宋伟｜江苏理工学院｜学者主页

2026

基于RealSense的高分辨率图像深度信息获取系统

屠礼芬，彭祺，宋伟

《制造业自动化》

2026

基于多模态特征融合的3D感知算法鲁棒性研究

查明皓，宋伟

《工业控制计算机》

2026

基于相位测量偏折术的高反光表面多通道缺陷检测

明昊，宋伟，陈皓，罗印升

《工业控制计算机》

2026

基于启发式搜索和概率采样的双向APF-RRT*智能体路径规划算法

宋伟，章文，张明，刘向春

《兵工学报》

2026

Multi-Step Obstruction Reasoning for Target-Oriented Grasp Sequence Generation in Cluttered Scenes

Hui-Xuan Yang, Shi-Qiang Zhu, Yu-Hua Zheng, Wei Song

Robotics

DOI

2025

肩肘康复辅具人机耦合建模及助力特性研究

胡军，宋伟，王芳，张凯旋，李静岩

《制造业自动化》

2025

图像拼接算法在输送带表面故障检测的应用

宋伟，贺伟，李晓辉

《机械设计与制造》

DOI

2025

Design and experiment of climbing robot for steel I-beam girder inspection

Cheng Wang, Shi-Qiang Zhu, Wei Song

Industrial robot

DOI

2025

Multi-Agent Path Finding With Heterogeneous Geometric and Kinematic Constraints in Continuous Space

Wenbo Lin, Wei Song, Qiuguo Zhu, Shi-Qiang Zhu

IEEE Robotics and Automation Letters

DOI

2025

DEQ: a reinforcement learning-based method for startup slip estimation of Wheeled-Climbing robots

Shifei Xu, Wei Song, Shi-Qiang Zhu

Industrial robot

DOI

2024

多柔性搬运机械臂机电系统DE-ADRC抑振控制及仿真

刘嘉庆，刘竹丽，宋伟

《机床与液压》

2024

融合通道剪枝与YOLOv5s的料箱标签检测算法

宣岁寒，罗印升，宋伟，徐岗

《工业控制计算机》

2024

立式罐容量计量中爬壁机器人的路径规划

汪潼，朱世强，宋伟，李存军，施浩磊

《机器人》

2024

机器视觉技术及应用

宋伟

2024

基于深度相机的工业料箱体积测量方法

戴鑫鑫，罗印升，宋伟

《工业控制计算机》

2024

Frame-By-Frame Motion Retargeting With Self-Collision Avoidance From Diverse Human Demonstrations

Bo Zheng, Ding-Kun Liang, Qiulan Huang, Yun Liu, Pu Zhang, Minhong Wan, Wei Song, Bin-Rui Wang

IEEE Robotics and Automation Letters

DOI

2024

Whole-Body Inverse Kinematics and Operation-Oriented Motion Planning for Robot Mobile Manipulation

Tianlei Jin, Hongwei Zhu, Jiakai Zhu, Shi-Qiang Zhu, Zai-Xing He, Shu-You Zhang, Wei Song, J. Gu

IEEE Transactions on Industrial Informatics

DOI

2024

Metal Thickness Measurement Module with Scotch Yoke Mechanism for Tank Inspections

Yuki Nishimura, Tao Zheng, Wei Song

IEEE International Conference on Advanced Intelligent Mechatronics

DOI

2024

Online Trajectory Generation With Local Replanning for 7-DoF Serial Manipulator in Unforeseen Dynamic Environments

Jun Shao, Haoyang Zhang, Shi-Qiang Zhu, Wei Song

IEEE Robotics and Automation Letters

DOI

2023

3D视觉技术在汽车轮胎字符识别中的应用

顾涛，罗印升，宋伟

《工业控制计算机》

2023

一种改进SAC-IA和ICP的快速高效点云配准算法

孙瑞，罗印升，宋伟

《工业控制计算机》

2023

Trajectory Optimization for Manipulation Considering Grasp Selection and Adjustment

Jun Shao, Jianfeng Liao, Shi-Qiang Zhu, Haoyang Zhang, Wei Song

Journal of Intelligent and Robotic Systems

DOI

2023

HEU-Net: hybrid attention residual block-based network with external skip connections for metal corrosion semantic segmentation

Tianchen Zhu, Shiqiang Zhu, Tao Zheng, Hongliang Ding, Wei Song, Cun-Jun Li

The Visual Computer

DOI

2023

Addressee Detection Using Facial and Audio Features in Mixed Human–Human and Human–Robot Settings: A Deep Learning Framework

Fiseha B. Tesema, J. Gu, Wei Song, Hong-Chuan Wu, Shiqiang Zhu, Zheyuan Lin, Min Huang, Wen Wang, R. Kumar

IEEE Systems Man and Cybernetics Magazine

DOI

2023

RFFCE: Residual Feature Fusion and Confidence Evaluation Network for 6DoF Pose Estimation

Qiwei Meng, Shanshan Ji, Shiqiang Zhu, Tianlei Jin, Te Li, J. Gu, Wei Song

IEEE International Conference on Robotics and Automation

DOI

2023

KGNet: Knowledge-Guided Networks for Category-Level 6D Object Pose and Size Estimation

Qiwei Meng, J. Gu, Shiqiang Zhu, Jianfeng Liao, Tianlei Jin, Fang-Tai Guo, Wen Wang, Wei Song

IEEE International Conference on Robotics and Automation

DOI

2023

Efficient Audiovisual Fusion for Active Speaker Detection

Fiseha B. Tesema, J. Gu, Wei Song, Hong-Chuan Wu, Shiqiang Zhu, Zheyuan Lin

IEEE Access

DOI

2023

B2C-AFM: Bi-Directional Co-Temporal and Cross-Spatial Attention Fusion Model for Human Action Recognition

Fang-Tai Guo, Tianlei Jin, Shiqiang Zhu, Xiangming Xi, Wen Wang, Qiwei Meng, Wei Song, Jiakai Zhu

IEEE Transactions on Image Processing

DOI

2023

Fast Contextual Scene Graph Generation with Unbiased Context Augmentation

Tianlei Jin, Fang-Tai Guo, Qiwei Meng, Shiqiang Zhu, Xiangming Xi, Wen Wang, Zonghao Mu, Wei Song

Computer Vision and Pattern Recognition

DOI

2022

基于图像传感器的钢板板坯喷标字符在线识别系统

彭祺，屠礼芬，宋伟，唐戈锐，余振宇

《仪表技术与传感器》

2022

瞬变速软体机器人研究综述

杨旸，贺治国，焦鹏程，王海鹏，李文焘，叶星宏，林官正，宋伟，任洪亮

《机器人》

2022

正交异性钢桥面板焊缝检测爬壁机器人永磁吸附关键技术研究

李战斌，王海波，宋伟，薛朝军

《机械设计》

2022

基于PCA校正的改进ICP销孔工件点云配准方法

崔斌，罗印升，宋伟，李峰

《工业控制计算机》

2022

Spontaneous Emergence of Multitasking Robotic Swarms

Ji Zhang, Yiming Liang, Shiqiang Zhu, Tian Xiang, Hongwei Zhu, J. Gu, Wei Song, Tiefeng Li

IEEE International Conference on Robotics and Biomimetics

DOI

2022

Depth-aware gaze-following via auxiliary networks for robotics

Tianlei Jin, Qi-Zhi Yu, Shi-Qiang Zhu, Zheyuan Lin, J. Ren, Yuanhai Zhou, Wei Song

Engineering applications of artificial intelligence

DOI

2022

Real-time Underwater 3D Reconstruction Based on Monocular Image

Chao Hu, Shiqiang Zhu, Wei Song

IEEE International Conference on Robotics and Biomimetics

DOI

2022

A Path Tracking Method of a Wall-Climbing Robot towards Autonomous Inspection of Steel Box Girder

Wei Song, Zhi-Jian Wang, Tong Wang, Da-Xiong Ji, Shi-Qiang Zhu

Machines

DOI

2022

Robot Planning based on Behavior Tree and Knowledge Graph

Yuanhai Zhou, Shiqiang Zhu, Wei Song, Jian-Jun Gu, J. Ren, Xiangming Xi, Tianlei Jin, Zonghao Mu

IEEE International Conference on Robotics and Biomimetics

DOI

2022

Leveraging Efficiency through Hybrid Prioritized Experience Replay in Door Environment

Haofu Qian, Shiqiang Zhu, Hongjiang Ge, Haolei Shi, Jianfeng Liao, Wei Song, Jian-Jun Gu

IEEE International Conference on Robotics and Biomimetics

DOI

2022

End-to-end audiovisual feature fusion for active speaker detection

Fiseha B. Tesema, Zheyuan Lin, Shiqiang Zhu, Wei Song, J. Gu, Hong-Chuan Wu

International Conference on Digital Image Processing

DOI

2022

Independent Relationship Detection for Real-Time Scene Graph Generation

Tianlei Jin, Wen Wang, Shiqiang Zhu, Xiangming Xi, Qiwei Meng, Zonghao Mu, Wei Song

International Conference on Neural Information Processing

DOI

2022

Real-time Architecture for Audio-Visual Active Speaker Detection

Min Huang, Wen Wang, Zheyuan Lin, Fiseha B. Tesema, Shanshan Ji, J. Gu, Min-Hong Wan, Wei Song, Te Li, Shiqiang Zhu

IEEE International Conference on Robotics and Biomimetics

DOI

2022

A Multi-modal Behavior Planning Framework for Guide Robot

Zonghao Mu, Wei Fang, Shiqiang Zhu, Tianlei Jin, Wei Song, Xiangming Xi, Qiulan Huang, J. Gu, Songyu Yuan

IEEE International Conference on Robotics and Biomimetics

DOI

2022

A General Framework of Task Understanding for Tour-Guide Robots in Exhibition Environments

Xiangming Xi, Bing Xie, Shi-Qiang Zhu, Tianlei Jin, J. Ren, Wei Song

2022 WRC Symposium on Advanced Robotics and Automation (WRC SARA)

DOI

2022

Constrained Path Planning on Pipeline Surface for Wall Climbing Robots

Han Li, Jianfeng Liao, Shi-Qiang Zhu, Hongjiang Ge, Wei Song, Xian-Lei Chen, J. Gu

IEEE International Conference on Robotics and Biomimetics

DOI

2022

A Deep Meta-Metric Learning Method for Few-Shot Weld Seam Visual Detection

Tianchen Zhu, Shiqiang Zhu, Jiakai Zhu, Wei Song, Cun-Jun Li, Hongjiang Ge, Jian-Jun Gu

IEEE International Conference on Robotics and Biomimetics

DOI

2022

Tightly-Coupled Visual-Inertial-Pressure Fusion Using Forward and Backward IMU Preintegration

Chao Hu, Shi-Qiang Zhu, Yiming Liang, Wei Song

IEEE Robotics and Automation Letters

DOI

2022

Improved objects matching with a single RGB camera

Feng Jiang, Wei Song, Shiqiang Zhu, Tianlei Jin, Zonghao Mu, Xinliang Zhong

Other Conferences

DOI

2022

FEIF: Feature Excitation and Interactive Fusion for 6D Object Pose Estimation

Qiwei Meng, Shiqiang Zhu, Jian-Jun Gu, Zheyuan Lin, Ling Zhong, Wei Song

IEEE International Conference on Robotics and Biomimetics

DOI

2021

工业机器人功率等效模型与参数辨识

吴勇强，唐先智，宋伟，江沛，周进，陈元杰

《重庆大学学报》

2021

深度学习在手机数据接口缺陷检测中的应用

刘亚东，罗印升，曹阳阳，宋伟

《计算机与现代化》

2021

基于SLAM与深度学习的植保机导航系统设计

曹阳阳，罗印升，刘亚东，宋伟，陈传毅

《工业控制计算机》

2021

RRT-GoalBias and Path Smoothing Based Motion Planning of Mobile Manipulators with Obstacle Avoidance

Jun Shao, Hao Xiong, Jianfeng Liao, Wei Song, Zheng Chen, J. Gu, Shi-Qiang Zhu

International Conference on Real-time Computing and Robotics

DOI

2021

Visual-Pressure Fusion for Underwater Robot Localization With Online Initialization

Chao Hu, Shi-Qiang Zhu, Yiming Liang, Zonghao Mu, Wei Song

IEEE Robotics and Automation Letters

DOI

2021

Gait-stride-and-frequency-based human intention recognition approach and experimental verification on lower limb exoskeleton

Shi-Qiang Zhu, Shi-Zhao Zhou, Zheng Chen, Wei Song, Lai Jin

Transactions of the Institute of Measurement and Control

DOI

2020

Dynamic Analysis of an Underwater Cable-Driven Manipulator with a Fluid-Power Buoyancy Regulation System

Tong-xu Wang, Zihao You, Wei Song, Shi-Qiang Zhu

Micromachines

DOI

2020

Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

Long Qin, Fanghao Huang, Zheng Chen, Wei Song, Shi-Qiang Zhu

Applied Sciences

DOI

2019

双机器人协同焊接管接头的任务规划及仿真

王威，许勇，刘勇，宋伟，梁诤

《组合机床与自动化加工技术》

DOI

2019

RBFNN-based Bilateral Control Design for Delayed Nonlinear Teleoperation System With General Environments

Fanghao Huang, Zheng Chen, Wei Song, Tao Wang, Shi-Qiang Zhu, J. Gu

International Conference on Real-time Computing and Robotics

DOI

2019

RBFNN-Based Adaptive Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System Under Time-Varying Delays

Fanghao Huang, Wei Zhang, Zheng Chen, Jianzhong Tang, Wei Song, Shi-Qiang Zhu

IEEE Access

DOI

2019

Design and Kinematic Control of the Cable-Driven Hyper-Redundant Manipulator for Potential Underwater Applications

Jianzhong Tang, You-Gong Zhang, Fanghao Huang, Jian-Peng Li, Zheng Chen, Wei Song, Shi-Qiang Zhu, J. Gu

Applied Sciences

DOI

2019

Weld Seam Detection Method with Rotational Region Proposal Network

He Zhang, Wei Song, Zheng Chen, Shi-Qiang Zhu, Cun-Jun Li, Hua-Dong Hao, J. Gu

IEEE International Conference on Robotics and Biomimetics

DOI

2019

Design and Gait Realization of Power-assisted Lower Limbs Exoskeleton

Shi-Zhao Zhou, Zheng Chen, Wei Song, Shi-Qiang Zhu, Lai Jin, J. Gu

2019 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)

DOI

2018

基于改进AKAZE算法的无人机影像匹配

宋伟，王永波

《电子测量与仪器学报》

2018

An Improved Wave-Variable Based Four-Channel Control Design in Bilateral Teleoperation System for Time-Delay Compensation

Zheng Chen, Fanghao Huang, Wei-Chao Sun, Wei Song

IEEE Access

DOI

2018

A novel wave variable based bilateral teleoperation control design for transparency improvement

Zheng Chen, Fanghao Huang, Wei-Chao Sun, Chunning Yang, Wei Song, Tao Wang, Shi-Qiang Zhu

International Conference on Informatics and Analytics

DOI

2018

Design of permanent magnetic wheel-type adhesion-locomotion system for water-jetting wall-climbing robot

Wei Song, Hongjian Jiang, Tao Wang, Da-Xiong Ji, Shi-Qiang Zhu

Advances in Mechanical Engineering

DOI

2018

Visual detection and feature recognition of underwater target using a novel model-based method

Da-Xiong Ji, Hai-Chao Li, Chen-Wei Chen, Wei Song, Shi-Qiang Zhu

International Journal of Advanced Robotic Systems

DOI

2018

A Novel Wave-Variable Based Time-Delay Compensated Four-Channel Control Design for Multilateral Teleoperation System

Zheng Chen, Fanghao Huang, Wei Song, Shi-Qiang Zhu

IEEE Access

DOI

2017

一种改进的非完整轮式移动机器人轨迹跟踪控制方法

俞亚杰，罗印升，宋伟

《机床与液压》

2016

一种基于双目视觉的手眼标定方法

沈爱华，罗印升，宋伟

《机械设计与制造工程》

2016

四旋翼偏航系统的优化神经网络滑模控制

姚灵灵，贺乃宝，高倩，宋伟

《机械设计与制造》

2016

Ship wall-climbing washing trolley system and control device thereof

雄冀大，Shi-Qiang Zhu，Wei Song

2015

基于机器视觉的蒜头最大横切面直径分级方法

宋伟，赵丽清

《农机化研究》

2015

Design of hydraulic system for autonomous sampler at deep-sea

Wei Song, Shi-Qiang Zhu

International Conference on Fluid Power and Mechatronics

DOI

2014

基于指针区域特征的仪表读数识别算法

宋伟，张文杰，张家齐，王玉平，周庆，石为人

《仪器仪表学报》

2014

基于模块化关节高压巡线机器人方案改进

宋伟，江鹏，郑彦宁，邓邦飞，张文杰，徐文福

《仪器仪表学报》

DOI

2011

基于V4L2的无线视频传输系统的设计

宋伟，翟丽芳，陈霞

《工业控制计算机》

2007

用LabWindows/CVI实现计算机与全数字伺服控制器的通信

宋伟，陈霞

《工矿自动化》

精选作品

期刊论文

基于RealSense的高分辨率图像深度信息获取系统

基于多模态特征融合的3D感知算法鲁棒性研究

基于相位测量偏折术的高反光表面多通道缺陷检测

基于启发式搜索和概率采样的双向APF-RRT*智能体路径规划算法

Multi-Step Obstruction Reasoning for Target-Oriented Grasp Sequence Generation in Cluttered Scenes

肩肘康复辅具人机耦合建模及助力特性研究

图像拼接算法在输送带表面故障检测的应用

Design and experiment of climbing robot for steel I-beam girder inspection

Multi-Agent Path Finding With Heterogeneous Geometric and Kinematic Constraints in Continuous Space

DEQ: a reinforcement learning-based method for startup slip estimation of Wheeled-Climbing robots

多柔性搬运机械臂机电系统DE-ADRC抑振控制及仿真

融合通道剪枝与YOLOv5s的料箱标签检测算法

立式罐容量计量中爬壁机器人的路径规划

机器视觉技术及应用

基于深度相机的工业料箱体积测量方法

Frame-By-Frame Motion Retargeting With Self-Collision Avoidance From Diverse Human Demonstrations

Whole-Body Inverse Kinematics and Operation-Oriented Motion Planning for Robot Mobile Manipulation

Metal Thickness Measurement Module with Scotch Yoke Mechanism for Tank Inspections

Online Trajectory Generation With Local Replanning for 7-DoF Serial Manipulator in Unforeseen Dynamic Environments

3D视觉技术在汽车轮胎字符识别中的应用

一种改进SAC-IA和ICP的快速高效点云配准算法

Trajectory Optimization for Manipulation Considering Grasp Selection and Adjustment

HEU-Net: hybrid attention residual block-based network with external skip connections for metal corrosion semantic segmentation

Addressee Detection Using Facial and Audio Features in Mixed Human–Human and Human–Robot Settings: A Deep Learning Framework

RFFCE: Residual Feature Fusion and Confidence Evaluation Network for 6DoF Pose Estimation

KGNet: Knowledge-Guided Networks for Category-Level 6D Object Pose and Size Estimation

Efficient Audiovisual Fusion for Active Speaker Detection

B2C-AFM: Bi-Directional Co-Temporal and Cross-Spatial Attention Fusion Model for Human Action Recognition

Fast Contextual Scene Graph Generation with Unbiased Context Augmentation

基于图像传感器的钢板板坯喷标字符在线识别系统

瞬变速软体机器人研究综述

正交异性钢桥面板焊缝检测爬壁机器人永磁吸附关键技术研究

基于PCA校正的改进ICP销孔工件点云配准方法

Spontaneous Emergence of Multitasking Robotic Swarms

Depth-aware gaze-following via auxiliary networks for robotics

Real-time Underwater 3D Reconstruction Based on Monocular Image

A Path Tracking Method of a Wall-Climbing Robot towards Autonomous Inspection of Steel Box Girder

Robot Planning based on Behavior Tree and Knowledge Graph

Leveraging Efficiency through Hybrid Prioritized Experience Replay in Door Environment

End-to-end audiovisual feature fusion for active speaker detection

Independent Relationship Detection for Real-Time Scene Graph Generation

Real-time Architecture for Audio-Visual Active Speaker Detection

A Multi-modal Behavior Planning Framework for Guide Robot

A General Framework of Task Understanding for Tour-Guide Robots in Exhibition Environments

Constrained Path Planning on Pipeline Surface for Wall Climbing Robots

A Deep Meta-Metric Learning Method for Few-Shot Weld Seam Visual Detection

Tightly-Coupled Visual-Inertial-Pressure Fusion Using Forward and Backward IMU Preintegration

Improved objects matching with a single RGB camera

FEIF: Feature Excitation and Interactive Fusion for 6D Object Pose Estimation

工业机器人功率等效模型与参数辨识

深度学习在手机数据接口缺陷检测中的应用

基于SLAM与深度学习的植保机导航系统设计

RRT-GoalBias and Path Smoothing Based Motion Planning of Mobile Manipulators with Obstacle Avoidance

Visual-Pressure Fusion for Underwater Robot Localization With Online Initialization

Gait-stride-and-frequency-based human intention recognition approach and experimental verification on lower limb exoskeleton

Dynamic Analysis of an Underwater Cable-Driven Manipulator with a Fluid-Power Buoyancy Regulation System

Teleoperation Control Design with Virtual Force Feedback for the Cable-Driven Hyper-Redundant Continuum Manipulator

双机器人协同焊接管接头的任务规划及仿真

RBFNN-based Bilateral Control Design for Delayed Nonlinear Teleoperation System With General Environments

RBFNN-Based Adaptive Sliding Mode Control Design for Nonlinear Bilateral Teleoperation System Under Time-Varying Delays

Design and Kinematic Control of the Cable-Driven Hyper-Redundant Manipulator for Potential Underwater Applications

Weld Seam Detection Method with Rotational Region Proposal Network

Design and Gait Realization of Power-assisted Lower Limbs Exoskeleton

基于改进AKAZE算法的无人机影像匹配

An Improved Wave-Variable Based Four-Channel Control Design in Bilateral Teleoperation System for Time-Delay Compensation

A novel wave variable based bilateral teleoperation control design for transparency improvement

Design of permanent magnetic wheel-type adhesion-locomotion system for water-jetting wall-climbing robot

Visual detection and feature recognition of underwater target using a novel model-based method

A Novel Wave-Variable Based Time-Delay Compensated Four-Channel Control Design for Multilateral Teleoperation System

一种改进的非完整轮式移动机器人轨迹跟踪控制方法

一种基于双目视觉的手眼标定方法

四旋翼偏航系统的优化神经网络滑模控制

Ship wall-climbing washing trolley system and control device thereof

基于机器视觉的蒜头最大横切面直径分级方法

Design of hydraulic system for autonomous sampler at deep-sea

基于指针区域特征的仪表读数识别算法

基于模块化关节高压巡线机器人方案改进

基于V4L2的无线视频传输系统的设计