. and Cardenas, P. 2022. FRobs_RL: A flexible robotics reinforcement learning library. Presented at: IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, 20 - 24 August 20222022 IEEE 18th International Conference on Automation Science and Engineering (CASE). IEEE, (10.1109/CASE49997.2022.9926586)
- Ling, H. et al. 2022. Motion planning combines human motion prediction for human-robot cooperation. Presented at: 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Baishan, China, 27-31 July 20222022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, (10.1109/CYBER55403.2022.9907516)
- You, Y., Ji, Z., Yang, X. and Liu, Y. 2022. From human-human collaboration to human-robot collaboration: automated generation of assembly task knowledge model. Presented at: 27th IEEE International Conference on Automation and Computing (ICAC2022), Bristol, UK, 1-3 Sept 20222022 27th International Conference on Automation and Computing (ICAC). IEEE, (10.1109/ICAC55051.2022.9911131)
- Yang, X., Ji, Z., Wu, J. and Lai, Y. 2022. Abstract demonstrations and adaptive exploration for efficient and stable multi-step sparse reward reinforcement learning. Presented at: 27th IEEE International Conference on Automation and Computing (ICAC2022), Bristol, United Kingdom, 1-3 September 20222022 27th International Conference on Automation and Computing (ICAC). IEEE, (10.1109/ICAC55051.2022.9911100)
- Yang, X., Ji, Z., Wu, J., Lai, Y., Wei, C., Liu, G. and Setchi, R. 2022. Hierarchical reinforcement learning with universal policies for multi-step robotic manipulation. IEEE Transactions on Neural Networks and Learning Systems 33(9), pp. 4727-4741. (10.1109/TNNLS.2021.3059912)
- Liu, J., Zhao, Y., Jia, W. and Ji, Z. 2022. DLNet: Accurate segmentation of green fruit in obscured environments. Journal of King Saud University - Computer and Information Sciences 34(9), pp. 7259-7270. (10.1016/j.jksuci.2021.09.023)
- Sun, M., Xu, L., Chen, X., Ji, Z., Zheng, Y. and Jia, W. 2022. Bfp net: balanced feature pyramid network for small apple detection in complex orchard environment. Plant Phenomics 2022, article number: 9892464. (10.34133/2022/9892464)
- Chen, H., Liu, G., Tian, G., Zhang, J. and Ji, Z. 2022. Safe distance prediction for braking control of bridge cranes considering anti-swing. International Journal of Intelligent Systems 37(8), pp. 4845-4863. (10.1002/int.22743)
- Rayamane, P., Ji, Z. and Packianather, M. 2022. Design and development of a robust vision-based tactile sensor. Presented at: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sapporo, Japan, 11-15 July 20222022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, (10.1109/AIM52237.2022.9863285)
- Wang, L., Ji, Z. and Setchi, R. 2022. Collaboration of KUKA robots on adjusting assembly of motion mechanism. Presented at: Eighth Asia International Symposium on Mechatronics (AISM 2021), 16-19 December 2021 Presented at Duan, B., Umeda, K. and Kim, C. eds.Proceedings of the Eighth Asia International Symposium on Mechatronics, Vol. 885. Lecture Notes in Electrical Engineering, (10.1007/978-981-19-1309-9_100)
- Lambay, A., Liu, Y., Ji, Z. and Morgan, P. 2022. Effects of demographic factors for fatigue detection in manufacturing. Presented at: 14th IFAC Workshop on Intelligent Manufacturing Systems (IMS 2022), Tel-Aviv, Israel, 28-30 March 2022IFAC-PapersOnLine, Vol. 55(2). Elsevier pp. 528-533., (10.1016/j.ifacol.2022.04.248)
- Jia, W., Zhang, Z., Shao, W., Ji, Z. and Hou, S. 2022. RS-Net: robust segmentation of green overlapped apples. Precision Agriculture 23, pp. 492-513. (10.1007/s11119-021-09846-3)
- You, Y., Chen, C., Hu, F., Liu, Y. and Ji, Z. 2022. Advances of digital twins for predictive maintenance. Presented at: 3rd International Conference on Industry 4.0 and Smart Manufacturing (ISM 2021), Linz, Austria, 17-19 November 2021, Vol. 200. Procedia Computer Science, Vol 200: pp. 1471-1480., (10.1016/j.procs.2022.01.348)
- Wei, C., Bai, H., Wei, Y., Ji, Z. and Liu, Z. 2022. Learning manipulation skills with demonstrations for the swing process control of dredgers. Ocean Engineering 246, article number: 110545. (10.1016/j.oceaneng.2022.110545)
- Lin, F., Ji, Z., Wei, C. and Grech, R. 2022. Localisation-safe reinforcement learning for mapless navigation. Presented at: IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022), Jinghong, China, 5-9 December 2022IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 1327-1334., (10.1109/ROBIO55434.2022.10011937)
2021
- Liu, G., Zhang, Q., Cao, Y., Tian, G. and Ji, Z. 2021. Online human action recognition with spatial and temporal skeleton features using a distributed camera network. International Journal of Intelligent Systems 36(12), pp. 7389-7411. (10.1002/int.22591)
- Yao, L., Kanoulas, D., Ji, Z. and Liu, Y. 2021. ShorelineNet: an efficient deep learning approach for shoreline semantic segmentation for unmanned surface vehicles. Presented at: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 27 September - 01 October 20212021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 5403-5409., (10.1109/IROS51168.2021.9636614)
- Ji, Z. and Amer, A. 2021. Human locomotion activity recognition using spectral analysis and convolutional neural networks. International Journal of Manufacturing Research 16, article number: 4. (10.1504/IJMR.2021.10039081)
- Lin, F., Ji, Z., Wei, C. and Niu, H. 2021. Reinforcement learning-based mapless navigation with fail-safe localisation. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual and Lincoln, UK, 8-10 September 2021 Presented at Fox, C. et al. eds.Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. Lecture Notes in Computer Science; Lecture Notes in Artificial Intelligence Springer pp. 100-111., (10.1007/978-3-030-89177-0_10)
- Djoudi, S., Frampton, J. M., Murphy, A., Scammell, T., Wright, T. and Ji, Z. 2021. Designing a multi-locomotion modular snake robot. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual, 8-10 September 2021 Presented at Fox, C. et al. eds.Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. Lecture Notes in Computer Science Springer pp. 249-259., (10.1007/978-3-030-89177-0_26)
- Yang, X., Ji, Z., Wu, J. and Lai, Y. 2021. An open-source multi-goal reinforcement learning environment for robotic manipulation with Pybullet. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual, 8-10 September 2021 Presented at Fox, C. et al. eds.Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science Springer pp. 14-24.
- Wen, J. et al. 2021. Dynamic analysis and structure optimization on trapezoidal wave generator for eliminating the over deviation of the residual wave in shock test measurement. Measurement 182, article number: 109665. (10.1016/j.measurement.2021.109665)
- Wen, J., Yao, H., Ji, Z., Wu, B. and Xu, F. 2021. Self-validating high-g accelerometers through data-driven methods. Sensors and Actuators A: Physical 328, article number: 112803. (10.1016/j.sna.2021.112803)
- Tian, Y., Yang, Y., Yang, H. and Ji, Z. 2021. Model implementation and analysis of a true three-dimensional display system. Computer Systems Science and Engineering 39(3), pp. 403-414. (10.32604/csse.2021.016357)
- Lambay, A., Liu, Y., Morgan, P. and Ji, Z. 2021. A data-driven fatigue prediction using recurrent neural networks. Presented at: 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA2021), Ankara, Turkey, 11-13 June 20212021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA). IEEE pp. 1-6., (10.1109/HORA52670.2021.9461377)
- Le Roux, L. et al. 2021. Automatised quality assessment in additive layer manufacturing using layer-by-layer surface measurements and deep learning. Presented at: 14th CIRP Conference on Intelligent Computation in Manufacturing Engineering 2020, Naples, Italy, 15-17 July 2020, Vol. 99. Elsevier pp. 342-347., (10.1016/j.procir.2021.03.050)
- Wei, C., Wei, Y. and Ji, Z. 2021. Model predictive control for slurry pipeline transportation of a cutter suction dredger. Ocean Engineering 227, article number: 108893. (10.1016/j.oceaneng.2021.108893)
- Stergianelis, D., McConnell, M., Ji, Z., Huang, Y. and Yu, H. 2021. A simulation study of simple local path planning and control for unmanned surface vehicles. Presented at: Global OCEANS 2020: Singapore-U.S. Gulf Coast, Virtual, 5-14 October 2020Global Oceans 2020: Singapore – U.S. Gulf Coast. IEEE pp. 1-10., (10.1109/IEEECONF38699.2020.9389484)
- Niu, H., Ji, Z., Savvaris, A., Tsourdos, A. and Carrasco, J. 2021. Model checking for decision making system of long endurance unmanned surface vehicle. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 256-262., (10.1109/IEEECONF49454.2021.9382677)
- Niu, H., Ji, Z., Liguori, P., Yin, H. and Carrasco, J. 2021. Design, integration and sea trials of 3D printed unmanned aerial vehicle and unmanned surface vehicle for cooperative missions. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 590-591., (10.1109/IEEECONF49454.2021.9382687)
- Niu, H., Ji, Z., Zhu, Z., Yin, H. and Carrasco, J. 2021. 3D vision-guided pick-and-place using kuka LBR iiwa robot. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 592-593., (10.1109/IEEECONF49454.2021.9382674)
- Feng, X., Yang, Y., Qi, X., Xu, C. and Ji, Z. 2021. Output feedback NCS of DoS attacks triggered by double-ended events. Security and Communication Networks 2021, article number: 6643034. (10.1155/2021/6643034)
- Yao, Z., Huang, Q., Ji, Z., Li, X. and Bi, Q. 2021. Deep learning-based prediction of piled-up status and payload distribution of bulk material. Automation in Construction 121, article number: 103424. (10.1016/j.autcon.2020.103424)
- Wen, J., Yao, H., Ji, Z. and Xia, M. 2021. On fault diagnosis for high-g accelerometers via data-driven models. IEEE Sensors Journal 21(2), pp. 1359-1368. (10.1109/JSEN.2020.3019632)
- Niu, H., Ji, Z., Arvin, F., Lennox, B., Yin, H. and Carrasco, J. 2021. Accelerated sim-to-real deep reinforcement learning: learning collision avoidance from human player. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 2021.
2020
- Ji, Z. and Han, Q. 2020. A novel image feature descriptor for SLM spattering pattern classification using a consumable camera. International Journal of Advanced Manufacturing Technology 110(11-12), pp. 2955-2976. (10.1007/s00170-020-05995-3)
- Sukor, A. S. A., Setchi, R. and Ji, Z. 2020. Abnormality detection approach in smart homes using case-based reasoning. Presented at: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), Virtual (Shah Alam, Malaysia), 20 June 2020IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2020). IEEE pp. 176-181., (10.1109/I2CACIS49202.2020.9140077)
- Wei, C., Ji, Z. and Cai, B. 2020. Particle swarm optimization for cooperative multi-robot task allocation: a multi-objective approach. IEEE Robotics and Automation Letters 5(2), pp. 2530-2537. (10.1109/LRA.2020.2972894)
- Wen, J., Yao, H., Wu, B., Ren, Y. and Ji, Z. 2020. A deep learning approach to recover high-g shock signals from the faulty accelerometer. IEEE Sensors Journal 20(4), pp. 1761-1769. (10.1109/JSEN.2019.2949241)
- He, L., Liu, G., Tian, G., Zhang, J. and Ji, Z. 2020. Efficient multi-view multi-target tracking using a distributed camera network. IEEE Sensors Journal 20(4), pp. 2056-2063. (10.1109/JSEN.2019.2949385)
- Niu, H., Ji, Z., Savvaris, A. and Tsourdos, A. 2020. Energy efficient path planning for unmanned surface vehicle in spatially-temporally variant environment. Ocean Engineering 196, article number: 106766. (10.1016/j.oceaneng.2019.106766)
- Liu, G., He, H., Tian, G., Zhang, J. and Ji, Z. 2020. Online collision avoidance for human-robot collaborative interaction concerning safety and efficiency. Presented at: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020), Online, 6-10 July 2020IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE pp. 1167-1672., (10.1109/AIM43001.2020.9158647)
2019
- Liu, G., Liu, T., Tian, G. and Ji, Z. 2019. Distributed human 3D pose estimation and action recognition.. Presented at: ROBIO 2019- International Conference on Robotics and Biomimetics, Dali, Yunnan, China, 6-8 December 20192019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 2316-2321., (10.1109/ROBIO49542.2019.8961741)
- Chen, J., Ji, Z., Niu, H., Setchi, R. and Yang, C. 2019. An auto-correction teleoperation method for a mobile manipulator using gaze tracking and hand motion detection. Presented at: 20th Towards Autonomous Robotic Systems Conference (TAROS), London, UK, 3-5 July 2019TAROS 2019: Towards Autonomous Robotic Systems, Vol. 11650. Springer pp. 422-433., (10.1007/978-3-030-25332-5_36)
- Niu, H., Savvaris, A., Tsourdos, A. and Ji, Z. 2019. Voronoi-visibility roadmap-based path planning algorithm for unmanned surface vehicles. Journal of Navigation 72(4), pp. 850-874. (10.1017/S0373463318001005)
- Yao, H., Wen, J., Ren, Y., Wu, B. and Ji, Z. 2019. Low-cost measurement of industrial shock signals via deep learning calibration. Presented at: International Conference on Acoustics, Speech, and Signal Processing, Brighton, UK, 12-17 May 2019ICASSP IEEE International Conference on Acoustics, Speech and Signal Processing. IEEE pp. 2892-2896., (10.1109/ICASSP.2019.8682484)
- Ai, Q., Chen, A., Chen, K., Liu, Q., Zhou, T., Xin, S. and Ji, Z. 2019. Feature extraction of four-class motor imagery EEG signals based on functional brain network. Journal of Neural Engineering 16(2), article number: 26032. (10.1088/1741-2552/ab0328)
- Liu, H., Liu, G., Tian, G., Xin, S. and Ji, Z. 2019. Visual SLAM based on dynamic object removal. Presented at: IEEE Robio 2019, Dali, China, 6-8 December 20192019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 596-601., (10.1109/ROBIO49542.2019.8961397)
- Luo, Y., Liu, G., Liu, H., Liu, T., Tian, G. and Ji, Z. 2019. Simultaneous monocular visual odometry and depth reconstruction with scale recovery. Presented at: IEEE Robio 2019, Dali, China, 6-8 December 20192019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 682-687., (10.1109/ROBIO49542.2019.8961701)
2018
- Wu, J. and Ji, Z. 2018. Seeing the unseen: Locating objects from reflections. Presented at: 19th Towards Autonomous Robotic Systems (TAROS) Conference, Bristol, UK, 25- 27 July 2018.
- Ji, Z., Schruoffeneger, R. and Setchi, R. 2018. Autonomous 3D scene understanding and exploration in cluttered workspaces using point cloud data. Presented at: 2018 IEEE 15th International Conference on Networking, Sensing and Control (ICNSC), Zhuhai, China, 27-29 March 20182018 IEEE 15th International Conference on Networking, Sensing and Control (ICNSC). IEEE, (10.1109/ICNSC.2018.8361275)
2017
- Ji, Z. and Huang, Y. 2017. Autonomous boat dynamics: How far away is simulation from the high sea?. Presented at: OCEANS 2017, Aberdeen, 19 - 22 June 2017OCEANS 2017 - Aberdeen. IEEE, (10.1109/OCEANSE.2017.8084927)
2016
- Haworth, C., Evans, J., Ji, Z., Taylor, R. and Martin, D. 2016. An open software framework for adaptive, autonomous operation of maritime autonomous systems. Presented at: OCEANS 2016 MTS/IEEE Monterey, Monterey, CA, 19-23 September 2016OCEANS 2016 MTS/IEEE Monterey. IEEE, (10.1109/OCEANS.2016.7761329)
- Haworth, C., Evans, J., Dugan, K., Ji, Z. and Cotterell, S. 2016. UMS mission management for mixed fleets. Presented at: OCEANS'15 MTS/IEEE, Washington DC, 19-22 Oct 2015OCEANS 2015 - MTS/IEEE Washington. IEEE, (10.23919/OCEANS.2015.7404638)
2015
- Al-Moadhen, A., Packianather, M., Qiu, R., Setchi, R. and Ji, Z. 2015. Improving the efficiency of robot task planning by automatically integrating its planner and common-sense knowledge base. In: Tweedale, J. W., Jain, L. C. and Watada, J. eds. Knowledge-Based Information Systems in Practice., Vol. 30. Springer, pp. 185-198., (10.1007/978-3-319-13545-8_11)
2013
- Wang, Z. et al. 2013. Nanoscale structures for implementation of anti-reflection and self-cleaning functions. International Journal of Nanomanufacturing 9(5/6), pp. 520-531. (10.1504/IJNM.2013.057596)
- Al-Moadhen, A., Qiu, R., Packianather, M., Ji, Z. and Setchi, R. 2013. Integrating robot task planner with common-sense knowledge base to improve the efficiency of planning. Procedia Computer Science 22, pp. 211-220. (10.1016/j.procs.2013.09.097)
- Sato, Y., Ji, Z. and van Dijk, S. 2013. I think I have heard that one before : recurrence-based word learning with a robot. In: Gogate, L. and Hollich, G. eds. Theoretical and Computational Models of Word Learning: Trends in Psychology and Artificial Intelligence. IGI Global, pp. 327-349., (10.4018/978-1-4666-2973-8.ch014)
- Qiu, R. et al. 2013. The development of a semi-autonomous framework for personal assistant robots - SRS project. International Journal of Intelligent Mechatronics and Robotics 3(4), pp. 30-47. (10.4018/ijimr.2013100102)
2012
- Ji, Z. et al. 2012. Towards automated task planning for service robots using semantic knowledge representation. Presented at: 2012 10th IEEE International Conference on Industrial Informatics (INDIN), Beijing, China, 25-27 July 2012INDIN2012: IEEE 10th International Conference on Industrial Informatics. Los Alamitos, CA: IEEE pp. 1194-1201., (10.1109/INDIN.2012.6301131)
- Qiu, R. et al. 2012. Integration of symbolic task planning into operations within an unstructured environment. International Journal of Intelligent Mechatronics and Robotics 2(3), pp. 38-57. (10.4018/ijimr.2012070104)
- Qiu, R. et al. 2012. Towards robust personal assistant robots: Experience gained in the SRS project. Presented at: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 October 2012Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE pp. 1651-1657., (10.1109/IROS.2012.6385727)
- Soroka, A. J., Qiu, R., Noyvirt, A. and Ji, Z. 2012. Challenges for service robots operating in non-industrial environments. Presented at: 2012 10th IEEE International Conference on Industrial Informatics (INDIN, Beijing, China, 25-27 July 2012Industrial Informatics (INDIN), 2012 10th IEEE International Conference on. IEEE pp. 1152-1157., (10.1109/INDIN.2012.6301139)
- Zhang, J., Ji, Z., Jiang, S., Liang, H., Sun, H., Wang, Z. and Tan, C. 2012. Configurations of laser interference lithography for 2D/3D nanostructures of optical functional materials. Presented at: 2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), Shaanxi, China, 29 August - 1st September 20122012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). pp. 169., (10.1109/3M-NANO.2012.6472999)
2011
- Amirabdollahian, F., Robins, B., Dautenhahn, K. and Ji, Z. 2011. Investigating tactile event recognition in child-robot interaction for use in autism therapy. Presented at: 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA, 30 August - 3 September 20112011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE pp. 5347-5351., (10.1109/IEMBS.2011.6091323)
- Qiu, R. et al. 2011. Symbolic task planning for robot operations under unstructured environment. Presented at: 1st International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), Changechun, China, 29th - 31st August 2011.
- Xu, S., Ji, Z., Pham, D. T. and Yu, F. 2011. Binary Bees Algorithm - bioinspiration from the foraging mechanism of honeybees to optimize a multiobjective multidimensional assignment problem. Engineering Optimization 43(11), pp. 1141-1159. (10.1080/0305215X.2010.542812)
- Xu, S., Yu, F., Luo, Z., Ji, Z., Pham, D. and Qiu, R. 2011. Adaptive Bees Algorithm - Bioinspiration from Honeybee Foraging to Optimize Fuel Economy of a Semi-Track Air-Cushion Vehicle. The Computer Journal 54(9), pp. 1416-1426. (10.1093/comjnl/bxq097)
- Wang, Z., Li, D., Zhang, J., Ji, Z. and Qiu, R. 2011. Robotic nanoassembly: current developments and challenges. International Journal of Computer Applications in Technology 41(3/4), pp. 185-194. (10.1504/IJCAT.2011.042694)
- Ji, Z., Amirabdollahian, F., Polani, D. and Dautenhahn, K. 2011. Histogram based classification of tactile patterns on periodically distributed skin sensors for a humanoid robot. Presented at: RO-MAN, Atlanta GA, USA, 31 Jul -3 Aug 2011. pp. 433., (10.1109/ROMAN.2011.6005261)
- Amirabdollahian, F., Robins, B., Dautenhahn, K. and Ji, Z. 2011. Investigating tactile event recognition in child-robot interaction for use in autism therapy. Presented at: 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA, 30 August - 3 September 2011. pp. 5347., (10.1109/IEMBS.2011.6091323)
2010
- Xu, S., Ji, Z., Pham, D. T. and Yu, F. 2010. Simultaneous localization and mapping: swarm robot mutual localization and sonar arc bidirectional carving mapping. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 225(3), pp. 733-744. (10.1243/09544062JMES2239)
- Xu, S., Ji, Z., Pham, D. T. and Yu, F. 2010. Bio-inspired binary bees algorithm for a two-level distribution optimisation problem. Journal of Bionic Engineering 7(2), pp. 161-167. (10.1016/S1672-6529(09)60205-5)
- Robinson, B., Amirabdollahian, F., Ji, Z. and Dautenhahn, K. 2010. Tactile interaction with a humanoid robot for children with autism: A case study analysis involving user requirements and results of an initial implementation. Presented at: 19th International Symposium in Robot and Human Interactive Communication, Viareggio, 13-15 September 201019th International Symposium in Robot and Human Interactive Communication. pp. 704., (10.1109/ROMAN.2010.5598641)
2009
- Yang, M., Pham, D., Al-Kutubi, M., Ji, Z. and Wang, Z. 2009. A new computer interface based on in-solid acoustic source localization. Presented at: 7th IEEE International Conference on Industrial Informatics, Cardiff, UK, 23-26 Jun 2009. , (10.1109/INDIN.2009.5195791)
- Meunier, M. et al. 2009. Interference lithography processes with high-power laser pulses. Presented at: SPIE LASE: Lasers and Applications in Science and Engineering, San Jose, California, 2009 Presented at Meunier, M. et al. eds.Laser Applications in Microelectronic and Optoelectronic Manufacturing VII, Vol. 7201. International Society for Optical Engineering; 1999 pp. 72010R., (10.1117/12.808834)
- Pham, D. T., Ji, Z. and Soroka, A. J. 2009. Ultrasonic distance scanning techniques for mobile robots. International Journal of Computer Aided Engineering and Technology 1(2), pp. 209-224. (10.1504/IJCAET.2009.022787)
- Ji, Z. et al. 2009. Quality inspection of nanoscale patterns produced by Laser Interference Lithography using image analysis techniques. Presented at: 2009 International Conference on Mechatronics and Automation, Changchun, China, 9-12 August 20092009 International Conference on Mechatronics and Automation. IEEE pp. 1835-1840., (10.1109/ICMA.2009.5246458)
2007
- Pham, D., Ji, Z., Peyroutet, O., Yang, M., Wang, Z. and Al-kutubi, M. 2007. Localisation of impacts on solid objects using the wavelet transform and maximum likelihood estimation. Presented at: 2nd I*PROMS Virtual International Conference, Internet, 3-14 July 2006 Presented at Pham, D. ed.Intelligent Production Machines and Systems - 2nd I*PROMS Virtual International Conference. Elsevier pp. 541-547., (10.1016/B978-008045157-2/50095-X)
- Ji, Z. 2007. Development of tangible acoustic interfaces for human computer interaction. PhD Thesis, Cardiff University.
- Pham, D., Al-Kutubi, M., Yang, M., Wang, Z. and Ji, Z. 2007. Pattern matching for tangible acoustic interfaces. In: Intelligent Production Machines and Systems. , pp. 556., (10.1016/B978-008045157-2/50097-3)
Articles
- Wei, C., Han, H., Xia, Y. and Ji, Z. 2025. TDAD: Self-supervised industrial anomaly detection with a two-stage diffusion model. Computers in Industry 164, article number: 104192. (10.1016/j.compind.2024.104192)
- Jia, W., Wang, Z., Zhao, R., Ji, Z., Yin, X. and Liu, G. 2025. FBSM: Foveabox-based boundary-aware segmentation method for green apples in natural orchards. Expert Systems with Applications 260, article number: 125426. (10.1016/j.eswa.2024.125426)
- Gao, Y., Lin, F., Cai, B., Wu, J., Wei, C., Grech, R. and Ji, Z. 2024. Mapless navigation via Hierarchical Reinforcement Learning with memory-decaying novelty. Robotics and Autonomous Systems 182, article number: 104815. (10.1016/j.robot.2024.104815)
- Wu, Z., Wei, C., Xia, Y. and Ji, Z. 2024. SAITI-DCGAN: Self-attention based deep convolutional generative adversarial networks for data augmentation of infrared thermal images. Applied Sciences 14(23), article number: 11391. (10.3390/app142311391)
- Tian, S., Wei, C., Li, Y. and Ji, Z. 2024. FGRL: Federated growing reinforcement learning for resilient mapless navigation in unfamiliar environments. Applied Sciences 14(23), article number: 11336. (10.3390/app142311336)
- You, Y., Cai, B., Pham, D. T., Liu, Y. and Ji, Z. 2024. A human digital twin approach for fatigue-aware task planning in human-robot collaborative assembly. Computers & Industrial Engineering, article number: 110774. (10.1016/j.cie.2024.110774)
- Wang, C., Wang, J., Ma, Z., Xu, M., Qi, K., Ji, Z. and Wei, C. 2024. Integrated learning-based framework for autonomous quadrotor UAV landing on a collaborative moving UGV. IEEE Transactions on Vehicular Technology 73(11), pp. 16092-16107. (10.1109/TVT.2024.3425755)
- Jia, W. et al. 2024. FCOS-EAM: An accurate segmentation method for overlapping green fruits. Computers and Electronics in Agriculture 226, article number: 109392. (10.1016/j.compag.2024.109392)
- Gao, Y., Wu, J., Yang, X. and Ji, Z. 2024. Efficient hierarchical reinforcement learning for mapless navigation with predictive neighbouring space scoring. IEEE Transactions on Automation Science and Engineering 21(4), pp. 5457-5472. (10.1109/TASE.2023.3312237)
- Wei, C., Han, H., Wu, Z., Xia, Y. and Ji, Z. 2024. Transformer-based multi-scale reconstruction network for defect detection of infrared images. IEEE Transactions on Instrumentation and Measurement 73, article number: 5037414. (10.1109/TIM.2024.3481573)
- Lambay, A., Liu, Y., Morgan, P. L. and Ji, Z. 2024. Machine learning assisted human fatigue detection, monitoring, and recovery: a review. Digital Engineering 1, article number: 100004. (10.1016/j.dte.2024.100004)
- Cai, B., Wei, C. and Ji, Z. 2024. Deep reinforcement learning with multiple unrelated rewards for AGV mapless navigation. IEEE Transactions on Automation Science and Engineering (10.1109/TASE.2024.3410162)
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. GLSkeleton: A geometric Laplacian-based skeletonisation framework for object point clouds. IEEE Robotics and Automation Letters 9(5), pp. 4615-4622. (10.1109/LRA.2024.3384128)
- Yang, X., Wu, J., Lai, Y. and Ji, Z. 2024. GAM: General Affordance-based Manipulation for contact-rich object disentangling tasks. Neurocomputing 578, article number: 127386. (10.1016/j.neucom.2024.127386)
- Munguia‐Galeano, F., Zhu, J., Hernández, J. D. and Ji, Z. 2024. Learning to bag with a simulation‐free reinforcement learning framework for robots. IET Cyber-Systems and Robotics 6(2), article number: e12113. (10.1049/csy2.12113)
- Wei, C., Wu, J., Xia, Y. and Ji, Z. 2024. Fast autonomous exploration with sparse topological graphs in large-scale environments. International Journal of Intelligent Robotics and Applications 8, pp. 111-121. (10.1007/s41315-023-00318-7)
- Sun, J., Wu, J., Ji, Z. and Lai, Y. 2024. A survey of object goal navigation. IEEE Transactions on Automation Science and Engineering (10.1109/TASE.2024.3378010)
- Herbert, P., Wu, J., Ji, Z. and Lai, Y. 2024. Benchmarking visual SLAM methods in mirror environments. Computational Visual Media 10(2), pp. 215-241. (10.1007/s41095-022-0329-x)
- Wei, C., Wang, H., Bai, H., Ji, Z. and Liu, Z. 2023. PPLC: Data-driven offline learning approach for excavating control of cutter suction dredgers. Engineering Applications of Artificial Intelligence 125, article number: 106708. (10.1016/j.engappai.2023.106708)
- Munguia-Galeano, F., Tan, A. and Ji, Z. 2023. Deep reinforcement learning with explicit context representation. IEEE Transactions on Neural Networks and Learning Systems (10.1109/TNNLS.2023.3325633)
- Yang, X., Ji, Z., Wu, J. and Lai, Y. 2023. Recent advances of deep robotic affordance learning: a reinforcement learning perspective. IEEE Transactions on Cognitive and Developmental Systems 15(3), pp. 1139-1149. (10.1109/TCDS.2023.3277288)
- Lu, Y., Du, S., Ji, Z., Yin, X. and Jia, W. 2023. ODL Net: Object detection and location network for small pears around the thinning period. Computers and Electronics in Agriculture 212, article number: 108115. (10.1016/j.compag.2023.108115)
- Lu, Y., Sun, M., Guan, Y., Lian, J., Ji, Z., Yin, X. and Jia, W. 2023. SOD head: A network for locating small fruits from top to bottom in layers of feature maps. Computers and Electronics in Agriculture 212, article number: 108133. (10.1016/j.compag.2023.108133)
- Wei, C., Li, Y., Ouyang, Y. and Ji, Z. 2023. Deep reinforcement learning with heuristic corrections for UGV navigation. Journal of Intelligent and Robotic Systems 109, article number: 18. (10.1007/s10846-023-01950-y)
- Lu, Y., Ji, Z., Yang, L. and Jia, W. 2023. Mask Positioner: An effective segmentation algorithm for green fruit in complex environment. Journal of King Saud University - Computer and Information Sciences 35(7), article number: 101598. (10.1016/j.jksuci.2023.101598)
- Zhao, R., Guan, Y., Lu, Y., Ji, Z., Yin, X. and Jia, W. 2023. FCOS-LSC: A novel model for green fruit detection in a complex orchard environment. Plant Phenomics 5, article number: 69. (10.34133/plantphenomics.0069)
- Munguia-Galeano, F., Veeramani, S., Hernández, J. D., Wen, Q. and Ji, Z. 2023. Affordance-based human-robot interaction with reinforcement learning. IEEE Access 11, pp. 31282-31292. (10.1109/ACCESS.2023.3262450)
- Meng, J., Liu, Y., Bucknall, R., Guo, W. and Ji, Z. 2022. Anisotropic GPMP2: a fast continuous-time Gaussian processes based motion planner for unmanned surface vehicles in environments with ocean currents. IEEE Transactions on Automation Science and Engineering 19(4), pp. 3914-3931. (10.1109/TASE.2021.3139163)
- Feng, S., Chen, Z., Bircher, B., Ji, Z., Nyborg, L. and Bigot, S. 2022. Predicting laser powder bed fusion defects through in-process monitoring data and machine learning. Materials & Design 222, article number: 111115. (10.1016/j.matdes.2022.111115)
- Yang, X., Ji, Z., Wu, J., Lai, Y., Wei, C., Liu, G. and Setchi, R. 2022. Hierarchical reinforcement learning with universal policies for multi-step robotic manipulation. IEEE Transactions on Neural Networks and Learning Systems 33(9), pp. 4727-4741. (10.1109/TNNLS.2021.3059912)
- Liu, J., Zhao, Y., Jia, W. and Ji, Z. 2022. DLNet: Accurate segmentation of green fruit in obscured environments. Journal of King Saud University - Computer and Information Sciences 34(9), pp. 7259-7270. (10.1016/j.jksuci.2021.09.023)
- Sun, M., Xu, L., Chen, X., Ji, Z., Zheng, Y. and Jia, W. 2022. Bfp net: balanced feature pyramid network for small apple detection in complex orchard environment. Plant Phenomics 2022, article number: 9892464. (10.34133/2022/9892464)
- Chen, H., Liu, G., Tian, G., Zhang, J. and Ji, Z. 2022. Safe distance prediction for braking control of bridge cranes considering anti-swing. International Journal of Intelligent Systems 37(8), pp. 4845-4863. (10.1002/int.22743)
- Jia, W., Zhang, Z., Shao, W., Ji, Z. and Hou, S. 2022. RS-Net: robust segmentation of green overlapped apples. Precision Agriculture 23, pp. 492-513. (10.1007/s11119-021-09846-3)
- Wei, C., Bai, H., Wei, Y., Ji, Z. and Liu, Z. 2022. Learning manipulation skills with demonstrations for the swing process control of dredgers. Ocean Engineering 246, article number: 110545. (10.1016/j.oceaneng.2022.110545)
- Liu, G., Zhang, Q., Cao, Y., Tian, G. and Ji, Z. 2021. Online human action recognition with spatial and temporal skeleton features using a distributed camera network. International Journal of Intelligent Systems 36(12), pp. 7389-7411. (10.1002/int.22591)
- Ji, Z. and Amer, A. 2021. Human locomotion activity recognition using spectral analysis and convolutional neural networks. International Journal of Manufacturing Research 16, article number: 4. (10.1504/IJMR.2021.10039081)
- Wen, J. et al. 2021. Dynamic analysis and structure optimization on trapezoidal wave generator for eliminating the over deviation of the residual wave in shock test measurement. Measurement 182, article number: 109665. (10.1016/j.measurement.2021.109665)
- Wen, J., Yao, H., Ji, Z., Wu, B. and Xu, F. 2021. Self-validating high-g accelerometers through data-driven methods. Sensors and Actuators A: Physical 328, article number: 112803. (10.1016/j.sna.2021.112803)
- Tian, Y., Yang, Y., Yang, H. and Ji, Z. 2021. Model implementation and analysis of a true three-dimensional display system. Computer Systems Science and Engineering 39(3), pp. 403-414. (10.32604/csse.2021.016357)
- Wei, C., Wei, Y. and Ji, Z. 2021. Model predictive control for slurry pipeline transportation of a cutter suction dredger. Ocean Engineering 227, article number: 108893. (10.1016/j.oceaneng.2021.108893)
- Feng, X., Yang, Y., Qi, X., Xu, C. and Ji, Z. 2021. Output feedback NCS of DoS attacks triggered by double-ended events. Security and Communication Networks 2021, article number: 6643034. (10.1155/2021/6643034)
- Yao, Z., Huang, Q., Ji, Z., Li, X. and Bi, Q. 2021. Deep learning-based prediction of piled-up status and payload distribution of bulk material. Automation in Construction 121, article number: 103424. (10.1016/j.autcon.2020.103424)
- Wen, J., Yao, H., Ji, Z. and Xia, M. 2021. On fault diagnosis for high-g accelerometers via data-driven models. IEEE Sensors Journal 21(2), pp. 1359-1368. (10.1109/JSEN.2020.3019632)
- Ji, Z. and Han, Q. 2020. A novel image feature descriptor for SLM spattering pattern classification using a consumable camera. International Journal of Advanced Manufacturing Technology 110(11-12), pp. 2955-2976. (10.1007/s00170-020-05995-3)
- Wei, C., Ji, Z. and Cai, B. 2020. Particle swarm optimization for cooperative multi-robot task allocation: a multi-objective approach. IEEE Robotics and Automation Letters 5(2), pp. 2530-2537. (10.1109/LRA.2020.2972894)
- Wen, J., Yao, H., Wu, B., Ren, Y. and Ji, Z. 2020. A deep learning approach to recover high-g shock signals from the faulty accelerometer. IEEE Sensors Journal 20(4), pp. 1761-1769. (10.1109/JSEN.2019.2949241)
- He, L., Liu, G., Tian, G., Zhang, J. and Ji, Z. 2020. Efficient multi-view multi-target tracking using a distributed camera network. IEEE Sensors Journal 20(4), pp. 2056-2063. (10.1109/JSEN.2019.2949385)
- Niu, H., Ji, Z., Savvaris, A. and Tsourdos, A. 2020. Energy efficient path planning for unmanned surface vehicle in spatially-temporally variant environment. Ocean Engineering 196, article number: 106766. (10.1016/j.oceaneng.2019.106766)
- Niu, H., Savvaris, A., Tsourdos, A. and Ji, Z. 2019. Voronoi-visibility roadmap-based path planning algorithm for unmanned surface vehicles. Journal of Navigation 72(4), pp. 850-874. (10.1017/S0373463318001005)
- Ai, Q., Chen, A., Chen, K., Liu, Q., Zhou, T., Xin, S. and Ji, Z. 2019. Feature extraction of four-class motor imagery EEG signals based on functional brain network. Journal of Neural Engineering 16(2), article number: 26032. (10.1088/1741-2552/ab0328)
- Wang, Z. et al. 2013. Nanoscale structures for implementation of anti-reflection and self-cleaning functions. International Journal of Nanomanufacturing 9(5/6), pp. 520-531. (10.1504/IJNM.2013.057596)
- Al-Moadhen, A., Qiu, R., Packianather, M., Ji, Z. and Setchi, R. 2013. Integrating robot task planner with common-sense knowledge base to improve the efficiency of planning. Procedia Computer Science 22, pp. 211-220. (10.1016/j.procs.2013.09.097)
- Qiu, R. et al. 2013. The development of a semi-autonomous framework for personal assistant robots - SRS project. International Journal of Intelligent Mechatronics and Robotics 3(4), pp. 30-47. (10.4018/ijimr.2013100102)
- Qiu, R. et al. 2012. Integration of symbolic task planning into operations within an unstructured environment. International Journal of Intelligent Mechatronics and Robotics 2(3), pp. 38-57. (10.4018/ijimr.2012070104)
- Xu, S., Ji, Z., Pham, D. T. and Yu, F. 2011. Binary Bees Algorithm - bioinspiration from the foraging mechanism of honeybees to optimize a multiobjective multidimensional assignment problem. Engineering Optimization 43(11), pp. 1141-1159. (10.1080/0305215X.2010.542812)
- Xu, S., Yu, F., Luo, Z., Ji, Z., Pham, D. and Qiu, R. 2011. Adaptive Bees Algorithm - Bioinspiration from Honeybee Foraging to Optimize Fuel Economy of a Semi-Track Air-Cushion Vehicle. The Computer Journal 54(9), pp. 1416-1426. (10.1093/comjnl/bxq097)
- Wang, Z., Li, D., Zhang, J., Ji, Z. and Qiu, R. 2011. Robotic nanoassembly: current developments and challenges. International Journal of Computer Applications in Technology 41(3/4), pp. 185-194. (10.1504/IJCAT.2011.042694)
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Book sections
- Al-Moadhen, A., Packianather, M., Qiu, R., Setchi, R. and Ji, Z. 2015. Improving the efficiency of robot task planning by automatically integrating its planner and common-sense knowledge base. In: Tweedale, J. W., Jain, L. C. and Watada, J. eds. Knowledge-Based Information Systems in Practice., Vol. 30. Springer, pp. 185-198., (10.1007/978-3-319-13545-8_11)
- Sato, Y., Ji, Z. and van Dijk, S. 2013. I think I have heard that one before : recurrence-based word learning with a robot. In: Gogate, L. and Hollich, G. eds. Theoretical and Computational Models of Word Learning: Trends in Psychology and Artificial Intelligence. IGI Global, pp. 327-349., (10.4018/978-1-4666-2973-8.ch014)
- Pham, D., Al-Kutubi, M., Yang, M., Wang, Z. and Ji, Z. 2007. Pattern matching for tangible acoustic interfaces. In: Intelligent Production Machines and Systems. , pp. 556., (10.1016/B978-008045157-2/50097-3)
Conferences
- Gao, Y., Lin, F., Wei, C., Grech, R. and Ji, Z. 2024. Target tracking for quadrotors based on deep reinforcement learning. Presented at: 30th IEEE International Conference on Mechatronics and Machine Vision in Practice, Leeds, UK, 3-5 October 202430th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE, (10.1109/M2VIP62491.2024.10746058)
- Tong, Y., Zhang, Q. and Ji, Z. 2024. Evaluating human-robot interaction user experiences in manufacturing: An initial assessment framework. Presented at: 2024 IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Pasadena, CA, USA, 26 - 30 Aug 20242024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN). IEEE pp. 244-249., (10.1109/RO-MAN60168.2024.10731394)
- Le Roux, L., Soroka, A., Ji, Z., Kerfiden, P. and Bigot, S. 2024. Developing rapid metal AM deformations prediction using CNN. Presented at: 17th CIRP Conference on Intelligent Computation in Manufacturing Engineering, Gulf of Naples, Italy, 12-14 July 2023, Vol. 126. pp. 567-572., (10.1016/j.procir.2024.08.241)
- Wu, J., Lai, Y., Xu, M. and Ji, Z. 2024. Fusion of short-term and long-term attention for video mirror detection. Presented at: IEEE Conference on Multimedia Expo 2024, Niagara Falls, Canada, 15-19 July 20242024 IEEE International Conference on Multimedia and Expo (ICME). IEEE pp. 1-9., (10.1109/icme57554.2024.10688367)
- Njuod, A., Wu, J., Lai, Y. and Ji, Z. 2024. GRPSNET: Multi-class part parsing based on graph reasoning. Presented at: IEEE Conference on Multimedia Expo 2024, Niagara Falls, Canada, 15-19 July 2024IEEE International Conference on Multimedia and Expo (ICME). IEEE pp. 1-10., (10.1109/ICME57554.2024.10687831)
- Lin, F., Wei, C., Grech, R. and Ji, Z. 2024. VO-safe reinforcement learning for drone navigation. Presented at: IEEE International Conference on Robotics and Automation (ICRA), Yokohama, Japan, 13-17 May 2024Proceedings of International Conference on Robotics and Automation (ICRA). IEEE pp. 279-285., (10.1109/ICRA57147.2024.10611487)
- Wen, Q., Tafrishi, S. A., Ji, Z. and Lai, Y. 2024. Defining the ideal criteria for stable skeletonisation in object point clouds. Presented at: 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40), Rotterdam, Netherlands, 23-26 September 2024.
- Wen, Q., Tafrishi, S., Ji, Z. and Lai, Y. 2024. What criteria define an ideal skeletonisation reference in object point clouds?. Presented at: TAROS (Towards Autonomous Robotic Systems), London, UK, 21-23 August 2024.
- McGhan, F., Ji, Z. and Grech, R. 2024. Localisation-aware fine-tuning for realistic PointGoal navigation. Presented at: 25th Towards Autonomous Robotic Systems (TAROS) Conference, London, UK, 21 – 23 August 2024.
- Tong, Y., Zhang, Q., Munguia Galeano, F. and Ji, Z. 2024. AR and HRC integration for enhanced pragmatic quality. Presented at: The 25th IEEE International Conference on Industrial Technology, Bristol, UK, 25-27 March 20242024 IEEE International Conference on Industrial Technology (ICIT). IEEE, (10.1109/ICIT58233.2024.10540971)
- You, Y., Liu, Y. and Ji, Z. 2024. Human digital twin for real-time physical fatigue estimation in human-robot collaboration. Presented at: IEEE International Conference on Industrial Technology (ICIT), Bristol, United Kingdom, 25-27 March 20242024 IEEE International Conference on Industrial Technology (ICIT). IEEE, (10.1109/ICIT58233.2024.10541029)
- Yang, X. and Ji, Z. 2024. Accelerating multi-step sparse reward reinforcement learning. Presented at: Cardiff University Engineering Research Conference 2023, Cardiff, UK, 12-14 July 2023 Presented at Spezi, E. and Bray, M. eds.Proceedings of the Cardiff University Engineering Research Conference 2023. Cardiff: Cardiff University Press pp. 86-90., (10.18573/conf1.u)
- Rayamane, P., Herbert, P., Munguia-Galeano, F. and Ji, Z. 2024. PnuTac: A vision-based pneumatic tactile sensor for slip detection and object classification. Presented at: 29th IEEE International Conference On Mechatronics And Machine Vision In Practice, 21 - 24 November 2023Proceedings 29th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE, (10.1109/M2VIP58386.2023.10413420)
- Sun, J., Wu, J., Ji, Z. and Lai, Y. 2024. RSMPNet: Relationship guided semantic map prediction. Presented at: IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Hawaii, USA, 4-8 January 2024.
- Wang, T., Wu, J., Ji, Z. and Lai, Y. 2024. Sparse Convolutional Networks for Surface Reconstruction from Noisy Point Clouds. Presented at: IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Hawaii, USA, 4-8 January 2024.
- You, Y., Liu, Y. and Ji, Z. 2024. Human digital twin for real-time physical fatigue estimation in human-robot collaboration. Presented at: The 25th IEEE International Conference on Industrial Technology, 25-27 March 2024.
- Lambay, A. J., Morgan, P. L., Liu, Y. and Ji, Z. 2024. Model training through synthetic data generation:Investigating the impact on human physical fatigue. Presented at: International Conference on Applied Human Factors and Ergonomics and the Affiliated Conferences, Nice, France, 24 - 27 July 2024 Presented at Nunes, I. L. ed.AHFE International: Human Factors and Systems Interaction, Vol. 154. New York: AHFE Open Access pp. 22-31., (10.54941/ahfe1005349)
- Chen, Z., Ji, Z., Huo, J. and Gao, Y. 2024. SCaR: Refining skill chaining for long-horizon robotic manipulation via dual regularization. Presented at: NeurIPS 2024, Vancouver, 10-15 December 2024.
- Tong, Y., Zhang, Q., Munguia Galeano, F. and Ji, Z. 2023. Designing an AR facial expression system for human-robots collaboration. Presented at: 28th International Conference on Automation and Computing (ICAC), Birmingham, UK, 30 August - 1 September 2023Proceedings of 28th International Conference on Automation and Computing. IEEE, (10.1109/ICAC57885.2023.10275175)
- Munguia-Galeano, F., Arroyo, L. O., Villarreal-Cervantes, M. G. and Ji, Z. 2023. Towards integrating 3D printing and automated assembly. Presented at: 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 26-30 August 2023Proceedings of 19th International Conference on Automation Science and Engineering. IEEE pp. 1-7., (10.1109/CASE56687.2023.10260529)
- Rayamane, P., Munguia Galeano, F., Tafrishi, S. A. and Ji, Z. 2023. Towards smooth human-robot handover with a vision-based tactile sensor. Presented at: Annual Conference Towards Autonomous Robotic Systems, 13-15 September 2023 Presented at Iida, F. et al. eds.TAROS 2023: Towards Autonomous Robotic Systems. Lecture Notes in Computer Science book series Vol. 14136. Cham, Switzerland: Springer pp. 431-442., (10.1007/978-3-031-43360-3_35)
- Alsudays, N., Wu, J., Lai, Y. and Ji, Z. 2023. Afpsnet: multi-class part parsing based on scaled attention and feature fusion. Presented at: IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), Waikoloa, Hawaii,, 3-7 Jan 20232023 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV). IEEE pp. 4022-4031., (10.1109/WACV56688.2023.00402)
- Gao, Y., Ji, Z., Wu, J., Wei, C. and Grech, R. 2023. Hierarchical reinforcement learning-based mapless navigation with predictive exploration worthiness. Presented at: IEEE International Conference on Mechatronics and Automation, Harbin, Heilongjiang, China, 6-9 August 2023.
- Bhaduri, D., Mason, B., Bigot, S. and Ji, Z. 2023. Development and realisation of a metal additive manufacturing pilot line and post-processing of parts via laser ablation and polishing. Presented at: 8th Industrial Laser Applications Symposium, Daventry, UK, 22 - 23 March 2023.
- Wang, T., Wu, J., Ji, Z. and Lai, Y. 2023. RPS-Net: Indoor scene point cloud completion using RBF-point sparse convolution. Presented at: EG UK Computer Graphics & Visual Computing, Aberystwyth, UK, 14-15 September 2023Proceedings EG UK Computer Graphics & Visual Computing. Eurographics - The European Association for Computer Graphics, (10.2312/cgvc.20231188)
- Fajardo, J. M., González Roldan, F., Realpe, S., Hernandez, J. D., Ji, Z. and Cardenas, P. 2022. FRobs_RL: A flexible robotics reinforcement learning library. Presented at: IEEE International Conference on Automation Science and Engineering (CASE), Mexico City, 20 - 24 August 20222022 IEEE 18th International Conference on Automation Science and Engineering (CASE). IEEE, (10.1109/CASE49997.2022.9926586)
- Ling, H. et al. 2022. Motion planning combines human motion prediction for human-robot cooperation. Presented at: 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Baishan, China, 27-31 July 20222022 12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER). IEEE, (10.1109/CYBER55403.2022.9907516)
- You, Y., Ji, Z., Yang, X. and Liu, Y. 2022. From human-human collaboration to human-robot collaboration: automated generation of assembly task knowledge model. Presented at: 27th IEEE International Conference on Automation and Computing (ICAC2022), Bristol, UK, 1-3 Sept 20222022 27th International Conference on Automation and Computing (ICAC). IEEE, (10.1109/ICAC55051.2022.9911131)
- Yang, X., Ji, Z., Wu, J. and Lai, Y. 2022. Abstract demonstrations and adaptive exploration for efficient and stable multi-step sparse reward reinforcement learning. Presented at: 27th IEEE International Conference on Automation and Computing (ICAC2022), Bristol, United Kingdom, 1-3 September 20222022 27th International Conference on Automation and Computing (ICAC). IEEE, (10.1109/ICAC55051.2022.9911100)
- Rayamane, P., Ji, Z. and Packianather, M. 2022. Design and development of a robust vision-based tactile sensor. Presented at: 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Sapporo, Japan, 11-15 July 20222022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, (10.1109/AIM52237.2022.9863285)
- Wang, L., Ji, Z. and Setchi, R. 2022. Collaboration of KUKA robots on adjusting assembly of motion mechanism. Presented at: Eighth Asia International Symposium on Mechatronics (AISM 2021), 16-19 December 2021 Presented at Duan, B., Umeda, K. and Kim, C. eds.Proceedings of the Eighth Asia International Symposium on Mechatronics, Vol. 885. Lecture Notes in Electrical Engineering, (10.1007/978-981-19-1309-9_100)
- Lambay, A., Liu, Y., Ji, Z. and Morgan, P. 2022. Effects of demographic factors for fatigue detection in manufacturing. Presented at: 14th IFAC Workshop on Intelligent Manufacturing Systems (IMS 2022), Tel-Aviv, Israel, 28-30 March 2022IFAC-PapersOnLine, Vol. 55(2). Elsevier pp. 528-533., (10.1016/j.ifacol.2022.04.248)
- You, Y., Chen, C., Hu, F., Liu, Y. and Ji, Z. 2022. Advances of digital twins for predictive maintenance. Presented at: 3rd International Conference on Industry 4.0 and Smart Manufacturing (ISM 2021), Linz, Austria, 17-19 November 2021, Vol. 200. Procedia Computer Science, Vol 200: pp. 1471-1480., (10.1016/j.procs.2022.01.348)
- Lin, F., Ji, Z., Wei, C. and Grech, R. 2022. Localisation-safe reinforcement learning for mapless navigation. Presented at: IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2022), Jinghong, China, 5-9 December 2022IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 1327-1334., (10.1109/ROBIO55434.2022.10011937)
- Yao, L., Kanoulas, D., Ji, Z. and Liu, Y. 2021. ShorelineNet: an efficient deep learning approach for shoreline semantic segmentation for unmanned surface vehicles. Presented at: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, 27 September - 01 October 20212021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 5403-5409., (10.1109/IROS51168.2021.9636614)
- Lin, F., Ji, Z., Wei, C. and Niu, H. 2021. Reinforcement learning-based mapless navigation with fail-safe localisation. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual and Lincoln, UK, 8-10 September 2021 Presented at Fox, C. et al. eds.Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. Lecture Notes in Computer Science; Lecture Notes in Artificial Intelligence Springer pp. 100-111., (10.1007/978-3-030-89177-0_10)
- Djoudi, S., Frampton, J. M., Murphy, A., Scammell, T., Wright, T. and Ji, Z. 2021. Designing a multi-locomotion modular snake robot. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual, 8-10 September 2021 Presented at Fox, C. et al. eds.Towards Autonomous Robotic Systems: 22nd Annual Conference, TAROS 2021, Lincoln, UK, September 8–10, 2021, Proceedings. Lecture Notes in Computer Science Springer pp. 249-259., (10.1007/978-3-030-89177-0_26)
- Yang, X., Ji, Z., Wu, J. and Lai, Y. 2021. An open-source multi-goal reinforcement learning environment for robotic manipulation with Pybullet. Presented at: 21st Towards Autonomous Robotic Systems Conference (TAROS 2021), Virtual, 8-10 September 2021 Presented at Fox, C. et al. eds.Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science Springer pp. 14-24.
- Lambay, A., Liu, Y., Morgan, P. and Ji, Z. 2021. A data-driven fatigue prediction using recurrent neural networks. Presented at: 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA2021), Ankara, Turkey, 11-13 June 20212021 3rd International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA). IEEE pp. 1-6., (10.1109/HORA52670.2021.9461377)
- Le Roux, L. et al. 2021. Automatised quality assessment in additive layer manufacturing using layer-by-layer surface measurements and deep learning. Presented at: 14th CIRP Conference on Intelligent Computation in Manufacturing Engineering 2020, Naples, Italy, 15-17 July 2020, Vol. 99. Elsevier pp. 342-347., (10.1016/j.procir.2021.03.050)
- Stergianelis, D., McConnell, M., Ji, Z., Huang, Y. and Yu, H. 2021. A simulation study of simple local path planning and control for unmanned surface vehicles. Presented at: Global OCEANS 2020: Singapore-U.S. Gulf Coast, Virtual, 5-14 October 2020Global Oceans 2020: Singapore – U.S. Gulf Coast. IEEE pp. 1-10., (10.1109/IEEECONF38699.2020.9389484)
- Niu, H., Ji, Z., Savvaris, A., Tsourdos, A. and Carrasco, J. 2021. Model checking for decision making system of long endurance unmanned surface vehicle. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 256-262., (10.1109/IEEECONF49454.2021.9382677)
- Niu, H., Ji, Z., Liguori, P., Yin, H. and Carrasco, J. 2021. Design, integration and sea trials of 3D printed unmanned aerial vehicle and unmanned surface vehicle for cooperative missions. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 590-591., (10.1109/IEEECONF49454.2021.9382687)
- Niu, H., Ji, Z., Zhu, Z., Yin, H. and Carrasco, J. 2021. 3D vision-guided pick-and-place using kuka LBR iiwa robot. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 20212021 IEEE/SICE International Symposium on System Integration (SII). IEEE pp. 592-593., (10.1109/IEEECONF49454.2021.9382674)
- Niu, H., Ji, Z., Arvin, F., Lennox, B., Yin, H. and Carrasco, J. 2021. Accelerated sim-to-real deep reinforcement learning: learning collision avoidance from human player. Presented at: 2021 IEEE/SICE International Symposium on System Integration (SII2021), Iwaki, Fukushima, Japan, 11-14 January 2021.
- Sukor, A. S. A., Setchi, R. and Ji, Z. 2020. Abnormality detection approach in smart homes using case-based reasoning. Presented at: IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS), Virtual (Shah Alam, Malaysia), 20 June 2020IEEE International Conference on Automatic Control and Intelligent Systems (I2CACIS 2020). IEEE pp. 176-181., (10.1109/I2CACIS49202.2020.9140077)
- Liu, G., He, H., Tian, G., Zhang, J. and Ji, Z. 2020. Online collision avoidance for human-robot collaborative interaction concerning safety and efficiency. Presented at: 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2020), Online, 6-10 July 2020IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE pp. 1167-1672., (10.1109/AIM43001.2020.9158647)
- Liu, G., Liu, T., Tian, G. and Ji, Z. 2019. Distributed human 3D pose estimation and action recognition.. Presented at: ROBIO 2019- International Conference on Robotics and Biomimetics, Dali, Yunnan, China, 6-8 December 20192019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 2316-2321., (10.1109/ROBIO49542.2019.8961741)
- Chen, J., Ji, Z., Niu, H., Setchi, R. and Yang, C. 2019. An auto-correction teleoperation method for a mobile manipulator using gaze tracking and hand motion detection. Presented at: 20th Towards Autonomous Robotic Systems Conference (TAROS), London, UK, 3-5 July 2019TAROS 2019: Towards Autonomous Robotic Systems, Vol. 11650. Springer pp. 422-433., (10.1007/978-3-030-25332-5_36)
- Yao, H., Wen, J., Ren, Y., Wu, B. and Ji, Z. 2019. Low-cost measurement of industrial shock signals via deep learning calibration. Presented at: International Conference on Acoustics, Speech, and Signal Processing, Brighton, UK, 12-17 May 2019ICASSP IEEE International Conference on Acoustics, Speech and Signal Processing. IEEE pp. 2892-2896., (10.1109/ICASSP.2019.8682484)
- Liu, H., Liu, G., Tian, G., Xin, S. and Ji, Z. 2019. Visual SLAM based on dynamic object removal. Presented at: IEEE Robio 2019, Dali, China, 6-8 December 20192019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 596-601., (10.1109/ROBIO49542.2019.8961397)
- Luo, Y., Liu, G., Liu, H., Liu, T., Tian, G. and Ji, Z. 2019. Simultaneous monocular visual odometry and depth reconstruction with scale recovery. Presented at: IEEE Robio 2019, Dali, China, 6-8 December 20192019 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE pp. 682-687., (10.1109/ROBIO49542.2019.8961701)
- Wu, J. and Ji, Z. 2018. Seeing the unseen: Locating objects from reflections. Presented at: 19th Towards Autonomous Robotic Systems (TAROS) Conference, Bristol, UK, 25- 27 July 2018.
- Ji, Z., Schruoffeneger, R. and Setchi, R. 2018. Autonomous 3D scene understanding and exploration in cluttered workspaces using point cloud data. Presented at: 2018 IEEE 15th International Conference on Networking, Sensing and Control (ICNSC), Zhuhai, China, 27-29 March 20182018 IEEE 15th International Conference on Networking, Sensing and Control (ICNSC). IEEE, (10.1109/ICNSC.2018.8361275)
- Ji, Z. and Huang, Y. 2017. Autonomous boat dynamics: How far away is simulation from the high sea?. Presented at: OCEANS 2017, Aberdeen, 19 - 22 June 2017OCEANS 2017 - Aberdeen. IEEE, (10.1109/OCEANSE.2017.8084927)
- Haworth, C., Evans, J., Ji, Z., Taylor, R. and Martin, D. 2016. An open software framework for adaptive, autonomous operation of maritime autonomous systems. Presented at: OCEANS 2016 MTS/IEEE Monterey, Monterey, CA, 19-23 September 2016OCEANS 2016 MTS/IEEE Monterey. IEEE, (10.1109/OCEANS.2016.7761329)
- Haworth, C., Evans, J., Dugan, K., Ji, Z. and Cotterell, S. 2016. UMS mission management for mixed fleets. Presented at: OCEANS'15 MTS/IEEE, Washington DC, 19-22 Oct 2015OCEANS 2015 - MTS/IEEE Washington. IEEE, (10.23919/OCEANS.2015.7404638)
- Ji, Z. et al. 2012. Towards automated task planning for service robots using semantic knowledge representation. Presented at: 2012 10th IEEE International Conference on Industrial Informatics (INDIN), Beijing, China, 25-27 July 2012INDIN2012: IEEE 10th International Conference on Industrial Informatics. Los Alamitos, CA: IEEE pp. 1194-1201., (10.1109/INDIN.2012.6301131)
- Qiu, R. et al. 2012. Towards robust personal assistant robots: Experience gained in the SRS project. Presented at: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vilamoura, Portugal, 7-12 October 2012Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. IEEE pp. 1651-1657., (10.1109/IROS.2012.6385727)
- Soroka, A. J., Qiu, R., Noyvirt, A. and Ji, Z. 2012. Challenges for service robots operating in non-industrial environments. Presented at: 2012 10th IEEE International Conference on Industrial Informatics (INDIN, Beijing, China, 25-27 July 2012Industrial Informatics (INDIN), 2012 10th IEEE International Conference on. IEEE pp. 1152-1157., (10.1109/INDIN.2012.6301139)
- Zhang, J., Ji, Z., Jiang, S., Liang, H., Sun, H., Wang, Z. and Tan, C. 2012. Configurations of laser interference lithography for 2D/3D nanostructures of optical functional materials. Presented at: 2012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), Shaanxi, China, 29 August - 1st September 20122012 International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO). pp. 169., (10.1109/3M-NANO.2012.6472999)
- Amirabdollahian, F., Robins, B., Dautenhahn, K. and Ji, Z. 2011. Investigating tactile event recognition in child-robot interaction for use in autism therapy. Presented at: 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA, 30 August - 3 September 20112011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE pp. 5347-5351., (10.1109/IEMBS.2011.6091323)
- Qiu, R. et al. 2011. Symbolic task planning for robot operations under unstructured environment. Presented at: 1st International Conference on Manipulation, Manufacturing and Measurement on the Nanoscale (3M-NANO), Changechun, China, 29th - 31st August 2011.
- Ji, Z., Amirabdollahian, F., Polani, D. and Dautenhahn, K. 2011. Histogram based classification of tactile patterns on periodically distributed skin sensors for a humanoid robot. Presented at: RO-MAN, Atlanta GA, USA, 31 Jul -3 Aug 2011. pp. 433., (10.1109/ROMAN.2011.6005261)
- Amirabdollahian, F., Robins, B., Dautenhahn, K. and Ji, Z. 2011. Investigating tactile event recognition in child-robot interaction for use in autism therapy. Presented at: 2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, Boston, MA, USA, 30 August - 3 September 2011. pp. 5347., (10.1109/IEMBS.2011.6091323)
- Robinson, B., Amirabdollahian, F., Ji, Z. and Dautenhahn, K. 2010. Tactile interaction with a humanoid robot for children with autism: A case study analysis involving user requirements and results of an initial implementation. Presented at: 19th International Symposium in Robot and Human Interactive Communication, Viareggio, 13-15 September 201019th International Symposium in Robot and Human Interactive Communication. pp. 704., (10.1109/ROMAN.2010.5598641)
- Yang, M., Pham, D., Al-Kutubi, M., Ji, Z. and Wang, Z. 2009. A new computer interface based on in-solid acoustic source localization. Presented at: 7th IEEE International Conference on Industrial Informatics, Cardiff, UK, 23-26 Jun 2009. , (10.1109/INDIN.2009.5195791)
- Meunier, M. et al. 2009. Interference lithography processes with high-power laser pulses. Presented at: SPIE LASE: Lasers and Applications in Science and Engineering, San Jose, California, 2009 Presented at Meunier, M. et al. eds.Laser Applications in Microelectronic and Optoelectronic Manufacturing VII, Vol. 7201. International Society for Optical Engineering; 1999 pp. 72010R., (10.1117/12.808834)
- Ji, Z. et al. 2009. Quality inspection of nanoscale patterns produced by Laser Interference Lithography using image analysis techniques. Presented at: 2009 International Conference on Mechatronics and Automation, Changchun, China, 9-12 August 20092009 International Conference on Mechatronics and Automation. IEEE pp. 1835-1840., (10.1109/ICMA.2009.5246458)
- Pham, D., Ji, Z., Peyroutet, O., Yang, M., Wang, Z. and Al-kutubi, M. 2007. Localisation of impacts on solid objects using the wavelet transform and maximum likelihood estimation. Presented at: 2nd I*PROMS Virtual International Conference, Internet, 3-14 July 2006 Presented at Pham, D. ed.Intelligent Production Machines and Systems - 2nd I*PROMS Virtual International Conference. Elsevier pp. 541-547., (10.1016/B978-008045157-2/50095-X)
Thesis
- Ji, Z. 2007. Development of tangible acoustic interfaces for human computer interaction. PhD Thesis, Cardiff University.
Research
We envisage an enhanced robot cognitive capability through deploying advanced multi-modal perceptual capabilities from sensors of vision, tactile, lidar, etc, and continuous self-learning to understand the environment in 3D, predict situations via machine/deep learning, and support humans for real-world problems. We aim to endow a higher level of autonomy to robots and unmanned systems, providing capabilities of advanced situation awareness, multi-modal sensing, robot active learning, localisation and mapping, optimal path planning, and multiple robot collaboration.
My group’s research interests can be loosely divided into the following areas:
- Deep Reinforcement Learning for robot navigation and manipulation
- State Estimation, e.g. Visual SLAM and Visual Odometry
- Sensor-guided autonomous robot navigation and manipulation
- Multi-modal robot sensing, such as robot vision, tactile sensing, etc.
- Computer Vision and Data-driven learning-based methods for smart manufacturing, including in-situ monitoring, surface 3D metrology, robotic assembly and so on
Contracts
|
Investigators |
Sponsor |
Value |
Title |
Duration |
|
As Co-I, responsible for works related to Robotics and Autonomous Systems. Led by Dr Oliver Castell (PI) from School of Pharmacy and Pharmaceutical Sciences Other ENGIN Co-I: Jin Li, David Barrow (Microfluidic, Synthetic Biology) Other Co-Is: Prof Eshwar Mahenthiralingam, Prof Jim Murray, Prof Colin Berry |
UKRI BBSRC (Engineering Biology Mission Awards project) |
£1.6M Total |
Agriculture Living Machine of Operatable Nano-Droplets (ALMOND) |
2024-2026 |
|
Ze Ji (Academic Champion) |
Royal Academy of Engineering |
30,000 |
Royal Academy of Engineering Visiting Professor for Raphael Grech (Spirent) |
Sep 2023 - Sep 2026 |
|
Ze Ji |
DTII, Cardiff University |
4,000 |
Enhancing Autonomous Systems with Multi-Modal Sensor-based Environment Digitalisation: Ensuring Safety, Security, and Reliability |
June 2023 - July 2023 |
|
Ze Ji |
DTP (EPSRC) (PhD Studentship) |
£76,000 |
Robot Learning for Manipulation |
Oct 2023 - Apr 2027 |
|
Ze Ji |
Royal Academy of Engineering Industrial Fellowship |
50,000 |
Active Perception and Learning for Autonomous Navigation |
Sep 2022 - Sep 2024 |
|
Ze Ji, Yukun Lai |
EPSRC (New Horizons) |
£250k |
PHYDL: Physics-informed Differentiable Learning for Robotic Manipulation of Viscous and Granular Media |
Jan 2023 - Dec 2024 |
|
Haijiang Li, Abhishek Kundu, Ze Ji (CoI) Industry partners: Centregreat Rail, Crouch Waterfall, Centregreat Engineering) |
SmartExpertise |
£111,884 |
DIGIBRIDGE: Physics-informed digital twin supported smart bridge maintenance |
Nov 2021 - Dec 2022 |
|
Ze Ji |
Industry (Spirent) - Full-time PhD studentship |
£32,000 |
Reinforcement Learning for autonomous navigation with GNSS-based localisation |
2021 - 2024 |
|
Haijiang Li, Ze Ji (Co-I, Knowledge Supervisor), Abhishek Kundu |
Innovate UK/KTP |
£280,000 |
BIM and Digital Twins in support of Smart Bridge Structural Surveying |
Sep 2021-Sep 2024 |
|
Ze Ji |
Royal Society |
£17,812 |
Active Robot Learning for Subtractive, Formative, and Additive Manipulations of Granular and Viscous Materials |
09 Mar 2020 - 08 Mar 2021 |
|
Setchi, R., Ji, Z., (ENGIN) Jones, D., Morgan, P., (PSYCH) Allen, S., Eslambolchilar, P. (COMSC) |
ERDF/WEFO |
£4,600,000 (including match funding from Cardiff University) |
Research Centre in AI, Robotics and Human-Machine Systems (IROHMS) |
1 Apr 19 – 1 Sept 23 |
|
Bigot, S., Ji, Z., Packianather, M., Kerfriden, P. |
EU H2020 |
€ 476,000 |
Additive Manufacturing using Metal Pilot Line (MANUELA) |
Oct 2018 - Sep 2022 |
|
Setchi, R., Ji, Z., Evans, S. |
Endevr/Airbus |
£61,000 |
Deep Learning Enabled Wing Box Inspection (DEWI) |
1 Jul 19 – 30 Sep 19 |
|
Ji Z (PI), Setchi R, Bigot S |
Renishaw and Cardiff University Strategic Fund |
£39,986 |
3D characterisation of ALM processes |
01 Apr 2019 - 31 Mar 2020 |
|
Ji Z (PI), Wu J, Setchi R. |
Renishaw and Cardiff University Strategic Fund |
£40,000 cash funding from the strategic partnership fund (total project value: £101,332) |
Pushing the boundary of vision-based 3D surface imaging |
01 Apr 2018 - 31 Mar 2019 |
|
Setchi R., Ji Z. |
WEFO through ASTUTE and Industry |
£884,673 including £652,661 from Continental and £232,012 from WEFO |
Additive Manufacturing and Robotics to Support Improved Response to Increased Flexibility |
02 Feb 2018 – 01 Feb 19 |
Dataset
1. Title: GNSS Combined Vehicular Measurements (2024)
Authors: Timothy Pelham (University of Bristol), Yixin Chen, Shun Liu, Ze Ji (Cardiff University), Esther Anyaegbu, Ronald Wong, Raphael Grech (Spirent)
Link: https://data.bris.ac.uk/data/dataset/33bzdi4wbwhhg2cznap5gl3hns
2. Title: MirrEnv: a benchmarking dataset for visual SLAM in mirror environments (2023)
Authors: Peter Herbert, Jing Wu, Ze Ji, Yukun Lai.
Link: https://doi.org/10.17035/d.2023.0292477898
Research Areas
Robot Reinforcement Learning:
Reinforcement Learning is a new emerging area that paves a new direction to allow robots to learn new skills for situations when hand-coding is not suitable.
The current work aims to research and develop a self-learning system for a robot to manipulate objects in cluttered workspace for tasks that require multiple steps.
Watch a video of the research on YouTube
Watch a video of the research on YouTube
The following video shows the work of using Reinforcement Learning to train a robot to navigate and avoid collision.
Watch the video of the research on YouTube
Watch the video of the research on YouTube
Mobile Robots:
One of my most valuable experience in this area is the work on the Dyson 360 Robot project. My interests include Robot Autonomous Navigation, Visual SLAM, Visual Servoing, and Vision Odometry
Watch a video of the research on YouTube
Another project is the EU FP7 project, SRS, which focused on the development and prototyping of remotely-controlled, semi-autonomous robotic solutions in domestic environments to support elderly people.
Autonomous Vehicles:
As part of my teaching activities (Mechatronics module), I led a few team of students in the past years to build USVs (Unmanned Surface Vehicle) and UAVs.
Watch a video of the research on YouTube
Related research includes robot behaviours, such as computer vision and sensor fusion for collision avoidance, vehicle collaboration, situation awareness and action planning.
Sensing (Acoustic Localisation for Human Computer Interaction):
This is my very early research for my PhD project, which is part of a EU FP6 project, "Tangible Acoustic Interfaces for Computer Human Interaction".
Tactile Sensing and Human Robot Interaction:
This is also my early research working as a research fellow for the EU FP7 project, RoboSkin, developing machine learning algorithms for recognising the types of human touch using large scale tactile sensors.
Teaching
2022-now
- EN4110 Mechatronics Design
2019-2022
- EN3062 Robotics and Image Processing (Module leader)
- EN4062 Advanced Robotics (Module leader)
- EN4110 Mechatronics Design
2018-2019
- EN4110 Mechatronics Design
- EN3062 Robotics and Image Processing
- EN4062 Advanced Robotics
- ENT604 Measurement Systems (Module Leader)
2017-2018
- EN4100 Mechatronics Design
- EN4062 Advanced Robotics
- ENT604 Measurement Systems (Module Leader)
2016-2017
- EN4100 Mechatronics Design
- ENT604 Measurement Systems
- Others, including Design and Lab
Biography
Education
- 2007: PhD (Systems Engineering) Cardiff University, Cardiff, UK
- 2003: MSc (Computer Science) University of Birmingham, Birmingham, UK
- 2001: BEng (Electronic Engineering), Jilin University, China
Honours and awards
- Our paper "PnuTac: Vision based pneumatic tactile sensor for slip detection and object classification" was awarded the Best Conference Paper at the 29th IEEE International Conference on Mechatronics and Machine Vision in Practice M2VIP 2023 at Queenstown, New Zealand.
- Our paper "RPS-Net: Indoor Scene Point Cloud Completion using RBF-Point Sparse Convolution" was awarded The Terry Hewitt Prize: Best Student Technical Paper at the CGVC 2023 conference. https://lnkd.in/dsWQYMHJ
- The paper titled “Anisotropic GPMP2: A Fast Continuous-Time Gaussian Processes Based Motion Planner for Unmanned Surface Vehicles in Environments With Ocean Currents”, has been awarded IEEE Transactions on Automation Science and Engineering Best New Application Paper Award, as the single awardee in the 2023 round (https://www.ieee-ras.org/awards-recognition/publications-awards?view=article&id=67:the-best-new-application-paper-award&catid=70:publication-awards)
- Won the best Exhibit for the EU FP6 project TAI-CHI "Tangible Acoustic Interface for Human Computer Interaction" in EC IST Exhibition, Helsinki, Finland, 2006
- Best paper award, TAROS, Bristol, 2018
- Second Prize in the International Marine Vehicle Design and Construction Invitational Contest 2019, Harbin, China
Professional memberships
- Member of IEEE
- Member of the British Machine Vision Association (BMVA)
- Fellow of The Higher Education Academy (FHEA)
- Member of The Society of Research Software Engineering
Academic positions
- 2020 - present: Senior Lecturer of robotics and autonomous systems, Cardiff University
- 2016 - 2020: Lecturer of robotics and autonomous systems, Cardiff University
- 2014 - 2016: Unmanned Systems Engineer (R&D), ASV ltd
- 2013 - 2014: Robotics Systems Engineer (R&D), Dyson Ltd
- 2009 - 2011: Research Fellow, Adaptive System Research Group, University of Hertfordshire
- 2007 - 2013: Research Fellow, Cardiff University
Speaking engagements
- Invited keynote talk at the IEEE ISRIMT 2021 conference organised by Hohai University, China.
- Interviewed by BBC Radio Wales - Science Cafe (https://www.bbc.co.uk/programmes/m000l14c) 21 July 2020
- Invited Speaker at CoInnovate, Cardiff (http://coinnovate.co.uk/speakers/), 24 Jan 2018
- Invited talks to several universities, including Essex University, Waikato University, Nankai University, Shandong University etc (2018 – 2021)
Committees and reviewing
- Technical Editor of the IEEE/ASME Transactions on Mechatronics (since Dec 2024)
- Committee member for the IEEE RO-MAN 2024 Conference
- External PhD examiner for the University of Hertfordshire, University of Gloucester, and University of Birmingham (2024)
- External PhD examiner for the University of Manchester (2023)
- External PhD examiner for the University of Birmingham (2022)
- External PhD examiner for University College, London (2021)
- Associate Editor of Robotics and Autonomous Systems section of the “Proceedings of the Institution of Mechanical Engineers, Part C (JMES)” (since 2021)
- Technical Program Committee of the IEEE ISRIMT 2021 (The 3rd international symposium on Robotics and Intelligent Manufacturing Technology) conference organised by Hohai University, China.
- Regional chair and session chair of IEEE ICCSE 2021
- Associate Editor of IEEE Access (since 2020)
- International Programme Committee of KES 2021 conference
- Committee member for the BMVC2019 (Sponsorship Chair)
- Reviewer of several international journals and conferences, including
- IEEE Sensors Journal,
- IEEE Transactions on Robotics
- IEEE Transactions on Automation Science and Engineering
- IEEE Transactions on Neural Networks and Learning Systems
- IEEE Robotics and Automation Letters (RAL)
- Journal of Field Robotics
- Robotics and Computer-Integrated Manufacturing
- Measurement Science and Technology,
- several major conferences, including ICRA, IROS, CASE etc
Supervisions
I am interested in supervising PhD students in the areas of:
- Robot Learning (Deep Reinforcement Learning)
- State Estimation for autonomous navigation, e.g. SLAM, VO
- Robotic Perception / Sensing / Visual Servoing for grasping and manipulation
- Computer Vision / 3D Imaging
- Tactile Sensing
Current Supervision
Current PhD students at Cardiff University:
- Yan Gao (2020 - ): Deep Reinforcement Learning-based autonomous exploration with hierarchical spatial representation
- Fraser McGhan (2021 - ): Deep Reinforcement Learning for robust autonomous navigation with GNSS-based localisation
- Yixin Chen (2021 - , MPhil): Visual SLAM for autonomous navigation
- Boliang Cai (2021 -): Safe Reinforcement Learning for Robotics
- (Co-Supervisor) Peter Herbert (2020 - ): Visual SLAM
- (Co-Supervisor) Jingwen Sun (2020 - ): Relational-learning for object-level scene representation and navigation
External Student Supervision:
MSc students in collaboration with the University of Antwerp:
- Ms Daniëlle Jongstra: Learning-based Robot Social Navigation (2021-2022)
- Mr Wei Wei: Grasping Regions through Learning and Computer Vision Techniques (2021-2022)
- Mr Kristof Egghe: Robot Manipulation in Clutter with Deep Reinforcement Learning (2021-2022)
MSc/PhD students in collaboration with National University of Colombia:
- Mr Juan S. Hernandez Reyes (MSc student): Reinforcement Learning for Robot Navigation (current, 2021 - now)
Current supervision
Njuod Alsudays
Research student
LÉopold Le Roux
Research student
Yan Gao
Research student
Boliang Cai
Graduate Demonstrator
Meiyuan Gong
Graduate Demonstrator
Fraser McGhan
Graduate Demonstrator
Past projects
- Xintong Yang (Oct 2019 - Sep 2023) Robotic Object Manipulation via Hierarchical and Affordance Learning, PhD Awarded. (Main Supervisor)
- Francisco Munguia Galeano (2020 - 2024) Enhancing Reinforcement Learning with a Context-based Approach (Main Supervisor)
- Feiqiang Lin (2019 - 2024): Deep Reinforcement Learning for fail-safe localisation navigation (Main Supervisor)
- Prasad Rayamane (2019 - ): Optical Tactile Sensing for manipulation (Main Supervisor)
Contact Details
JiZ1@cardiff.ac.uk
+44 29208 70017
Queen's Buildings - South Building, Room Room S/3.07, 5 The Parade, Newport Road, Cardiff, CF24 3AA
+44 29208 70017
Queen's Buildings - South Building, Room Room S/3.07, 5 The Parade, Newport Road, Cardiff, CF24 3AA
Research themes
Specialisms
- Field robotics
- Intelligent robotics
- Reinforcement learning
- Autonomous Systems
- physics-informed machine learning
