Research

Projects

• Gazebo Physics Simulator of a Surgical Robot
  Modeled Raven II surgical robots in the Gazebo physics simulator. Combined the manipulator hardware and control software with the simulator as a hardware-in-the-loop system.
  Built an autonomous agent for the system to perform simplified debridement task.


• Autonomous Task of Picking and Placing using Raven II Surgical Robot
  Parts of the surgical tasks can be completed by autonomous systems to alleviage the burden of surgeons. In this project, a system is built to perform the pick and place task (resembling the debridement surgical task).


• Experimental Resilience Assessment of an Open-source Driving Agent
  Presented a Systems-Theoretic Process Analysis (STPA) based fault injection framework to assess the resilience of an open-source driving agent -- Openpilot. Simulation experiments are done under different environmental conditions and faults affecting sensor data.
  Assessments are made on the performance of Openpilot, safety mechanisms and its ability in timely detection and recovery from faulty inputs.


• Motion Planning and Safety of Autonomous Robotic Surgery
  Modeled Raven II surgical robots and working environment in ROS. Practiced with different motion planning algorithms for collision avoidance in autonomous robot surgery. Considered collision avoidance scenarios.


• Force Interaction of Teleoperation Robots
  Built a sound academic foundation of Teleoperation Systems through the learning of Control Theory, Networked Control System, Robotics, and Nonlinear Control Theory.
  Cultivated research ability. Participated in the compiling of a monograph concerning Teleoperation Systems. Presented some of my research results about Teleoperation at a conference.


• Control Methods of an Inverted Pendulum System
  Tested varied control algorithms to keep the inverted pendulum remain stable, which is a classic problem of dynamics and control theory. Acquired in-depth comprehension of control theories and their applications.
  Assisted my peers to test their control algorithms in our lab which further nurtured my hands-on ability and built my team spirit.

Publications

• Yongming Qin, Makoto Kumon, and Tomonari Furukawa. A Data-Driven Multiple Model Framework for Intention Estimation. (Submitted to ICRA 2022)
• Tomonari Furukawa, Yongming Qin, and Gamini Dissanayake. Autonomous Robotic Map Refinement towards Indoor Inspection and Maintenance. (Submitted to ICRA 2022)
• Yongming Qin, Makoto Kumon, and Tomonari Furukawa. Estimation of a human-maneuvered target incorporating human intention. Sensors, 2021
• Rubaiyat, Abu Hasnat Mohammad, Yongming Qin, and Homa Alemzadeh. Experimental resilience assessment of an open-source driving agent[C]. IEEE Pacific Rim International Symposium on Dependable Computing, 2018
• Yuanqing Xia, Yongming Qin, Dihua Zhai, et al. Further results on cloud control systems[J]. Science China: Information Sciences, 2016, 59(7): 073201
• Yongming Qin, Yuanqing Xia. Control of bilateral teleoperation with time delay considering operator force sending[C]. IEEE 2015 34th China Control Conference, 2015: 6697-6702