Welcome to the Intelligent Robotics and Systems Lab (IRSL)!!
Robot understands environment
Intelligent Manufacturing by Learning from Human Natrual Language
Gaze-driven robot grasping
3D-Gazed-enabled assistive robot
Motion planning and control of quadcopter
Motion Detection
Members of IRSL
Colorado School of Mines

Mission Statement

I am an Assistant Professor in the Department of Mechanical Engineering and run the Intelligent Robotics and Systems Laboratory. Our goal is to enable robots to operate and adapt to deal with new problems and situations or deal with changes in tasks and environments with reduced or without human control/intervention. Toward this goal, we focus on development of cognitive architectures for achieving a relatively high level of autonomy--architectures that allow robots to understand high level, abstract, implicit knowledge beyond low level, direct, explicit observation, and adapt this knowledge in a flexible way to generate their behaviors to compensate for limitations and/or changing conditions or to handle new situations or tasks. We work across different applications, from assistive robots, to surgery, to rehabilitation, to manufacturing, and draw from optimal control, planning, reasoning, learning, and cognitive science. I am a recipient of a NSF CAREER award.

Contact

  • Office: BB W310A, 1610 Illinois
          Street, Golden CO. 80401
  • Phone: 303-384-2343
  • Email: xlzhang X mines Y edu
                     (where X=at, Y=dot)
  • IRSL News

  • 2018.11, IRSL is a key part of the newly awarded ONR program titled “Robotic LAser Wire Additive Maufacturing System with Comprehensive Quality Assurance Framework”.
  • 2018.11, IRSL received a grant from Battelle Energy Alliance, LLC, "Big, Deep, and Smart Data to Support VTR Experiement Design and Validation".
  • 2018.08, IRSL is a key part of the newly awarded NSF program titled “IUCRC: Center for Manufacturing & Materials Joining Innovation Center (Ma2JIC)”.
  • 2018.06, IRSL received a grant from Takumi Tech. on “Development of an Automated Material Handling System for Paper Roll Warehouse”.
  • 2017.09, IRSL is a key part of the newly established $2.7M DOD-OEA Award for Mountain West Advanced Manufacturers Network and will lead the Intelligent Knowledge-Sharing Machine Network!
  • 2017.01, Prof. Xiaoli Zhang was awarded an NSF-Career program titled "CAREER: Goal-Guided Self-Reflective Control Interface in Teleoperation." Congratulations!!

  •             ©2016 IRSL Colorado School of Mines


    Research

    Robot-assisted Surgery & Assistive Living and Rehabilitation & Manufacturing & Dynamic Modeling and Control

    Robot-assisted Surgery


    publications:


    Assistive Living and Rehabilitation


    publications:


    Manufacturing


    publications:


    Dynamic Modeling and Control


    publications:



    Publications

    Knowledge-based Systems & Intelligent Control & Intent-based HRI

    2017
       Journals
    2016
       Journals    Conferences 2015
       Journals    Conferences
    • R. Liu, X. Zhang, J. Webb, S. Li, 2015, "Context-Specific Intention Awareness through Web Query in Robotic Caregiving," 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), May 26-30, Seattle, WA. (H-index:105. Robotics conference:1/20. Acceptance rate: 34.7%).
    • Zhang, X., Steele, J., 2015, "Visual Behavior Study for Welding Skill Evaluation and Training," American Welding Society FABTECH Conference, November 9-12, Chicago.
    2014
       Journals
    • L. Nouaille, G. Poisson, X. Zhang, and C. Nelson, 2014, "Method of Dimensional Optimization of Spherical Robots for Medical Applications using Specialized indices," Advanced Robotics, 28(3), PP. 173-186.
       Conferences 2013
       Journals    Conferences
    • Li, S., Zhang, J., Xue, L., Kim, F., Zhang, X., 2013, "Attention-Aware Robotic Laparoscope for Human-Robot Cooperative Surgery," IEEE International Conference on Robotics and Biomimetics, Dec. 12-14, Shenzhen, China.
    • Zhang, X., Xue, L., Li, S., Kim, F., 2013, "Digital Human Modeling for Ergonomic Evaluation of Patient Table Height," IEEE International Conference on Robotics and Biomimetics, Dec. 12-14, Shenzhen, China.
    • Zhang, X., Li, S., Zhang, J., Williams, H., 2013, "Gaze Contingent Control for a Robotic Laparoscope Holder," ASME Design of Medical Devices conference, Apr. 8-11, Minneapolis, MN.
    2012 and before
       Journals
    • Zhang, X., Nelson, C. A., and Oleynikov, D., 2012. "Usability Assessment of Two Different Control Modes for the Master Console of a Laparoscopic Surgical Robot," Journal of Healthcare Engineering, 3(1), PP. 105-123.
    • *Lu, K., Liu, H., Zhang, X., and Jing, M., 2012. "On Dynamics of Slender Shaft in Single-point Turning," American Scientific Publishers, Advanced Science Letters, 6(1), PP. 459-463.
    • Lu, K., Liu, H., Jing, M., Zhang, X., 2012, "A Reconfigurable System of Chatter Stability Evaluation and Monitoring for Industrial Machining Processes,"International Journal of Mechatronics and Automation, 2(4), PP. 277-285.
    • Li, S., Zhang, X., and Nelson, C., 2012. "A Robot Calibration Method for Minimally Invasive Surgery," ASME Design of Medical Devices, Apr. 12-14, Minneapolis, MN.
    • Zhang, X., and Nelson, C. A., 2010, "Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanism Using Genetic Algorithm,"ASME Journal of Mechanical Design (Impact factor: 1.103; rank: 18/107), 133(1), PP.011005-011015.
    • Zhang, X., and Nelson, C. A., 2010, "On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism," ASME Journal of Medical Devices, 4(4), PP. 041002-041013. Top ten most downloaded articles.
    • Nelson, C. A., Zhang, X., Guthrie, A., 2010, "Automatic Laparoscope Tracking in Minimally Invasive Surgery using Compact Robots," International Journal of Computer Assisted Radiology and Surgery, 5(Suppl 1), pp. 143-144.
    • Nelson, C. A., Zhang, X., Buettner, S., and Oleynikov, D., 2009, "Tool Guidance Using a Compact Robotic Assistant," Journal of Robotic Surgery, 3(3), pp. 171-173.
    • Nelson, C. A., Zhang, X., Shah, B. C., Goede, M. R., and Oleynikov, D., 2009, "Multipurpose Surgical Robot as a Laparoscope Assistant," Surgical Endoscopy (Impact factor: 3.09, rank: 17/166), 24(7), pp. 1528-1532.
    • Zhang, X., and Nelson, C. A., 2008, "Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation," ASME Journal of Medical Devices, 2(2), pp. 021003.1-021003.8. Top ten most downloaded articles.
    • Jing, M., and Zhang, X., 2007, "Research on Fault Diagnosis of Diesel Engine Based on ART-BP Neural Network," Journal of Mechanical Science and Technology (in Chinese), 4, pp. 412-416.
       Conferences
    • Zhang, X., Li, S., and Zhang, J., 2012, "Human-robot Interaction Using Gaze Contingent for Promoting Independent Living," BMES 2012 Annual Meeting, Oct. 24-27, Atlanta, GA.
    • Zhang, X., Nelson, C., Li, S., Ridley, R., and Rukstalis, D., 2012, "A Novel Low Cost Robot for Skill Training in Minimally Invasive Surgery," ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug. 12-15, Chicago, IL.
    • Zhang, X., 2012, "Accurate Range Estimation using Terrain Preview for Power Wheelchairs," ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Aug. 12-15, Chicago, IL.
    • Lu, K., Zhang, X., Jing, M. Liu, H., Ghorieshi, J., and Ridley, R. 2012,"Optimization of Machining Conditions in Turning Processes by Dynamic Programming," ASME Dynamic System and Control Conference & Motion and Vibration Conference, Oct. 17-19, Ft. Lauderdale, FL
    • Zhang, X., Li, S., and Roszel, G., 2011. "Sensorless Haptic Feedback in a Surgical Robot for Telesurgery," ASME Design of Medical Devices, Apr. 12-14, Minneapolis, MN.
    • Zhang, X., Chin, W. J., Seow, C. W., Nakamura, A., Head, M., Farritor, S. M., Oleynikov, D., and Nelson, C. A., 2011. "Multifunction Robotic Platform for Natural Orifice Surgery," Medicine Meets Virtual Reality 18, Feb. 8-12, Newport Beach, CA.
    • Zhang, X., Seow, C. W., Chin, W. J., *Nakamura, A., Head, M., Farritor, S. M., Oleynikov, D., and Nelson, C. A., 2010. "Robotic Multifunction Tools for Natural Orifice Surgery," American College of Surgeons 96th Annual Clinical Congress, Oct. 3-7, Washington, DC.
    • Nelson C., Zhang X., and Guthrie A., 2010, "Automatic Laparoscope Tracking in Minimally Invasive Surgery Using Compact Robots," Computer Assisted Radiology and Surgery 24th International Congress and Exhibition, Jun. 23-26, Geneva, Switzerland.
    • Zhang, X., Nelson, C. A., and Oleynikov, D., 2010, "Natural Haptic Interface for Single-port Surgical Robot with Gravity Compensation," Minimally Invasive Robotic Association Annual Meeting, Jan. 27-30, San Diego, CA.
    • Zhang, X., and Nelson, C. A., 2010, "Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanism Using Genetic Algorithm," ASME International Design Engineering Technical Conferences, Aug. 15-18, Montreal, Quebec, Canada.
    • Zhang, X., and Nelson, C. A., 2010, "On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism," ASME International Design Engineering Technical Conferences, Aug. 15-18, Montreal, Quebec, Canada.
    • Nelson, C. A., and Zhang, X., 2010, "Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator," ASME International Design Engineering Technical Conferences, Aug. 15-18, Montreal, Quebec, Canada.
    • Zhang, X., Lehman, A. C., Nelson, C. A., Farritor, S. M., and Oleynikov, D., 2009, "Cooperative Robotic Assistant for Laparoscopic Surgery: CoBRASurge," IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 11-15, St. Louis, MO.
    • Nelson, C.A., Zhang, X., Shah, B.C., Goede, R.M., and Oleynikov, D., 2009, "Multipurpose Surgical Robot as a Laparoscope Assistant," Society of American Gastrointestinal and Endoscopic Surgeons Annual Meeting, Apr. 22-25, Phoenix, AZ.
    • Nelson, C.A., Zhang, X., and Oleynikov, D., 2009. "Tool Guidance Using a Compact Robotic Assistant," Minimally Invasive Robotic Association Annual Meeting, Jan. 28-Feb. 1, Quebec City, Canada.
    • Zhang, X., Oleynikov, D., and Nelson, C. A., 2009, "Portable Tool Positioning Robot for Telesurgery," Medicine Meets Virtual Reality 17, Jan. 19-22, Long Beach, CA, vol. 142, pp. 438-434.
    • Zhang, X., and Nelson, C. A., 2008, "Compact Robot for Surgeon-in-the-Loop Control," BMES Annual Meeting, Oct. 1-4, St. Louis, MO.
    • Zhang, X., and Nelson, C. A., 2008, "Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation," ASME International Design Engineering Technical Conferences, Aug. 3-6, Brooklyn, NY.
    • Xiong, L., Zhang, X., 2006, "Research on Fault Diagnosis of Diesel Engine Based on Hybrid Neural Network," 2006 International Conference on Marine Maintenance and Repairing, Oct. 26-27, Wuhan, HuBei, China.

    *All the IF and ranking data is from web of science JCR.

    People

    Current Members


    team img

    Director: Xiaoli Zhang

    Ph.D, Assistant Professor

    Email:xlzhang X mines Y edu(where X=at, Y=dot)

    Dr. Xiaoli Zhang's research expertise lies in human-robot cooperation at intent level and motion level, knowledge-based systems, intelligent control, teleoperation, and their applications in healthcare and industrial fields.

    GoogleScholar


    team img

    Xu Zhou

    Ph.D candidate(2015.08-now)

    Email:xuzhou X mines Y edu(where X=at, Y=dot)

    Research Interests:Intelligent Control, Robot Motion Planning

    GoogleScholar   ResearchGate

    team img

    Sen Liu

    Ph.D candidate(2018.03-now)

    Email:senliu X mines Y edu(where X=at, Y=dot)

    Research Interests:Intelligent manufacturing, Metal additive manufacturing

    team img

    Michael Bowman

    Ph.D student

    Email:mibowman X mines Y edu(where X=at, Y=dot)

    Research Interests: Human-Robot Interaction

    team img

    Noopur Jamnikar

    Ph.D student

    Email:njamnikar X mines Y edu(where X=at, Y=dot)

    Research Interests: Additive Manufacturing and Intelligent Systems

    team img

    LingFeng Tao

    Ph.D student

    Email:tao X mines Y edu(where X=at, Y=dot)

    Research Interests: Reinforcement Learning

    team img

    Huiru Li

    Master student

    Email:hli1 X mines Y edu(where X=at, Y=dot)

    Research Interests: Perception and Planning

    team img

    Kyle Larsen

    Master student

    Email:klarsen X mines Y edu(where X=at, Y=dot)

    Research Interests:Autonomous Systems and Controls


    Alumni


    team img

    Jeremy Webb

    Master(2014.08-2016.05)

    Research Interests:Robot Control in Teleoperation.

    team img

    Dr. Songpo Li

    Post-doc (now at Duke University)

    Email:soli X mines Y edu(where X=at, Y=dot)

    Research Interests:Intent-based Human-Robot Cooperation

    team img

    Dr. Rui Liu

    Post-doc (now at CMU)

    Email:rliu X mines Y edu(where X=at, Y=dot)

    Research Interests:Robot Knowledge(learn, interpret, implement), Metal 3D Printing

    GoogleScholar   ResearchGate


    Teaching

    Teaching

    Lab Tour

    • Rocky Mountain Dyslexic Camp Photos

    Teaching

    • MEGN 544 Robotics
    • BioMedical Devices and Design

    Professional Services

    • IEEE Transactions on Robotics

    Seminars


    Facilities

    Robots & Devices

    Robots


    team img

                             NAO
    team img

                             MICO

    team img

                             Baxter


    IRSL News

    News

    • 2018.11, IRSL is a key part of the newly awarded ONR program titled “Robotic LAser Wire Additive Maufacturing System with Comprehensive Quality Assurance Framework”.
    • 2018.11, IRSL received a grant from Battelle Energy Alliance, LLC, "Big, Deep, and Smart Data to Support VTR Experiement Design and Validation".
    • 2018.08, IRSL is a key part of the newly awarded NSF program titled “IUCRC: Center for Manufacturing & Materials Joining Innovation Center (Ma2JIC)”.
    • 2018.06, IRSL received a grant from Takumi Tech. on “Development of an Automated Material Handling System for Paper Roll Warehouse”.
    • 2017.09, IRSL is proud to be a key part of the newly established $2.7M DOD-OEA Award for Mountain West Advanced Manufacturers Network and will lead the Intelligent Knowledge-Sharing Machine Network!
    • 2017.01, Prof. Xiaoli Zhang was awarded an NSF-Career program titled "CAREER: Goal-Guided Self-Reflective Control Interface in Teleoperation." Congratulations!!

    Copyright © 2016 IRSL Lab|M.E. Department|Colorado School of Mines

    Designed by Rui Liu

    Last update: Dec 2016