博士，副研究员，博士生导师
Email: yly@tsinghua.edu.cn, yu.tsinghua@gmai.com
电话：010-62773419
通讯地址：北京清华大学车辆与运载学院李兆基科技大楼A547
[English one-page CV is available at the last tab.]
曾主持或者参与完成国家自然科学基金资助项目、国家863计划课题、国家973计划课题、985科技攻关项目、国家科技支撑计划课题以及多项横向课题，从事汽车动力学理论研究与机电一体化系统研发，主要包括汽车稳定性控制（ABS/ESC）、先进线控系统、电控主动半主动悬架、汽车智能底盘、先进测控系统、驾驶机器人、飞机全电刹车系统、汽车/飞机防滑控制、新能源车动力总成、汽车电子、振动控制与能量回收等。近年来，作为项目负责人或主要完成人完成或承担纵向/横向课题30余项，取得国家重点科技项目成果3项；发表SCI/EI论文总计60余篇；申请发明专利并获得授权20余项。指导博士生10余人、硕士生10余人。因在本专业领域的工作，获得中国汽车工业技术进步奖一等奖1项；获得中国汽车工业优秀青年科技人才奖1项；获得北京市科技进步奖一等奖1项、三等奖1项。
2002/09-2007/12，清华大学，汽车工程系，博士，导师：宋健
1997/09-1999/07，清华大学，汽车工程系，硕士，导师：宋健
1992/09-1997/07，清华大学，汽车工程系，学士
2010/04-至今， 清华大学，汽车工程系，副研究员，博士生导师
2013/02-2014/02，纽约州立大学，机械工程系，访问学者
2008/12-2010/03，清华大学，汽车工程开发研究院，副研究员
2001/08-2008/11，清华大学，汽车工程开发研究院，讲师
1999/08-2001/07，清华大学，汽车工程系，助教
* 车辆动力学及其控制（智能底盘系统、ABS/ESC、线控制动系统、智能悬架、自动变速系统等）
* 汽车电子（车身电子、底盘电子、EV整车控制、EV电机控制器、传感器、车内网络等）
* 飞机地面动力学（全电刹车及制动动力学控制）
* 机电一体化设计及控制（振动能量回收、驾驶机器人）
曾主持或者参与完成国家自然科学基金资助项目、国家863计划课题、国家973计划课题、985科技攻关项目、国家科技支撑计划课题以及多项横向课题，从事汽车动力学理论研究与机电一体化系统研发，主要包括汽车稳定性控制（ABS/ESC）、先进线控系统、电控主动半主动悬架、汽车智能底盘、先进测控系统、驾驶机器人、飞机全电刹车系统、汽车/飞机防滑控制、新能源车动力总成、汽车电子、振动控制与能量回收等。近年来，作为项目负责人或主要完成人完成或承担纵向/横向课题30余项，取得国家重点科技项目成果3项；发表SCI/EI论文总计60余篇；申请发明专利并获得授权20余项。指导博士生10余人、硕士生10余人。因在本专业领域的工作，获得中国汽车工业技术进步奖一等奖1项；获得中国汽车工业优秀青年科技人才奖1项；获得北京市科技进步奖一等奖1项、三等奖1项。。
近年来作为项目负责人40万以上的科研项目主要有：
§ 基于EWB型线控制动系统和馈能型主动悬架的制动动力学及多目标联合控制方法研究，自然科学基金面上项目，在研，2018-2021；
§ 基于电子助力器实现制动冗余ABS功能的控制算法和研究，上汽基金，在研，2018-2020；
§ 商用车电子制动系统的研发，横向课题， 在研（100万以上），2018-2020；
§ 总泵助力式线控制动系统的研发，横向课题，在研，2018-2022；
§ 飞机刹车系统实时仿真试验平台研发，横向课题，在研（100万以上），2018-2020；
§ 电涡流缓速器控制器开发，横向课题， 在研（100万以上），2019-2020；
§ 自动紧急制动系统（AEBS）技术分析与市场调研，横向课题，在研，2019-2020；
§ 线控转向和制动系统开发，横向课题，2018-2019；
§ 高性能小型纯电动轿车开发，国家科技支撑计划，已结题（100万以上），2015-2017；
§ 飞机全电刹车系统研发，横向课题， 已结题（100万以上），2015-2017；
§ 汽车动力学控制系统执行器关键技术，横向课题，已结题（100万以上），2014-2019；
§ 基于全解耦制动系统的制动能量回收技术应用研究，上汽基金，已结题，2015-2017
§ CAN总线数据自动解析引擎及数据实时显示的研究，苏研院基金项目，已结题，2015-2016
§ 汽车智能HVAC控制系统，横向课题，已结题，2014-2016；
§ 四轮驱动动力系统设计开发，科技部联盟项目，已结题（100万以上）；
§ 客车CAN总线系统开发，横向课题，已结题（100万以上）；
§ 中华尊驰车ESP开发，横向课题，已结题（100万以上）；
§ 汽车电控模块研发，横向课题，已结题（100万以上）；
§ 电动汽车磁流变液制动系统研究开发，863项目，已结题；
§ 北汽自主品牌混合动力汽车用整车控制器开发，863项目，已结题；
§ 电动车EABS关键技术研究关键技术研究，横向课题，已结题；
§ ABS检测与标定技术开发，横向课题，已结题；
§ 4通道气压防抱制动系统ABS电子控制单元ECU的开发，横向课题，已结题。
1) 讲授课程：赛车工程I，赛车工程II；
2) 汽12班，汽43班班主任（共获得挑战杯特奖2项、挑战杯二等奖1项、甲团2次）；
3) SRT（Student Research Training）计划共计6项，20余人；
4) 大学生创新创业计划3项；
5) 指导清华挑战杯特奖1项；
6）指导博士、硕士研究生20余人。
1) 担任机电类顶级期刊IEEE/ASME Transactions on Mechatronics的技术编辑/副编辑（TE）.
2) Paper reviewer for over 20 journals and 10 conferences: IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Vehicular Technology, Proc IMechE Part D (Journal of Automobile Engineering), Journal of Mechanical Engineering (English version), ASME Design Engineering Technical Conferences, ASME Dynamic Systems and Control Conference, American Control Conferences, 汽车工程, 华中科技大学学报, 汽车安全与节能学报, 等.
3) 担任国际会议分会主席及讨论小组组织者：ASME IDETC2014, ASME IDETC2015, ASME IDETC2016.
4) ASME会员, since 2013；IEEE会员, since 2013； SAE会员, since 2013.
5) 清华元丰电子技术研究所 所长.
1. 汽车工业科学技术进步奖一等奖，2005，排名2（一等奖仅1项）；
2. 中国汽车工业优秀青年科技人才奖，2006（全国共3人）。
3. 北京市科学技术进步奖一等奖，2016
4. 北京市科技技术进步奖三等奖，2018
[Find one-page CV at bottom of this page]
发表SCI/EI论文60余篇；获得专利授权20余项；取得国家重点科技项目成果多项。
论文列表（节选）：
A: Journal Papers
[1]. Yaqi Dai, Jian Song, Liangyao Yu. The lateral control during aircraft-on-ground deceleration phases. Aerospace Science and Technology. 2019. DOI : 10.1016/j.ast.2019.105482.
[2]. Cenbo Xiong, Man Chen, Liangyao Yu. Analytical model and material equivalent methods for steady state heat partition coefficient between two contact discs in multi-disc clutch. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol.234, no. 2-3, 2020, pp. 857-871. DOI: 10.1177/0954407019846389.
[3]. Yuzhuo Tai, Jian Song, Liangyao Yu. A four-step control algorithm and downshift schedule of a seamless shift transmission equipped on electric vehicles during the regenerative braking process. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol.223, no. 8, 2019, pp. 1982-1999. DOI: 10.1177/0954407018757806.
[4]. Liangyao Yu, Lei Zhang. Comfort analysis on anti-lock braking system based on high-speed switch valve. International Journal of Vehicle Performance, vol. 4, no. 1, 2018. pp. 74-88. DOI:10.1504/IJVP.2018.088784
[5]. Liu, X., Yu, L., Zheng, S., and Chang, J., Energy Harvesting in Tire: State-Of-The-Art and Challenges. SAE Technical Paper 2018-01-1119, 2018, DOI:10.4271/2018-01-1119.
[6]. Yintao Wei, Christian Oertel, Xuebing Li and Liangyao Yu. A theoretical model for the tread slip and the effective rolling radius of the tyres in free rolling. DOI: 10.1177/0954407016675227, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol.231, no.11, 2017. pp 1461-1470. DOI: 10.1177/0954407016675227.
[7]. Liangyao Yu, Liangxu Ma, Jian Song, Xuhui Liu. Magneto-rheological and Wedge Mechanism based Brake-by-Wire System with Self-energizing and Self-powered Capability by Brake Energy Harvesting. DOI : 10.1109/TMECH.2015.2512579, IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2568-2580, 2016. [2016.10]
[8]. Lei Zhang, Liangyao Yu, Zhizhong Wang, Lei Zuo, Jian Song. All-Wheel Braking Force Allocation During Braking-in-Turn Maneuver for Vehicle with Brake-by-Wire System Considering Braking Efficiency and Stability. DOI :10.1109/TVT.2015.2473162, IEEE Transactions on Vehicular Technology, vol. 65, no. 6, 2016.
[9]. Lei Zhang, Liangyao Yu, Ning Pan, Yonghui Zhang, Jian Song. Cooperative Control of Regenerative Braking and Friction Braking in the Transient Process of Anti-lock Braking Activation in Electric Vehicles. DOI: 10.1177/0954407015613193, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 230, no. 11, pp.1459-1476, 2016.
[10]. Liangyao Yu, Liangxu Ma, Jian Song. Design, testing and analysis of a novel automotive magnetorheological braking system. DOI: 10.1177/0954407016674394, Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, no. 11, 2016.
[11]. Lei Zhang, Liangyao Yu, Zhizhong Wang, Lei Zuo, Jian Song. All-Wheel Braking Force Allocation During Braking-in-Turn Maneuver for Vehicle with Brake-by-Wire System Considering Braking Efficiency and Stability. DOI :10.1109/TVT.2015.2473162, IEEE Transactions on Vehicular Technology, 2015.
[12]. Lei Zhang, Liangyao Yu, Ning Pan, Yonghui Zhang, Jian Song. Cooperative Control of Regenerative Braking and Friction Braking in the Transient Process of Anti-lock Braking Activation in Electric Vehicles. DOI: 10.1177/0954407015613193, Proc IMechE Part D: Journal of Automobile Engineering, 2015.
[13]. Liangyao Yu, Shuhao Huo, and WenWei Xuan. Assessment of Ride Comfort and Braking Performance Using Energy-Harvesting Shock Absorber. SAE Int. J. Passeng. Cars - Mech. Syst. 8(2):2015, doi:10.4271/2015-01-0649, 2015.
[14]. Changxi You, Liangyao Yu, ZhizhongWang, Ning Pan, Jianjun Zhong and Jian Song. Handling characteristics of drivers under braking conditions considering the fluctuation in the steering-wheel torque. Proc IMechE Part D: Journal of Automobile Engineering, Vol. 229, No. 4, pp. 473-485, 2015.
[15]. Yonghui Zhang, Liangyao Yu, Weiwei wang. A Research on the Flow Characteristics of ABS Hydraulic Control Unit Under Switch Control Mode. Journal of Automotive Engeneering, Vol. 37, No. 5, pp. 1-6. 2014.
[16]. Zhizhong Wang, Liangyao Yu, Changxi You, Jian Song. Fail-safe control allocation for distributed brake-by-wire system considering driver behavior. Proc IMechE Part D: Journal of Automobile Engineering, Vol. 228, No. 13, pp. 1547-1567, 2014.
[17]. Zhizhong Wang, Liangyao Yu, Jian Song. The status quo of research on Vehicle Wheel Slip Control Based on Brake System. Journal of Automotive Engeneering, Vol. 36, No. 1, pp. 81-87, 2014.
[18]. Liangxu Ma, Liangyao Yu, Zhizhong Wang, Jian Song. Innovative Actuator for Decentralized Electro-hydraulic Braking System. Journal of Harbin Institute of Technology (English Version), Vol. 21, No. 1, pp. 1-6, 2014.
[19]. Zhizhong Wang, Liangyao Yu, Yufeng Wang, Jian Song. Actuator Pressure Controller for a Distributed Electro-hydraulic Braking System. Journal of Tsinghua University (Sci & Technol). Vol 53, No. 10, pp. 1464-1469, 2013.
[20]. Lin He, Tielong Shen, Liangyao Yu, Nenglian Feng, and Jian Song. A Model Predictive Control-based Torque Demand Management Strategy for Parallel Hybrid Powertrains. IEEE Transactions on Vehicular Technology, Vol 62, No. 3, pp. 1041-1052, 2013.
[21]. He, L., Li, L., Yu L.Y., Song, J. Nonlinear Sliding Mode Control of Switched Systems on Continuously Variable Transmission Shifting. International Journal of Vehicle Design, Vol. 62, No. 3, pp. 289-311, 2013.
[22]. Lin He, Liang Li, Liangyao Yu, Enrong Mao, Jian Song. A torque-based nonlinear predictive control approach of automotive powertrain by iterative optimization. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, Vol. 226, No. 8, p 1016-1025, 2012.
[23]. H.-Z. LI, L. LI, L. HE, M.-X. KANG, J. SONG, L.-Y. YU and C. WU. PID plus Fizzy Logic Method for Torque Control in Traction Control System. International Journal of Automotive Technology, Vol.13, No.3, pp 441−450, 2012.
B: Peer Reviewed Conference Papers
[1]. Xiong, C., Yu, L., Li, Z., Lu, Z. et al., Modelling and Performances of Hydraulic Magnetorheological Fluid Damper with Modified Bi-Viscosity Model. SAE Technical Paper 2020-01-0988, 2020, doi:10.4271/2020-01-0988.
[2]. Yu, L., Ru, Z., Lu, Z., and Chang, J., Decision Making and Trajectory Planning for Lane Change Control Inspired by Parallel Parking. SAE Technical Paper 2020-01-0134, 2020, doi:10.4271/2020-01-0134.
[3]. Dai, Y., Yu, L., Song, J., and Zhao, W., The Differential Braking Steering Control of Special Purpose Flat-Bed Electric Vehicle. SAE Technical Paper 2019-01-0440, 2019, doi:10.4271/2019-01-0440.
[4]. Xiong, C., Yu, L., Li, Z., and Zheng, S., Modelling and Simulation of a Magnetorheological Fluid Damper with Multi- Accumulator during Mode Shifting. SAE Technical Paper 2019-01-0856, 2019, doi:10.4271/2019-01-0856.
[5]. Yaqi Dai, Liangyao Yu, Jian Song. Vehicle Stability Control on Tire Burst Steering and Braking Condition With Active Steering System. Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 26-28, 2018, Quebec, Quebec, Canada. DETC2018-85283.
[6]. Liangyao Yu, Sheng Zheng. Road Adhesion Coefficient Estimation Based on the Steering Wheel Rebound After Steering. Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 26-28, 2018, Quebec, Quebec, Canada. DETC2018-85407.
[7]. Xiaohui Liu, Liangyao Yu. Hydraulic Pressure Control and Parameter Optimization of Brake-by-Wire System Based on Driver-Automation Cooperative Driving. Proceedings of the ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 26-28, 2018, Quebec, Quebec, Canada. DETC2018-85409.
[8]. Liu, X., Yu, L., Zheng, S., and Chang, J., An Innovative Design of In-Tire Energy Harvester for the Power Supply of Tire Sensors. SAE Technical Paper 2018-01-1115, 2018, doi:10.4271/2018-01-1115.
[9]. Yu, L., Zheng, S., Chang, J., and Liu, X. Braking Force Identification of EMB Using Recursive Least-squares Method and Disturbance Observer Iteratively. SAE Technical Paper 2018-01-1381, 2018, doi:10.4271/2018-01-1381.
[10]. Liangyao Yu, Sheng Zheng, Jinghu Chang, Xiaoxue Liu. Pedal actuator of driver robot based on flexible manipulator. Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 6-9, 2017, Cleveland, Ohio, USA. DETC2017-68100.
[11]. Liangyao Yu, Jinghu Chang, Sheng Zheng. Proof-of-concept design of Electronic Wedge Brake with multi-rollers. Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, August 6-9, 2017, Cleveland, Ohio, USA. DETC2017-68103.
[12]. Liangyao Yu, Xiaoxue Liu, etc. Energy Harvesting in Tire: State-of-the-art and Challenge. SAE Technical Paper 2016-01-1566, 2016.
[13]. Liangyao Yu, Changxi You, Jian Song. Vehicle stability control in anti-lock braking system on split-u road surface considering driver in the loop. ASME Dynamic Systems and Control Conference, DSCC 2013.10, Stanford University, USA, 2013.
[14]. Zhang Lei, Liangyao Yu, Pan Ning, Liu Xiaouxe, Jian Song. Vehicle direct yaw moment control based on tire cornering stiffness estimation. ASME Dynamic Systems and Control Conference, DSCC 2014.10, San Antonio, USA, 2014.
[15]. Liangxu Ma, Liangyao Yu, Jian Song, WenWei Xuan, and Xuhui Liu. Design, Testing and Analysis of a Novel Multiple-Disc Magnetorheological Braking Applied in Vehicles. SAE Technical Paper 2015-01-0724, 2015, doi:10.4271/2015-01-0724.
[16]. Liangyao Yu, Wenwei Xuan, Liangxu Ma, Jian Song, Xianmin Zhu, and Shuai Cheng. A New Type of Electro-Hydraulic Power Steering System for Heavy-Duty Commercial Vehicles. SAE Technical Paper 2015-01-1502, 2015, doi:10.4271/2015-01-1502.
[17]. Liangyao Yu, Shuohao Huo, Xiaohui Liu, Xiaoxue Liu. A review of anti-lock braking system configuration for two-wheeled vehicle. ASME International Design & Engineering Technical Conferences, IDETC 2015.08, Boston, USA, 2015.
[18]. Shuohao Huo, Liangyao Yu. Ride comfort improvement in post-braking phase using active suspension. ASME International Design & Engineering Technical Conferences, IDETC 2015.08, Boston, USA, 2015.
[19]. Ning Pan, Liangyao Yu, Lei Zhang, Jian Song. Anti-lock wheel slip control with an adaptive searching algorithm for the optimal slip. ASME International Design & Engineering Technical Conferences, IDETC 2015.08, Boston, USA, 2015.
[20]. Liangyao Yu, Zhizhong Wang, Ning Pan, Lei Zhang, Jian Song. Stability control for tire blowout vehicle based on brake by wire system considering driver operation. ASME International Design & Engineering Technical Conferences, IDETC 2014.08, Buffalo, New York, USA, 2014.
[21]. Liangyao Yu, Xuhui Liu, Liangxu Ma, Lei Zuo, Jian Song. MR based brake-by-wire system with self-energizing and brake energy harvesting capability. ASME International Design & Engineering Technical Conferences, IDETC 2014.08, Buffalo, New York, USA, 2014.
[22]. Zhizhong Wang, Liangyao Yu, Ning Pan, Lei Zhang, Jian Song. ISO 26262 concept phase analysis on distributed electro-hydraulic braking system. ASME International Design & Engineering Technical Conferences, IDETC 2014.08, Buffalo, New York, USA, 2014.
[23]. Liangxu Ma, Liangyao Yu, Xuhui Liu, Zhizhong Wang, and Ning Pan. Experimental Research and Optimal Design of an Automotive Magneto-Rheological Brake System. SAE Technical Paper 2014-01-2534, 2014, doi:10.4271/2014-01-2534.
[24]. Ning Pan, Liangyao Yu, Zhizhong Wang, Liangxu Ma, and Jian Song. Design, Modeling and Simulation of a New Compact Electro-Hydraulic Brake System. SAE Technical Paper 2014-01-2535, 2014, doi:10.4271/2014-01-2535.
[25]. Zhizhong Wang, Liangyao Yu, Yufeng Wang, Kaihui Wu, Ning Pan, Jian Song, and Liangxu Ma. Design Concepts of the Four-Wheel-Independent Electro-Hydraulic Braking System. SAE Technical Paper 2014-01-2537, 2014, doi:10.4271/2014-01-2537.
[26]. Liangxu Ma, Liangyao Yu, Zhizhong Wang. Design and development of an automotive magneto-rheological brake system. SAE Technical Papers 2013-01-2061, Vol 8, 2013.8, San Francisco, USA, 2013.
[27]. Zhizhong Wang, Liangyao Yu, Yufeng Wang. Prototype of distributed electro-hydraulic braking system and its fail-safe control strategy. SAE Technical Papers 2013-01-2066, Vol 8, 2013.8, San Francisco, USA, 2013.
专利列表（发明专利，节选）：
[1]. 王治中，于良耀，王语风，宋健. 一种汽车分布式电子液压制动系统，2014.1,中国，ZL201210084530.X. (已授权)
[2]. 王治中，于良耀，王语风，宋健. 一种使用隔离阀的分布式电子液压制动系统，2013.10,中国，ZL201110391204.9.X. (已授权)
[3]. 宋健，王治中，王语风，于良耀，李亮. 用于汽车分布式电子液压制动系统的制动执行机构, 2013.5, 中国，ZL201110095263.1. (已授权)
[4]. 于良耀，刘旭辉，马良旭，王治中，宋健. 一种可进行制动能量回收的自增力式磁流变液制动装置，2016.1，中国，ZL201310740859.1.(已授权)
[5]. 于良耀，刘晓辉，王治中，张永生，魏文若. 一种电动车用线控制动系统，2014.7，中国，CN 2014103231830.
[6]. 王治中，于良耀，王语风，宋健. 一种带有保压阀的汽车分布式电子液压制动系统，2012.3,中国，CN201210084528.2.
[7]. 王治中，于良耀，王语风，宋健. 一种汽车分布式电子液压制动系统，2012.3,中国，ZL 201210084530.X. (已授权)
[8]. 王治中，于良耀，王语风，宋健. 一种汽车分布式电子液压制动系统，2012.6,中国，ZL 201210199897.6. (已授权)
[9]. 王治中，于良耀，王语风，宋健. 一种汽车线控制动系统，2012.12,中国，ZL 201210581882.6. (已授权)
[10]. 王语风，王治中，宋健，于良耀. 一种集成式电子液压制动系统执行机构，2016.3，中国，ZL201410253591.3.(已授权)
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Liangyao Yu, Ph.D.
Associate Professor of State Key Laboratory of Automotive Safety and Energy, Tsinghua University, China
Address: Room A547, Lee Shau Kee Science & Technology Building, Department of Automotive Engineering, Tsinghua University, Beijing, P.R. China
Tel: +8610-62773419
Email: yly@tsinghua.edu.cn
Education
Tsinghua University, Beijing, P.R. China | Mechanical Engineering | Ph.D. 12/2007 |
Tsinghua University, Beijing, P.R. China | Mechanical Engineering | MS. 07/1999 |
Tsinghua University, Beijing, P.R. China | Automotive Engineering | BS. 07/1997 |
State University of New York at Stony Brook, USA | Mechanical Engineering | Visiting Prof. 2013 |
Employment
12/2009-Present | Associate Professor, Department of Automotive Engineering (DAE), Tsinghua University, Beijing |
12/2008-11/2009 | Associate Professor, Tsinghua Automotive Engineering Institute (TAEI), Tsinghua University, Beijing |
08/2001-11/2008 | Lecturer, Tsinghua Automotive Engineering Institute (TAEI), Tsinghua University, Beijing |
08/1999-07/2001 | Assistant Lecturer, Department of Automotive Engineering (DAE), Tsinghua University, Beijing |
Research Interests
Vehicle Dynamics, Advanced Braking System of Vehicle, Mechatronics Design and Control, Electric Vehicle (EV), Energy Harvesting, Energy Regenerating of EV, Active/Semi-Active Suspension
