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You Wang

Publications
38
Citations
134
Publications by Year
20192025
Co-Authors:
Show All Co-Authors (56)
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You Wang

Affiliation

State Key Laboratory of Industrial Control Technology
Institute of Cyber Systems and Control
Zhejiang University, Hangzhou, China

Publication Topics

Biography

You Wang (Member, IEEE) received the Ph.D. degree in biomedical engineering from Zhejiang University. He is an Associate Professor at the College of Control Science and Engineering, Zhejiang University. His research interests are biosensors, gas sensors, and their application in industry and medical device.(Based on document published on 3 August 2021).
Publications
38
Citations
134
Publications by Year
20192025
Co-Authors:
Show All Co-Authors (56)
Author's Published Works

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An Online System Identification Algorithm for Spherical Robot Using the Koopman Theory

Xiaoqing Guan;You Wang;Xiaomeng Kang;Wei Yao;Jin Zhang;Guang Li

IEEE Robotics and Automation Letters
Year: 2025 | Early Access Article |
This letter proposes a novel linear online identification framework for the spherical robot to address the modeling difficulties posed by nonlinearity and time-varying characteristics. Firstly, the Koopman theory is applied to the spherical robot to build a linear model to approximate the nonlinearity. After selecting a set of observables based on spherical robots' dynamics, the model is identifie...Show More

An Online System Identification Algorithm for Spherical Robot Using the Koopman Theory

Xiaoqing Guan;You Wang;Xiaomeng Kang;Wei Yao;Jin Zhang;Guang Li

Year: 2025 | Early Access Article |

Adaptive MPC-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots

Yifan Liu;Tao Hu;Xiaoqing Guan;Yixu Wang;Bixuan Zhang;You Wang;Guang Li

IEEE/ASME Transactions on Mechatronics
Year: 2025 | Early Access Article |
Multi-terrain trajectory tracking control is a prerequisite for robots to execute tasks in the wild and unknown environments. However, due to the uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots, such as spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Thus, an efficient online adaptive ...Show More

Adaptive MPC-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots

Yifan Liu;Tao Hu;Xiaoqing Guan;Yixu Wang;Bixuan Zhang;You Wang;Guang Li

Year: 2025 | Early Access Article |

A Joint Prediction Method of Multi-Agent to Reduce Collision Rate

Mingyi Wang;Hongqun Zou;Yifan Liu;You Wang;Guang Li

2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
Predicting future motions of road participants is an important task for driving autonomously. Most existing models excel at predicting the marginal trajectory of a single agent, but predicting joint trajectories for multiple agents that are consistent within a scene remains a challenge. Previous research has often focused on marginal predictions, but the importance of joint predictions has become ...Show More

A Joint Prediction Method of Multi-Agent to Reduce Collision Rate

Mingyi Wang;Hongqun Zou;Yifan Liu;You Wang;Guang Li

Year: 2024 | Conference Paper |

Trajectory Planning for Spherical Robot Based on Differential Flatness

Heng Ping;Pengyang Fu;Xiaoqing Guan;You Wang;Guang Li

2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
The spherical robot epitomizes an underactuated and non-holonomic system, where the control input is less than the system's degrees of freedom, thus rendering navigation and control complex. To equip the spherical robot with the ability to navigate various environments, perform multi-scene inspection tasks, and dynamically update its motion path in real time, necessitating the exploration of a pat...Show More

Trajectory Planning for Spherical Robot Based on Differential Flatness

Heng Ping;Pengyang Fu;Xiaoqing Guan;You Wang;Guang Li

Year: 2024 | Conference Paper |

LVIO-MOT: Online Lidar-Visual-Inertial Odometry with Multiple Object Tracking

Haoxiang Liu;You Wang;Yanlin Zhou

2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
Previous research has demonstrated that combining Simultaneous Localization and Mapping (SLAM) and Multiple Object Tracking (MOT) yields better performance than using either one alone. In this paper, we present LVIO-MOT, an online stereo lidar-visual-inertial odometry which simultaneously tracks poses of objects while performing robot ego-motion tracking. LVIO-MOT consists of the visual-inertial s...Show More

LVIO-MOT: Online Lidar-Visual-Inertial Odometry with Multiple Object Tracking

Haoxiang Liu;You Wang;Yanlin Zhou

Year: 2024 | Conference Paper |

Model Predictive Control for Trajectory Tracking of the Spherical Robot Based on the Koopman Theory

Xiaoqing Guan;Pengyang Fu;Junjie An;Xiaomeng Kang;You Wang;Guang Li

2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
To improve the trajectory tracking ability of the high nonlinear spherical robot, this paper proposes a model predictive trajectory tracker that considers the kino-dynamic model (KDMPC). Utilizing data identification algorithm based on the Koopman theory, we derived an equivalent linear approximated dynamic model. The kinematic model is linearized by the Taylor expansion. Consequently, the nonline...Show More

Model Predictive Control for Trajectory Tracking of the Spherical Robot Based on the Koopman Theory

Xiaoqing Guan;Pengyang Fu;Junjie An;Xiaomeng Kang;You Wang;Guang Li

Year: 2024 | Conference Paper |

New End to End Trajectory Tracking Controller for Spherical Robot Based on Feedback Linearization and Singular Perturbation

Pengyang Fu;Heng Ping;Xiaoqing Guan;You Wang;Guang Li

2024 China Automation Congress (CAC)
Year: 2024 | Conference Paper |
The dynamic model of a spherical robot exhibits nonlinearity and underactuation, posing significant challenges for model-based trajectory tracking control. Previous control methods often required two cascaded controllers to compute the motor torques needed for trajectory tracking. Additionally, controllers using Taylor series expansion-based linearization methods could only maintain high accuracy ...Show More

New End to End Trajectory Tracking Controller for Spherical Robot Based on Feedback Linearization and Singular Perturbation

Pengyang Fu;Heng Ping;Xiaoqing Guan;You Wang;Guang Li

Year: 2024 | Conference Paper |

SOMTP: A Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics

Yifan Liu;You Wang;Guang Li

IEEE Robotics and Automation Letters
Year: 2024 | Volume: 9, Issue: 11 | Journal Article |
Model Predictive Control (MPC)-based trajectory planning has been widely used in robotics, and incorporating Control Barrier Function (CBF) constraints into MPC can greatly improve its obstacle avoidance efficiency. Unfortunately, traditional optimizers are resource-consuming and slow to solve such non-convex constrained optimization problems (COPs) while learning-based methods struggle to satisfy...Show More

SOMTP: A Self-Supervised Learning-Based Optimizer for MPC-Based Safe Trajectory Planning Problems in Robotics

Yifan Liu;You Wang;Guang Li

Year: 2024 | Volume: 9, Issue: 11 | Journal Article |

SwinTaste: Bimodal Biosignals Taste Sensation Recognition via Swin Transformer

Han Gao;Shuo Zhao;You Wang;Jin Zhang;Wei Yao;Zhiyuan Luo;Guang Li

2024 International Joint Conference on Neural Networks (IJCNN)
Year: 2024 | Conference Paper |
Objective assessment of taste sensation is essential for medical diagnosis, food development, and multisensory interaction. Human taste sensation can be characterized through biosignals such as electroencephalography (EEG) and electromyography (EMG). However, taste sensation recognition on multiple-subject datasets remains challenging due to the low signal-to-noise ratio and substantial individual...Show More

SwinTaste: Bimodal Biosignals Taste Sensation Recognition via Swin Transformer

Han Gao;Shuo Zhao;You Wang;Jin Zhang;Wei Yao;Zhiyuan Luo;Guang Li

Year: 2024 | Conference Paper |

A Hybrid Wireless Electrodeless QCM-D for the Discrimination of Volatile Organic Compounds

Ruifen Hu;Xuefei Su;Ye Wang;You Wang;Adrian Carl Stevenson;Guang Li

IEEE Transactions on Instrumentation and Measurement
Year: 2024 | Volume: 73 | Journal Article |
Cited by: Papers (4)
The chemical selectivity and the sensor replacements challenge the applications of electronic noses (E-noses) in the detection of complex odors in natural environments. A hybrid of virtual sensor array (VSA) and multisensor array (MSA) was proposed in this article to enhance the selectivity of an E-nose by operating one of the sensor units at multiparameters instead of adding more sensors conventi...Show More

A Hybrid Wireless Electrodeless QCM-D for the Discrimination of Volatile Organic Compounds

Ruifen Hu;Xuefei Su;Ye Wang;You Wang;Adrian Carl Stevenson;Guang Li

Year: 2024 | Volume: 73 | Journal Article |

Research on Amphibious Spherical Robot with Water Surface Posture Self-Stabilization

Hongqun Zou;Boyu Lin;Xuzhi Cao;Fengqi Zhang;Ziang Zhang;You Wang

2023 China Automation Congress (CAC)
Year: 2023 | Conference Paper |
This paper presents an amphibious spherical robot with water surface posture stability. The robot is equipped with two sets of propulsion systems: an internal pendulum and a pair of main-secondary motors for rolling motion, and external left and right propellers for water surface propulsion motion. To enable autonomous motion of the water surface spherical robot, a path planning framework is desig...Show More

Research on Amphibious Spherical Robot with Water Surface Posture Self-Stabilization

Hongqun Zou;Boyu Lin;Xuzhi Cao;Fengqi Zhang;Ziang Zhang;You Wang

Year: 2023 | Conference Paper |

Pose Estimation for Spherical Robot with Kinematics-Based Encoder-Inertial Odometry

Song Jin;Wei Ren;Ziang Zhang;Yixu Wang;You Wang;Guang Li

2023 China Automation Congress (CAC)
Year: 2023 | Conference Paper |
The spherical robot based on pendulum is a novel type of mobile robot whose motion is realized by changing the center of mass. Since the exteroceptive sensors such as camera and LiDAR are significantly hindered or even uninformative inside the spherical shell, the pose estimation for spherical robot is challenging. In this paper, we present a concise kinematic model for pendulum-driven spherical r...Show More

Pose Estimation for Spherical Robot with Kinematics-Based Encoder-Inertial Odometry

Song Jin;Wei Ren;Ziang Zhang;Yixu Wang;You Wang;Guang Li

Year: 2023 | Conference Paper |

Discrete States-Based Trajectory Planning for Nonholonomic Robots

Ziyi Zou;Ziang Zhang;Zhen Lu;Xiang Li;Mingyi Wang;You Wang;Jie Hao;Guang Li

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2023 | Conference Paper |
Due to nonholonomic dynamics, the motion planning of nonholonomic robots is always a difficult problem. This letter presents a Discrete States-based Trajectory Planning(DSTP) algorithm for autonomous nonholonomic robots. The proposed algorithm represents the trajectory as x and y positions, orientation angle, longitude velocity and acceleration, curvature, and time intervals. More variables make t...Show More

Discrete States-Based Trajectory Planning for Nonholonomic Robots

Ziyi Zou;Ziang Zhang;Zhen Lu;Xiang Li;Mingyi Wang;You Wang;Jie Hao;Guang Li

Year: 2023 | Conference Paper |

Autonomous Trajectory Planning Based on Bézier Curve with Curvature Constraints and Piecewise-Jerk Speed-Time Optimization

You Wang;Ziyi Zou;Ziang Zhang;Xiaoqing Guan;Boyu Lin;Xiang Li;Guang Li

2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2023 | Conference Paper |
In this paper, we propose an efficient trajectory planning algorithm with path smoothing based on the Bézier curve with curvature constraints and piecewise-jerk speed-time optimization. We use hybrid A* to generate a rough path and construct a safe corridor by inflating the path. After that, we formulate the smooth problem as a nonlinear programming(NLP) with piecewise Bézier curves. Since the cur...Show More

Autonomous Trajectory Planning Based on Bézier Curve with Curvature Constraints and Piecewise-Jerk Speed-Time Optimization

You Wang;Ziyi Zou;Ziang Zhang;Xiaoqing Guan;Boyu Lin;Xiang Li;Guang Li

Year: 2023 | Conference Paper |

Adaptive and Robust Terrain Classification Control Algorithm for a Spherical Robot

Yixu Wang;Yifan Liu;Boyu Lin;Xiaoqing Guan;Tao Hu;Ziang Zhang;You Wang;Guang Li

IECON 2023- 49th Annual Conference of the IEEE Industrial Electronics Society
Year: 2023 | Conference Paper |
This article proposes an adaptive and robust terrain classification control algorithm for a pendulum-driven spherical robot, aiming to solve the problem of insufficient control accuracy caused by using the same controller for different terrains. The common terrains are classified into three categories, and a terrain classification dataset is established based on the vibration signal of the robot. ...Show More

Adaptive and Robust Terrain Classification Control Algorithm for a Spherical Robot

Yixu Wang;Yifan Liu;Boyu Lin;Xiaoqing Guan;Tao Hu;Ziang Zhang;You Wang;Guang Li

Year: 2023 | Conference Paper |

Camera-Lidar-Based Terrain Multi-type Classification Using Both Spatial and Histogram Features of Lidars

Zhen Lu;Mingyi Wang;Shuyang Yu;Yi Wu;You Wang;Guang Li

2023 3rd International Conference on Computer, Control and Robotics (ICCCR)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Terrain classification is a necessary and difficult task for all off-road robots. Most existing methods use images or proprioceptive sensors for recognition. However, while taking proprioceptive sensors as input requires more actual contact (which also means risks), images are susceptible to ambient light change. We also found that a combination of multiple optical channels in Lidars is quite usef...Show More

Camera-Lidar-Based Terrain Multi-type Classification Using Both Spatial and Histogram Features of Lidars

Zhen Lu;Mingyi Wang;Shuyang Yu;Yi Wu;You Wang;Guang Li

Year: 2023 | Conference Paper |

Path Planning for Autonomous Driving with Curvature-considered Quadratic Optimization

Ziang Zhang;Ziyi Zou;Xiang Li;Mingyi Wang;Yixu Wang;Xiaoqing Guan;You Wang;Guang Li

2023 IEEE Intelligent Vehicles Symposium (IV)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Path planning is a crucial module in motion planning for autonomous driving, aiming at generating kinematically feasible and collision-free paths. Furthermore, the smoothness of generated path is significant for passengers’ comfortable feelings. In this paper, we propose an improved quadratic programming approach that generates optimal paths in urban structure scenarios with the Frenét frame, taki...Show More

Path Planning for Autonomous Driving with Curvature-considered Quadratic Optimization

Ziang Zhang;Ziyi Zou;Xiang Li;Mingyi Wang;Yixu Wang;Xiaoqing Guan;You Wang;Guang Li

Year: 2023 | Conference Paper |

Basic Taste Sensation Recognition From EEG Based on Multiscale Convolutional Neural Network With Residual Learning

Han Gao;Shuo Zhao;Huiyan Li;Li Liu;Hengyang Wang;You Wang;Zhiyuan Luo;Jin Zhang;Guang Li

IEEE Transactions on Instrumentation and Measurement
Year: 2023 | Volume: 72 | Journal Article |
Cited by: Papers (8)
Taste sensation recognition is a keystone for taste-related brain–computer interface (BCI). A commonly used measurement of brain activity in response to specific stimulation is through electroencephalography (EEG) signals. However, it remains challenging to develop accurate and generalizable EEG-based measurement for human taste sensations. This article proposes EEG-MSRNet, a novel fully convoluti...Show More

Basic Taste Sensation Recognition From EEG Based on Multiscale Convolutional Neural Network With Residual Learning

Han Gao;Shuo Zhao;Huiyan Li;Li Liu;Hengyang Wang;You Wang;Zhiyuan Luo;Jin Zhang;Guang Li

Year: 2023 | Volume: 72 | Journal Article |

Silent Speech Interface With Vocal Speaker Assistance Based on Convolution-Augmented Transformer

Huiyan Li;Yihao Liang;Han Gao;Li Liu;You Wang;Daqi Chen;Zhiyuan Luo;Guang Li

IEEE Transactions on Instrumentation and Measurement
Year: 2023 | Volume: 72 | Journal Article |
Cited by: Papers (1)
Silent Speech Interface (SSI) based on neuromuscular signals has become popular in Human–Computer Interaction. Articulatory neuromuscular activity can be captured with surface electromyography (sEMG). However, in the absence of acoustic sounds, it remains challenging to convert the articulatory neuromuscular signals of silent speakers into corresponding audio. This article proposes a Mandarin-base...Show More

Silent Speech Interface With Vocal Speaker Assistance Based on Convolution-Augmented Transformer

Huiyan Li;Yihao Liang;Han Gao;Li Liu;You Wang;Daqi Chen;Zhiyuan Luo;Guang Li

Year: 2023 | Volume: 72 | Journal Article |

Bimodal Fusion Network for Basic Taste Sensation Recognition from Electroencephalography and Electromyography

Han Gao;Shuo Zhao;Huiyan Li;Li Liu;You Wang;Ruifen Hu;Jin Zhang;Guang Li

ICASSP 2023 - 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP)
Year: 2023 | Conference Paper |
Cited by: Papers (1)
Taste sensation can be objectively measured using electroencephalography (EEG) or electromyography (EMG). How-ever, it is still challenging to effectively utilize the complementary information from EEG and EMG signals in taste sensation recognition. This paper proposes a bimodal fusion network (Bi-FusionNet) for recognizing basic taste sensations (sour, sweet, bitter, salty, umami, and blank). Two...Show More

Bimodal Fusion Network for Basic Taste Sensation Recognition from Electroencephalography and Electromyography

Han Gao;Shuo Zhao;Huiyan Li;Li Liu;You Wang;Ruifen Hu;Jin Zhang;Guang Li

Year: 2023 | Conference Paper |

Basic Taste Intensity Recognition based on sEMG and EEG Signals

Shuo Zhao;Han Gao;Hengyang Wang;Huiyan Li;You Wang;Guang Li

2022 China Automation Congress (CAC)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
In recent years, brain-computer interfaces based on sEMG and EEG have made progress in taste sensation recognition, but mainly focus on the classification of different tastes. This paper designs and carries out experiments to record the sEMG and EEG signals of different intensities of the five basic tastes stimulus: sour, sweet, bitter, salty and umami. Then time and frequency domain features are ...Show More

Basic Taste Intensity Recognition based on sEMG and EEG Signals

Shuo Zhao;Han Gao;Hengyang Wang;Huiyan Li;You Wang;Guang Li

Year: 2022 | Conference Paper |

Feature Extraction and Feature Combination for Basic Taste Sensation Recognition Based on Facial Electromyography

Han Gao;Shuo Zhao;Huiyan Li;Hengyang Wang;You Wang;Guang Li

2022 China Automation Congress (CAC)
Year: 2022 | Conference Paper |
Cited by: Papers (1)
Taste sensation recognition is valuable for developing virtual taste and the early diagnosis of taste system disorders. Electromyography (EMG) can characterize the information of taste sensation and have the advantages of a high signal-to-noise ratio and easy acquisition. This paper presents feature extraction and feature combination methods for taste sensation knowledge based on facial EMG. The t...Show More

Feature Extraction and Feature Combination for Basic Taste Sensation Recognition Based on Facial Electromyography

Han Gao;Shuo Zhao;Huiyan Li;Hengyang Wang;You Wang;Guang Li

Year: 2022 | Conference Paper |

Optimal Velocity Control of Spherical Robots Based on Offset-free Linear Model Predictive Control

Tao Hu;Xiaoqing Guan;Boyu Lin;Yixu Wang;Yifan Liu;You Wang;Guang Li

2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Year: 2022 | Conference Paper |
Cited by: Papers (5)
Since the sensors of spherical robots rotate with the longitudinal axis, an efficient velocity controller must also account for robot's attitude. Therefore, this paper proposed an optimal velocity controller for spherical robots based on the offset-free linear model predictive control (LMPC), which controls the velocity while considering robot's attitude, motor's current and other variables. The p...Show More

Optimal Velocity Control of Spherical Robots Based on Offset-free Linear Model Predictive Control

Tao Hu;Xiaoqing Guan;Boyu Lin;Yixu Wang;Yifan Liu;You Wang;Guang Li

Year: 2022 | Conference Paper |

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Yifan Liu;Yixu Wang;Xiaoqing Guan;Tao Hu;Ziang Zhang;Song Jin;You Wang;Jie Hao;Guang Li

IEEE Robotics and Automation Letters
Year: 2022 | Volume: 7, Issue: 4 | Journal Article |
Cited by: Papers (17)
A spherical robot is a nonlinear, nonholonomic, and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller Hierarchical Terminal Sliding Mode Controller (HTSMC), an instruction planning controller called Model Prediction Control-based Planner (MPCBP), and a trajectory tracking framework named MPCBP-HTSMC...Show More

Direction and Trajectory Tracking Control for Nonholonomic Spherical Robot by Combining Sliding Mode Controller and Model Prediction Controller

Yifan Liu;Yixu Wang;Xiaoqing Guan;Tao Hu;Ziang Zhang;Song Jin;You Wang;Jie Hao;Guang Li

Year: 2022 | Volume: 7, Issue: 4 | Journal Article |

Unsupervised Cross-User Adaptation in Taste Sensation Recognition Based on Surface Electromyography

Hengyang Wang;Xianghao Zhan;Li Liu;Asif Ullah;Huiyan Li;Han Gao;You Wang;Ruifen Hu;Guang Li

IEEE Transactions on Instrumentation and Measurement
Year: 2022 | Volume: 71 | Journal Article |
Cited by: Papers (6)
Human taste sensation can be qualitatively described with surface electromyography (sEMG). However, the pattern recognition models trained on one subject (the source domain) do not generalize well on other subjects (the target domain). To improve the generalizability and transferability of taste sensation models developed with sEMG data, two methods were innovatively applied in this study: domain ...Show More

Unsupervised Cross-User Adaptation in Taste Sensation Recognition Based on Surface Electromyography

Hengyang Wang;Xianghao Zhan;Li Liu;Asif Ullah;Huiyan Li;Han Gao;You Wang;Ruifen Hu;Guang Li

Year: 2022 | Volume: 71 | Journal Article |

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