基本信息
梁自泽 男 研究员 博导 自动化研究所
电子邮件:zize.liang@ia.ac.cn
联系电话:010-62565098
手机号码:
通信地址:海淀中关村东路95号东楼北108
邮政编码:100190

研究领域

先进制造

教育背景

   
学历

清华大学 19810905--19860705 大学毕业

清华大学 19860905--19890705 研究生毕业

学位

清华大学 19810905--19860705 学士

清华大学 19860905--19890705 硕士

工作经历

   
工作简历
19890805--20010220    贵州省电力教育中心仿真部
200102021至今               中国科学院自动化研究所
社会兼职
中国人工智能学会嵌入式系统专业委员会
中国自动化学会制造技术专业委员会

专利与奖励

   
奖励信息

[1]多机器人协调、控制与仿生关键技术北京市科学技术二等奖,2004年度,排名第五

[2]嵌入式油井压力实时采集系统与网络化监控技术,中国机械工业科学技术二等奖2008,排名第四
[3] 油气井井下压力实时采集装置与井口安全监控系统及应用,2009 年北京市科学技术二等奖,排名第四

专利成果
[1] 梁自泽,谭民等, 高压输电线自动巡检机器人控制器 ,发明:200410071059.6,
[2] 梁自泽,谭民等, 高压输电线路自动巡检机器人本体,发明: 200410037737.7
[3] 梁自泽,谭民等, 高压输电线路自动巡检机器人单体,发明: 200310118302.0
[4]谭民,梁自泽等, 爆炸性气体环境用本质安全型不间断直流稳压电源,发明: 200710062990.1
[5]谭民,梁自泽等, 一种煤矿井下人员定位与瓦斯浓度动态监测方法及系统,发明: 200710063697.7
[6]谭民,梁自泽等, 开放式工业机器人视觉控制平台,发明:01141591.6
[7]谭民,景奉水,梁自泽等, 开放式工业机器人控制平台 ,发明:00129523.3
[8]谭民,景奉水,梁自泽等, 基于无线网络的多机器人搬运控制系统,发明: 03139296.2
[9]谭民,景奉水,梁自泽等, 用多机器人协调技术对大型物体进行位姿调整的方法,发明: 200310122433.6
[10]谭民,景奉水,梁自泽等, 具有视觉焊缝自动跟踪功能的弧焊机器人控制平台,发明: 02158340.4
[11]赵晓光,谭民,徐德,梁自泽等, 一种五自由度立体视觉监控装置,发明: 200410068998.5
[12]徐德,谭民,梁自泽等, 激光结构光视觉传感装置,发明: 02158341.2
[13]赵晓光,谭民,徐德,梁自泽等, 一种基于物体表面颜色的快速跟踪方法与装置,发明: 200410068871.3
[14]周凤余,… ,梁自泽等, 沿110kV输电线自主行走的机器人及其工作方法,发明: 200510042569.5
[15] 梁自泽, 谭民, 李恩等,毛细钢管油井压力远程监测监控系统,发明:200810101359.2
[16] 谭民, 李恩, 梁自泽等,嵌入式油井参数实时采集系统,发明:200810101358.8
[17] 李恩, 谭民, 梁自泽等,一种对实时数据进行存储的方法,发明:200810102210.6
[18] 梁自泽, 李恩, 谭民等,一种井下压力实时测量与修正方法,发明:200810104275.4

出版信息

   
发表论文
[1] Long, Teng, Li, En, Hu, Yunqing, Yang, Lei, Fan, Junfeng, Liang, Zize, Guo, Rui. A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS[J]. 2021, 32(2): 841-852, http://dx.doi.org/10.1109/TNNLS.2020.2979600.

[2] Yunong Tian, Guodong Yang, Zhe Wang, En Li, Zize Liang. Detection of Apple Lesions in Orchards Based on Deep Learning Methods of CycleGAN and YOLOV3-Dense. Journal of Sensors[J]. 2019, 2019(2019): 1-13, https://doaj.org/article/a62970a6b96a4312870ed0b12342b508.

[3] Wang, Hao, Yang, Guodong, Li, En, Tian, Yunong, Zhao, Meng, Liang, Zize, IEEE, Fu, M, Sun, J. High-Voltage Power Transmission Tower Detection Based on Faster R-CNN and YOLO-V3. PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC)null. 2019, 8750-8755, 
[4] Liang Zize. A novel 3D path teaching system for arc welding robot based on stereo structured light sensor. IEEE Sensors Journal. 2019, 
[5] Yang, Lei, Li, En, Fan, Junfeng, Long, Teng, Liang, Zize. Automatic extraction and identification of narrow butt joint based on ANFIS before GMAW. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY[J]. 2019, 100(1-4): 609-622, https://www.webofscience.com/wos/woscc/full-record/WOS:000455946000052.

[6] 田雨农. Apple detection during different growth stages in orchards using the improved YOLOV3 model. Computers and Electronics in Agriculture[J]. 2019, 157(157): 417-426, http://dx.doi.org/10.1016/j.compag.2019.01.012.

[7] Gao, Zishu, Li, En, Yang, Guodong, Wang, Zhe, Tian, Yunong, Liang, Zize, Guo, Rui, Li, Shengchuan, IEEE. Object Reconstruction with Deep Learning: A Survey. 2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019)null. 2019, 643-648, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000569550300110.

[8] Zishu Gao, En Li, Lei Yang, Zize Liang. Pipeline Scene Reconstruction Based on Image Mosaicing. 2018, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZLL201807004038&DbName=CPFDLAST2018&DbCode=CPFD&yx=&pr=&URLID=&bsm=.

[9] 李恩, 梁自泽, 范俊峰, 杨磊, 龙腾, 杨国栋. 基于PSO非均匀样条插值的混合结构柔性臂抑振轨迹规划. 控制与决策[J]. 2018, 33(6): 978-988, http://lib.cqvip.com/Qikan/Article/Detail?id=675429839.

[10] Long, Teng, Li, En, Yang, Lei, Fan, Junfeng, Lian, Zize. Analysis and Design of an Effective Light Interference Methane Sensor Based on Three-Dimensional Optical Path Model. JOURNAL OF SENSORS[J]. 2018, 2018(2018): http://ir.ia.ac.cn/handle/173211/23523.

[11] Long, Teng, Li, En, Fan, Junfeng, Yang, Lei, Liang, Zize. Design of the tip state estimator for hybrid-structured flexible manipulator based on SDFT and FLAKF. ASSEMBLY AUTOMATION[J]. 2018, 38(5): 576-586, http://ir.ia.ac.cn/handle/173211/23522.

[12] Yang, Lei, Li, En, Long, Teng, Fan, Junfeng, Mao, Yijian, Fang, Zaojun, Liang, Zize. A welding quality detection method for arc welding robot based on 3D reconstruction with SFS algorithm. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY[J]. 2018, 94(1-4): 1209-1220, https://www.webofscience.com/wos/woscc/full-record/WOS:000419114100093.

[13] Liang Zize. An image processing method for green apple lesion detection in natural environment based on GA-BPNN and SVM. IEEE International Conference on Mechatronics and Automation. 2018, 
[14] Yang Lei, Li En, Liang Zize, IEEE. An Automated Robot-assisted 3D Reconstruction System for Adit. 2017 CHINESE AUTOMATION CONGRESS (CAC)null. 2017, 1767-1772, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000427816101152.

[15] Yang Guodong, Liang Zize, Yan Shuai, Yan Tiantian. Regression Convolutional Network for Vanishing Point Detection. 2017, 634-638, http://ir.ia.ac.cn/handle/173211/21479.

[16] Mao Yijian, Yang Lei, Jing Fengshui, Liang Zize, Zhao Weiqing. Servo System to Control Arc length for Electro-Gas Welding Equipment. 2017, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZJC201705004124&DbName=IPFDLAST2017&DbCode=IPFD&yx=&pr=&URLID=&bsm=.

[17] CHANG Wenkai, YANG Guodong, LIANG Zize. An Extrinsic Calibration Method for Binocular Cameras and Swing 2D Laser Rangefinder. 2017, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZJC201705004055&DbName=IPFDLAST2017&DbCode=IPFD&yx=&pr=&URLID=&bsm=.

[18] Sun, Yao, Jing, Fengshui, Liang, Zize, Tan, Min. MMSE State Estimation Approach for Linear Discrete-Time Systems With Time-Delay and Multi-Error Measurements. IEEE TRANSACTIONS ON AUTOMATIC CONTROL[J]. 2017, 62(3): 1530-1536, http://ir.ia.ac.cn/handle/173211/14392.

[19] Yang, Lei, Li, En, Mao, Yijian, Liang, Zize, IEEE. A Novel 3D Measurement Method of welding workpiece for Robot off-line Programming. 2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)null. 2017, 3835-3840, 
[20] 梁自泽. 铝电解槽母线连接处爆炸焊钢板和阴极棒窄间隙自动焊接机器人. 中南大学学报. 2017, 
[21] Yan Tiantian, Yang Guodong, Yu Junzhi, Liu T, Zhao Q. Feature Fusion Based Insulator Detection for Aerial Inspection. PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017)null. 2017, 10972-10977, 
[22] Long Teng, Li En, Yang Guodong, Liang Zize, IEEE. A Novel Model Analysis Method and Dynamic Modelling for Hybrid Structure Flexible Manipulator. 2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATIONnull. 2016, 2290-2295, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000387187800399.

[23] 林浩, 李恩, 梁自泽. 具有非线性不确定参数的电液伺服系统自适应backstepping控制. 控制理论与应用[J]. 2016, 33(2): 181-188, http://ir.ia.ac.cn/handle/173211/11794.

[24] Lan Sheng, Li En, Liang Zize, Chen, J, Zhao, Q. Research on the Temperature Control Methods to a Hemodialysis System with Large Inertia and Hysteresis. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016null. 2016, 9400-9405, 
[25] Lei Yang, En Li, Zize Liang. The Novel control method for the Adit data collection system. Proceedings of IEEE International Conference on Mechatronics & Automationnull. 2016, http://ir.ia.ac.cn/handle/173211/12098.

[26] Mao Yijian, Jing Fengshui, Liang Zize, Fang Zaojun, IEEE. Positional Accuracy Analysis of Welding Robot under Mechanism Clearance and Elastic Deformation. PROCEEDINGS OF THE 2016 12TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA)null. 2016, 3253-3258, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000388373802117.

[27] FAN Junfeng, JING Fengshui, FANG Zaojun, LIANG Zize. A Simple Calibration Method of Structured Light Plane Parameters for Welding Robots. 2016, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZLL201607004193&DbName=IPFDLAST2016&DbCode=IPFD&yx=&pr=&URLID=&bsm=.

[28] Ding, Lei, Li, En, Liang, Zize, Tan, Min, IEEE. A Novel Kinematic Calibration Method for a Handling Robot Based on Optimal Trajectory Planning. 2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO)null. 2016, 927-932, http://apps.webofknowledge.com/CitedFullRecord.do?product=UA&colName=WOS&SID=5CCFccWmJJRAuMzNPjj&search_mode=CitedFullRecord&isickref=WOS:000405724600156.

[29] CHANG Wenkai, LI En, YANG Guodong, LIANG Zize. Extrinsic Calibration of the 2D Laser Rangefinder and Binocular Cameras System Base on Virtual Points. 2016, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=1&CurRec=1&recid=&FileName=KZLL201607004195&DbName=IPFDLAST2016&DbCode=IPFD&yx=&pr=&URLID=&bsm=.

[30] 林浩, 李恩, 梁自泽, 翟波. 光干涉甲烷检测器的光路改进与零点补偿. 煤炭学报[J]. 2015, 40(1): 218-225, http://ir.ia.ac.cn/handle/173211/11793.

[31] Liang Zize. Terrain Simulation for Crustal Movement Simulation System Based on Multiple Parallel Mechanisms. Proceedings of the 34th Chinese Control Conference. 2015, 
[32] Hao Lin, Jingyi Zheng, En Li, Zize Liang. Design and Kinematics Analysis of a 4-DOF Articulated Steering Mechanism. Processing of 34th Chinese Control Conference (CCC)null. 2015, http://ir.ia.ac.cn/handle/173211/11796.

[33] 常文凯, 李恩, 杨国栋, 梁自泽. 基于双目视觉的输电线路近距离三维位置测量. 华中科技大学学报(自然科学版)[J]. 2015, 144-147, http://ir.ia.ac.cn/handle/173211/20976.

[34] 梁自泽, 龙腾, 李恩, 方灶军, 赵伟青. 智能墙面抹灰机的类型及关键技术研究进展. 山东建筑大学学报[J]. 2015, 30(1): 65-70, http://lib.cqvip.com/Qikan/Article/Detail?id=664090213.

[35] Long Teng, Li En, Fang Zaojun, Zhao Weiqing, Liang Zize. A Novel Measurement and Control Method for Automatic Plastering Machine. Proceedings of IEEE International Conference on Mechatronics & Automationnull. 2015, http://ir.ia.ac.cn/handle/173211/11082.

[36] SUN Yao, JING Fengshui, LIANG Zize. Optimal State Estimation for Discrete-time Systems with Delayed Measurements. 2014, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=KZLL201407006125&DbName=IPFD9914&DbCode=IPFD&yx=&pr=&URLID=&bsm=.

[37] Yao Sun, Fengshui Jing, Zize Liang. Iterated Extended Kalman Filter for Time-delay Systems with Multi-sample-rate Measurements. IEEE World Congresson Intelligent Control and Automation (WCICA)null. 2014, 4532-4536, http://www.irgrid.ac.cn/handle/1471x/972942.

[38] Xiao Sun, Xiaoguang Zhao, En Li, Hongchun Li, Zize Liang. An RSSI-based Method for Mobile Robot Navigation in Wireless Sensor Network. 2012, http://kns.cnki.net/KCMS/detail/detail.aspx?QueryID=0&CurRec=1&recid=&FileName=XXGC201210004072&DbName=IPFD9914&DbCode=IPFD&yx=&pr=&URLID=&bsm=.

[39] Liang Zize, Tan Min, Li En. Design of a hydraulic-cylinder-pressure-based anti-overturning module for aerial work platforms. International Conference on Intelligent Computation Technology and Automation (ICICTA)null. 2011, 974-977, http://ir.ia.ac.cn/handle/173211/4861.

[40] Yang, Guodong, Li, En, Fan, Changchun, Lei, Weiyang, Liang, Zize. Modeling and control of a bi-brachiate inspection robot for power transmission lines. IEEE International Conference on Mechatronics and Automation ( ICMA)null. 2010, 1036-1041, http://www.irgrid.ac.cn/handle/1471x/972862.

[41] Yang, Guodong, Li, En, Fan, Changchun, Lei, Weiyang, Liang, Zize. Adaptive fuzzy logic based inspection robot for high voltage power transmission line. IEEE International Conference on Information and Automation (ICIA)null. 2010, 613-618, http://www.irgrid.ac.cn/handle/1471x/972819.

[42] Liang Zize. Dynamic Transmission Power Based Localization in Wireless Sensor Network. International Conference on Computer and Computational Intelligence. 2010, 
[43] Yang Guodong, Liang Zize, Li En. Formation constrained coordinated motion control methods for the crustal movement simulation system. International Conference on Intelligent Control and Information Processing (ICICIP)null. 2010, 766-771, http://ir.ia.ac.cn/handle/173211/4868.

[44] Liang Zize, Yang Guodong, Li En, Tan Min. The design and control of the crustal movement simulation system. IEEE International Conference on Information and Automation (ICIA)null. 2010, 283-288, http://ir.ia.ac.cn/handle/173211/4896.

[45] Hu, Haidong, Li, En, Zhao, Xiaoguang, Liang, Zize, Yu, Wensheng. Adaptive fuzzy sliding mode controller design for folding-boom aerial platform vehicle. IEEE International Conference on Robotics and Biomimetics(ROBIO)null. 2010, 1656-1661, http://www.irgrid.ac.cn/handle/1471x/972820.

[46] Hu, Haidong, Li, En, Zhao, Xiaoguang, Liang, Zize, Yu, Wensheng. Modeling and simulation of folding-boom aerial platform vehicle based on the flexible multi-body dynamics. International Conference on Intelligent Control and Information Processing (ICICIP)null. 2010, 798-802, http://www.irgrid.ac.cn/handle/1471x/972863.

[47] Zhao Xiaoguang, Li En, Liang Zize. Mobile robot navigation using RSSI potential field in wireless sensor network. Journal of Computational Information Systems[J]. 2010, 6(14): 4751-4760, http://ir.ia.ac.cn/handle/173211/3401.

[48] Lei Weiyang, Li En, Yang Guodong, Fan Changchun, Jing Fengshui, Liang Zize, Xie M, Xiong Y, Xiong C, Liu H, Hu Z. An Embedded Vision System for a Power Transmission Line Inspection Robot. INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGSnull. 2009, 5928: 802-811, 
[49] 杨国栋, 梁自泽, 李恩, 范长春. 一种光纤现场总线通讯系统的分析与设计. 高技术通讯[J]. 2009, 19(7): 754-759, http://lib.cqvip.com/Qikan/Article/Detail?id=31085098.

[50] Li, En, Liang, ZiZe, Hou, ZengGuang, Tan, Min. Energy-based balance control approach to the ball and beam system. INTERNATIONAL JOURNAL OF CONTROL[J]. 2009, 82(6): 981-992, http://www.irgrid.ac.cn/handle/1471x/972731.

发表著作

1. 陈建业,杨德刚,于歆杰,梁自泽,赵伟青,电力电子技术手册, 第14-19章, pp.179-415, 机械工业出版, 2004

科研活动

   
科研项目

1 煤矿井下自动化监测与监控系统及其标准编制 电子信息产业发展基金重点项目
2 血液净化用二次反渗透装置及控制系统 横向项目
3 机器人视觉与控制器 国家863目标导向项目
4 陆地表层水土过程地壳升降模拟装置 院重大科研装备研制项目
5 无线通讯、载荷集成共性技术研究 国家863重点项目
6 典型功能构件设计与样机系统集成 国家863重点项目
7 煤矿井下搜索机器人研制 国家863重点项目
8 模块化功能构建产业化项目 国家863重点项目
9 新型焊接等工业机器人 数控重大专项
10 新型焊接等工业机器人 数控重大专项
11 全数字高档数控装置 数控重大专项
12 高速、高刚度大功率电主轴及驱动装置 数控重大专项
13 高空作业车智能控制器及远程监控与维护系统 横向项目
14 500kV开关油压控制系统及动静触头对中的革新 横向项目
15 高速搬运机器人及其物流生产线关键技术 数控重大专项
16 重载搬运机器人开发及产业化 数控重大专项

指导学生

孙   骁   硕士研究生  控制理论与控制工程 
杨国栋  博士研究生  控制理论与控制工程  
范长春  博士研究生  控制理论与控制工程 
胡海东  博士研究生 控制理论与控制工程
马庆增  博士研究生 控制理论与控制工程
杨明博  博士研究生 控制理论与控制工程
赵德政  博士研究生 控制理论与控制工程
贾鹏霄  博士研究生 控制理论与控制工程
郝庆畅 硕士研究生 控制理论与控制工程
林    浩 硕士研究生 控制理论与控制工程
何烽光 硕士研究生 控制理论与控制工程