SJTU Intelligentized Robotic Welding Technology Laboratory

EDUCATION:
July 1991 - Mar 1996 PhD in Engineering, Degree Conferred April 1997,
 Department of Mechanical and Mechatronic Engineering,
 University of Sydney, Australia.
Sept 1981 - July 1985 Bachelor of Engineering, Degree Conferred July 1985
 Department of Mechanical Automation Engineering & Robotics
 Shanghai University of Technology, P.R. China

PRIZES AND AWARDS:
Dec 2009 Best Student Paper nominee in The 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009).
Oct 2006 Finalist for the Best Paper Award in IEEE International Conference on Automation Science and Engineering 2006 (CASE2006).
Dec 2005 Finalist for the Best Paper Award in IEEE International Conference on Industrial Technology (ICIT).
July 1993 Best Student Paper Award from International Federation of Robotics and Australian Robotics Association.
Jan 1992 – Dec 1994 Overseas Student Tuition Fee Waiver Scheme (Department of Mechanical and Mechatronic Engineering, University of Sydney).
Jan 1988 Best Teacher Award (The College of Shanghai Grain Bureau, China).
July 1985 University Scholarship (Shanghai University of Technology).

PROFESSIONAL MEMBERSHIP:
• Member, Institute of Electrical & Electronic Engineers (IEEE)
Member of the IEEE Robotics and Automation Society, Control Systems Society, Neural Networks Society, and Computer Society
• Member, Engineers Australia (MIEAust)
Mechanical Chapter
• Member, Robotics Research Network (RRN)

RESEARCH INTERESTS:
• Optimal control in mobile robot exploration.
• Neural networks and fuzzy logic control in robotics.
• Computer vision applications in robotics.
• Particle swam optimisation and its applications in robotics
• Force control for industrial robots.
• Robot applications in healthcare.
 

VISITING APPOINTMENT:
2009 – Current Visiting Researcher
 Intelligent Robotic Welding Technology Laboratory (IRWTL)
 Shanghai Jiao-Tong University, Shanghai, China

2003 – Current Visiting Scholar
 ARC Centre of Excellence in Autonomous Systems
 Faculty of Engineering
 University of Technology, Sydney

PROFESSIONAL EXPERIENCE:

Current  Assistant Associate Dean
 College of Health & Science,
 University of Western Sydney, Australia
2006 -- Current  Senior Lecturer (Head of Program, Postgraduate Engineering)
 School of Engineering,
 University of Western Sydney, Australia
July 2003 – 2005 Senior Lecturer (Deputy Head of School)
 School of Engineering & Industrial Design,
 University of Western Sydney, Australia
2001 – June 2003 Senior Lecturer
 School of Engineering & Industrial Design,
 University of Western Sydney, Australia
1996 – 2000 Lecturer,
 School of Mechatronic, Computer and Electrical Engineering,
 University of Western Sydney, Nepean, Australia.

RESEARCH FUNDING:
External:
2009 – 2012 A Vision Controlled Autonomous Multi-Robot Welding System ($131,140) –  ARC Linkage  (I am the lead CI, jointly received with Dr JJ Zou (CI); Prof Dr S Chen (PI); Mr JA Cameron (PI)).
2006 – 2007 Autonomous Systems for Road Bridge Maintenance - Stage 1 ($200,000) –  jointly funded by   Roads and Traffic Authority (NSW) and University of Technology, Sydney.  (Jointly received with Dr Dikai Liu from UTS).
2002 — 2004  24 Bit Optical Post Processor ($90,000) – funded by AusIndustry R&D Start Graduate Placement Grant.  I as the sole researcher from UWS jointly received this grant with industrial partner Laservision Macro-Media Pty Ltd.
1998 — 2002 Adaptable Low-Cost, Low-Volume Automation ($110,000) – funded by Hawker de Havilland Pty Ltd.
1998 —2000 Vector Display System ($110,000) – funded by AusIndustry R&D Start Graduate Placement Grant.
1999 — 2000 Robot Precision Control Using Neural Networks ($25,345) – Funded by Australian Research Council (ARC) Small Grant.
Internal:
2009 – 2010 International Research Initiatives Scheme ($10,000) – funded by the University of Western Sydney.
2004 – 2005 International Research Initiatives Scheme ($5,000) – funded by the University of Western Sydney.
2004 – 2005 College Incentive Funding ($10,000) – funded by the College of Science, Technology & Environment at the University of Western Sydney.
2002 — 2003 Neuro-Fuzzy Impedance Control for Industrial Robots ($22,000) -- funded by the University of Western Sydney.
1998 — 1999  Remotely Operated Robotic System for the Visual Monitoring of Surgery ($22,100) – Funded by the UWS Research Grant Scheme (jointly received with Drs J Gal and P Cregan)
1997 —1998 Neural Networks for Robot Modelling and Control ($6,195) – funded by the University of Western Sydney, Research Seed Grant.

PUBLICATIONS:
Paper Published as Chapters in Books
1. Xu Z.L. and Fang G. “Fuzzy - neural impedance control for robots.” in Robotic Welding, Intelligence and Automation (Eds.:TJ Tarn, SB Chen and CJ Zhou) Springer-Verlag.  2004.  pp 263 – 275.
2. Xu J., Liu D.K., and Fang G., “An Efficient Method for Collision Detection and Distance Queries in a Robotic Bridge Maintenance System”, in Robotic Welding, Intelligence and Automation, (Eds.:TJ Tarn, SB Chen and CJ Zhou), a volume of serial books Lecture Notes in Control and Information Sciences, Springer-Verlag, 2007, pp 71-82
3. MacDonald G. & Fang G., “Effects of Diversity on Optimality in GA”, AICI 2009 Deng et al. (Eds.):, a volume of serial books Lecture Notes in Artificial Intelligence, pp. 131–140, 2009. Springer-Verlag Berlin Heidelberg 2009
Refereed International Journal
4. Fang G. and Dissanayake M.W.M.G., “Experiments on a neural network based method for time-optimal trajectory planning.”  Robotica.  Vol 16, 1998, pp143-158.
5. Dissanayake G. and Fang G., “Minimum-time trajectories for reducing load sway in quay-cranes.” Engineering Optimization.  Vol. 33, 2001, pp. 643-662
6. Kwok N.M., Ha Q.P., Huang S., Dissanayake G., & Fang G. “Mobile Robot Localization and Mapping using a Gaussian Sum Filter”.  International Journal of Control, Automation, and Systems. Vol. 5, No. 3, pp.251-268, 2007
7. N.M. Kwok, Q.P. Ha, & Fang G. “Motion Coordination for Construction Vehicles using Swarm Intelligence”.  International Journal of Advanced Robotic Systems. Vol. 4, No. 4, pp. 469-476, 2007
8. Ha Quang,  Kwok Ngai, Liu Dikai and Fang Gu, “Contrast Enhancement and Intensity Preservation for Gray-Level Images using Multi-objective Particle Swarm Optimization.” IEEE Transactions on Automation Science and Engineering.  VOL. 6, NO. 1, JANUARY 2009, pp. 145 – 155.
Refereed Conference Proceedings
9. Fang G. and Dissanayake M.W.M.G., “A Neural Network Based Algorithm for Robot Trajectory Planning.”  Proceedings of International Conference of Robots for Competitive Industries.  July 1993, Brisbane, Qld, Australia. pp. 521-530. (Best Student Paper Award)
10. Chahyadi H.S., Fang G. and Rye D.C., “Nonlinear Compensation for a Position Control System with a Fuzzy-Based Neural Network Controller.”  Proceedings of First Asian Control Conference. Vol. 3,  July 1994, Tokyo, Japan.  pp. 443-446.
11. Nebot E.M. and Fang G., “Robot Dynamic Identification Using Neural Networks.”  Proceedings of Mechatronics & Machine Vision in Practice.  September, 1994, Toowoomba Qld, Australia.  pp. 200-205
12. Fang G., Dissanayake M.W.M.G. and Kieffer J., “Experiments on Optimal Trajectories for A SCARA Robot.”  Australian Robot Association’s National Conference on Robots for Australian Industries.  July, 1995. Melbourne, Vic, Australia.  pp. 403-409.
13. Fang G. and Dissanayake M.W.M.G., “On Time-Optimal Trajectory Planning for Industrial Robots.”  the Proceedings of the 26th International Symposium of Industrial Robots. October, 1995.  Singapore.  pp. 351-356.
14. Lee K.Y., Dissanayake M.W.M.G., Gal J. and Fang G., “Gait Synthesis for a Hybrid Legged-Wheeled Mobile Robot.” the Proceedings of the 26th International Symposium of Industrial Robots.  October, 1995.  Singapore.  pp. 417-422.
15. Fang G. and Dissanayake M.W.M.G., “Neural Networks for Modelling Robot Forward Dynamics.”  the Proceedings of the 1995 IEEE International Conference on Neural Networks.  Vol. V, Nov. 1995. Perth, SA, Australia.  pp. 2715-2719.
16. Fang G., “Neural networks for robot trajectory planning and control.”  The University of Sydney, 1996.  PhD thesis.
17. Gal J.A. and Fang G., “A flexible robotic assembly system in mechatronics education.”  The Proceedings of the World Congress on Manufacturing 1997. 15-17 Sep. 1997, Cairns, Australia.  pp. 455-463.
18. Fang G. and Dissanayake M.W.M.G., “Experiments on a time-optimal trajectory planning method based on neural networks.”  Proceedings on Mechatronics and Machine Vision in Practice '97.  23-25 Sep. 1997, Toowoomba, Australia.  IEEE Computer Society.  pp. 188-193.
19. Fang G. and Dissanayake M.W.M.G., “A model predictive controller for robot trajectory tracking based on neural network model.”  the Proceedings on the 2nd International Power Electronics and Motion Control Conference.  3-6 Nov. 1997,  Hangzhou, China.  pp. 689-694.
20. Fang G. and Dissanayake M.W.M.G., “A neural network-based method for robot time-optimal trajectory planning.”  Proceedings of the World Automation Congress (WAC'98). May 1998, Anchorage, Alaska, USA. Vol 6, pp. 481-486.
21. Gal J. and Fang G., “An advanced robotic system for mechatronics education.” Proceedings of the 10th Australasian Conference on Engineering Education (Waves of Change 1998).  28-30 Sept. 1998 Gladstone, QLD Australia.  Vol. 2, pp. 601-605.
22. Wei Z. and Fang G., “Model predictive control for robot manipulators using a neural network model.”  Proceedings of Australian Conference on Robotics and Automation.  30 March - 1 April 1999. Brisbane, Australia.  pp. 62-67.
23. Wei Z. and Fang G., “Model predictive control for robot manipulators.”  Robotics 2000 Proceedings of the 4th International Conference and Exposition/Demonstration on Robotics for Challenging Situations and Environments,  March 2000, Albuquerque, New Mexico, USA.  pp. 213 - 219
24. Gal J.A. and Fang G., “A Teleoperated Robotic System for the Visual Monitoring of Surgical Procedures.” Robotics 2000 Proceedings of the 4th International Conference and Exposition/Demonstration on Robotics for Challenging Situations and Environments,  March 2000, Albuquerque, New Mexico, USA.  pp. 263 – 269
25. Fang G. and Dissanayake G., “Dynamic modelling and time-optimal trajectory planning for quay-cranes.” The 6th International Conference on Control, Automation, Robotics and Vision, ICARCV 2000.  December 2000, Singapore. 
26. Wei Z. and Fang G., “Neural network implementation of MPC for robot position control.” The 6th International Conference on Control, Automation, Robotics and Vision, ICARCV 2000.  December 2000, Singapore. 
27. Xu Z. L., Fang G., Gal J., Roberts B. and Toner P., “A passive mechanical device following complex spatial edges.” Robotics and Mechatronics Congress, the 4th Asian Conference on Robotics and its Applications, ACRA’2001.  June 2001, Singapore.  pp. 166-170.
28. Idsoe T., Gal J. and Fang G., “Teleoperated robotics system for surgical applications” Robotics and Mechatronics Congress, the 4th Asian Conference on Robotics and its Applications, ACRA’2001.  June 2001, Singapore.  pp. 51-56.
29. Xu Z.L., Fang G., “Neuro-fuzzy impedance control for robots in complex spatial edge following.” Proceedings of the 6th International Conference on Mechatronic Technology, 29 Sept – 3 Oct 2002. pp. 100-105.
30. Fang G., Dissanayake G., “Time-optimal feedback control of a Non-holonomic vehicle using neural networks.” International Conference on Control, Automation, Robotics and Vision, ICARCV December 2002. pp. 1458-1463.
31. Xu Z.L., Fang G., “Fuzzy impedance control for robots in complex spatial edge following.” International Conference on Control, Automation, Robotics and Vision, ICARCV December 2002. pp. 845-850.
32. Fang G., Dissanayake G., and Lau H., “A behaviour-based optimisation strategy for multi-robot exploration.” Proceedings of 2004 IEEE Conference on Robotics, Automation and Mechatronics.  Singapore, 1-3 December 2004. pp. 875 – 879.
33. Kwok N.M., Liu D.K., Fang G., and Dissanayake G., “Path planning for bearing-only simultaneous localisation and Mapping.” Proceedings of 2004 IEEE Conference on Robotics, Automation and Mechatronics.  Singapore, 1-3 December 2004. pp. 828 – 833.
34. Huang S., Kwok N.M., Dissanayake G., Ha Q.P., and Fang G., “Mulit-step look-ahead trajectory planning in SLAM: possibility and necessity.” Proceedings of the 2005 IEEE International Conference on Robots and Automation, Barcelona, Spain.  April 2005, pp. 1103 – 1108.
35. Fang G., Dissanayake G., Kwok N., and Huang S., “Near minimum time path planning for bearing-only localisation and mapping” Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Canada, August 2005, pp2763 – 2768.
36. Kwok N.M., Fang G., Zhou W.Z., “Evolutionary Particle Filter: Re-sampling from the Genetic Algorithm Perspective” Proceedings of 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005), Edmonton, Canada, August 2005, pp1503 – 1508.
37. Kwok N.M., Buchholz J., Fang G., and Gal J., “Sound Source Localization: Microphone Array Design and Evolutionary Estimation” Proceedings of IEEE International Conference on Industrial Technology.  Hong Kong December 2005. pp. 281-286 (Best Paper Nomination)
38. Kwok N.M., Ha Q.P., Liu D.K., and Fang G., “Intensity Preserving Contrast Enhancement for Gray-Level Images using Multi-objective Particle Swarm Optimization”, IEEE Conference on Automation Science and Engineering, Shanghai, China, October 2006 (Finalist for the Best Paper Award). 
39. Tran T.H., Nguyen M.T., Kwok N.M., Ha Q.P. and Fang G., “Sliding Mode-PID Approach for Robust Low-level Control of a UGV”.  IEEE Conference on Automation Science and Engineering, Shanghai, China, October 2006.
40. Kwok N.M., Ha Q.P and Fang G. “Data Association in Bearing-Only SLAM using a Cost Function-based Approach”.  2007 IEEE International Conference on Robots and Automation, April 2007, Rome, Italy.  pp.4108 – 4113.
41. N.M. Kwok, Q.P. Ha, D.K. Liu, G. Fang and K.C. Tan. “Efficient Particle Swarm Optimization: A Termination Condition Based on the Decision-making Approach.”  2007 IEEE Congress on Evolutionary Computation.  2007 Singapore.
42. Clifton M and Fang G, “Genetic Programming in Robot Exploration”.  2007 IEEE International Conference on Mechatronics and Automation, August, 2007 Harbin, China.  pp. 451 – 456.
43. Dinham M and Fang G, “Time Optimal Path Planning for Mobile Robots in Dynamic Environments”.  2007 IEEE International Conference on Mechatronics and Automation, August, 2007 Harbin, China.  pp. 2132 – 2137.
44. Kwok N. M., Fang G., Ha Q.P., and Liu D.K., “An Enhanced Particle Swarm Optimization Algorithm for Multi-Modal Functions”.  2007 IEEE International Conference on Mechatronics and Automation, August, 2007 Harbin, China.  pp. 457 – 462.
45. Fang G. Kwok N. M., & Ha Q.P., “Automatic Fuzzy Membership Function Tuning Using the Particle Swarm Optimisation” IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application (PACIIA 2008), Dec. 2008, Wuhan, China. Vol. 2, pp. 324 – 328.
46. Fang G. Kwok N. M., & Ha Q.P., “Swarm Interaction-based Simulation of Occupant Evacuation” IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application (PACIIA 2008), Dec. 2008, Wuhan, China. Vol. 2, pp. 329 – 333.
47. Liu D., Dissanayake G., Manamperi P.B., Brooks P, Fang G., “A Robotic System for Steel Bridge Mainteance: Research Challenges and System Design.”  Proceedings of the 2008 Australasian Conference on Robotics and Automation (ACRA 08) 3-5 December 2008, Canberra, Australia.
48. Kwok N.M., Ha Q.P. & Fang G. “Effect of color space on color image segmentation” the 2nd International Congress on Image and Signal Processing (CISP'09), 17-19 October 2009, Tianjin, China
49. Kwok N.M., Fang G. & Ha Q.P., “Moving Average-based Stock Trading Rules from Particle Swarm Optimization.” the 2009 International Conference on Artificial Intelligence and Computational Intelligence (AICI'09) 7-8 November 2009, Shanghai, China.
50. Fang G. & Kwok N. M., “Image Segmentation Using Adaptively Selected Color Space” Proceedings of The 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009) Guilin, Guangxi, China. December 18-22, 2009,  pp 1838 – 1843.
51. Dinham M., & Fang G. “A Low Cost Hand-Eye Calibration Method for Arc Welding Robots” Proceedings of The 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO 2009) Guilin, Guangxi, China. December 18-22, 2009,  pp 1889 – 1893.
Industrial Reports
52. Roberts B.W. and Fang G., “An early, interim report on enhancement of galvanometer control.” submitted to Laservision Pty Ltd for the AusIndustry R&D Start Graduate Placement Grant funded project.  January 1999.  pp. 1-7.
53. Fang G., Gal J.A., Roberts B.W. and Xu Z., “Report on an autonomous machine for the robotic edge-sealing of aircraft skins.” submitted for Hawker de Havilland and UWS, Nepean’s collaborate research project.  March 1999.  pp. 1-40.