Selected Publications

Journal Articles

• 1. Timothy A. Brumfiel, Ronghuai Qi, Sharan Ravigopal, and Jaydev P. Desai, “Image-based Force Localization and Estimation of a Micro-scale Continuum Guidewire Robot,” IEEE Transactions on Medical Robotics and Bionics, vol. 6, no. 1, pp. 153-162, Feb. 2024, doi: 10.1109/TMRB.2024.3349598.

  2. Kent K. Yamamoto*, Timothy A. Brumfiel*, Ronghuai Qi*, Joshua J. Chern,and Jaydev P. Desai, "Preclinical Evaluation of a Novel Steerable Robotic Neuroendoscope Tool," Operative Neurosurgery, Nov. 3, 2023, doi: 10.1227/ons.0000000000000976. *Co-first author

  3. Ronghuai Qi*, Namrata U. Nayar*, and Jaydev P. Desai, “Compact Design and Task Space Control of a Robotic Transcatheter Delivery System for Mitral Valve Implant,” IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 4, pp. 867-878, Nov. 2023, doi: 10.1109/TMRB.2023.3310039. *Co-first author

  4. Ronghuai Qi, Namrata U. Nayar, and Jaydev P. Desai, “Telerobotically Controlled Transcatheter Delivery System for Mitral Valve Implant,” IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3629-3636, 2023. PDF Video

  5. Timothy A. Brumfiel, Ronghuai Qi, Coley Chapman, Asif Rashid, Shreyes N. Melkote, Joshua J. Chern, and Jaydev P. Desai, “Small Scale Robotic Tooling for Use in Flexible Robotic Endoscopic Tools,” IEEE Transactions on Medical Robotics and Bionics, vol. 5, no. 4, pp. 1105-1109, Nov. 2023, doi: 10.1109/TMRB.2023.3315476.

  6. Namrata U. Nayar*, Ronghuai Qi*, and Jaydev P. Desai, “Toward the Design and Development of a Robotic Transcatheter Delivery System for Mitral Valve Implant,” IEEE Transactions on Medical Robotics and Bionics, vol. 4, no. 4, pp. 922–934, 2022. PDF *Co-first author

  7. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Redundancy Resolution and Disturbance Rejection via Torque Optimization in Hybrid Cable-Driven Robots,” IEEE Transactions on Systems, Man and Cybernetics: Systems, doi: 10.1109/TSMC.2021.3091653. PDF

  8. Ronghuai Qi, Hamed Jamshidianfar, and Amir Khajepour, “Workspace Analysis and Optimal Design of Cable-Driven Parallel Robots Through Auxiliary Fixed Pulleys,” arXiv

  9. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Modeling, Vibration Control, and Trajectory Tracking of a Kinematically Constrained Planar Hybrid Cable-Driven Parallel Robot,” arXiv

  10. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Generalized Flexible Hybrid Cable-Driven Parallel Robot: Modeling, Control, and Analysis,” IEEE Transactions on Systems, Man and Cybernetics: Systems, Under Review.  arXiv

  11. Ronghuai Qi, Amir Khajepour, and William W. Melek, “Modeling, Tracking, Vibration and Balance Control of an Underactuated Mobile Manipulator (UMM),” Control Engineering Practice, vol. 93, pp. 104159, 2019.  PDF  Video

  12. Ronghuai Qi, Mitchell Rushton, Amir Khajepour, and William W. Melek, “Decoupled Modeling and Model Predictive Control of a Hybrid Cable-Driven Robot,” Robotics and Autonomous Systems, vol. 118, pp. 1–12, 2019.  PDF  Video 1  Video 2

  13. Ronghuai Qi, Amir Khajepour, William W. Melek, et al., “Design, Kinematics, and Control of a Multijoint Soft Inflatable Arm for Human-Safe Interaction,” IEEE Transactions on Robotics, vol. 33, no. 3, pp. 594–609, 2017.  PDF  Video 1  Video 2

  14. Ronghuai Qi and Guichi Hu, “The Design of Wind-Solar Hybrid Generating System Data Monitor System Based on P89LPC9408 Chip,” AUTOMATION & INSTRUMENTATION , 2009(5), pp. 99-101,112.

  15. Kai Jiang, Guichi Hu, Wenlong Li, Zhuhong You, Dongming Zhou, and Ronghuai Qi, “Smart Cap Resistance Measuring Instrument Based on P89LP935 Single Chip,” AUTOMATION & INSTRUMENTATION, 2007(5), pp. 49-51.

Conference Articles

• 1. Amir Khajepour, Sergio Torres Mendez, Mitchell Rushton, Hamed Jamshidianfar, Ronghuai Qi, Alireza Pazooki, Laaleh Durali, and Amir Soltani, “A Warehousing Robot: From Concept to Reality,” In: Caro, S., Pott, A., Bruckmann, T. (eds) Cable-Driven Parallel Robots. CableCon 2023. Mechanisms and Machine Science, vol 132. Springer, Cham. https://doi.org/10.1007/978-3-031-32322-5_32 (Best Application Paper)

  2. Namrata U. Nayar, Ronghuai Qi, and Jaydev P. Desai, “Modeling of a Robotic Transcatheter Delivery System,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 4675-4681, doi: 10.1109/ICRA48891.2023.10161486

  3. Patrick Lis, Achraj Sarma, Grace Trimpe, Timothy Brumfiel, Ronghuai Qi, and Jaydev P. Desai, “Design and Modeling of a Compact Advancement Mechanism for the COAST Guidewire Robot,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2022, Philadelphia, PA, USA, May 23-27, 2022, pp. 1176–1182

  4. Ronghuai Qi, Tin Lun Lam, and Yangsheng Xu, “Design and Implementation of a Low–Cost and Lightweight Inflatable Robot Finger,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, Sep. 14–18, 2014, pp. 28–33.  PDF  Video

  5. Ronghuai Qi, Tin Lun Lam, and Yangsheng Xu, “Mechanical Design and Implementation of a Soft Inflatable Robot Arm for Safe Human–Robot Interaction,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31–June 7, 2014, pp. 3490–3495.  PDF 

  6. Ronghuai Qi, Tin Lun Lam, and Yangsheng Xu, “Kinematic Modeling and Control of a Multi–joint Soft Inflatable Robot Arm with Cable–Driven Mechanism,” in Proc. IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, China, May 31–June 7, 2014, pp. 4819–4824.  PDF

  7. Ronghuai Qi, Tin Lun Lam, Huihuan Qian, and Yangsheng Xu, “A Novel Precise Pick and Place Device for Robotic Manipulators,” in Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Shenzhen, China, Dec. 12–14, 2013, pp. 1858-1863.  PDF  Video

  8. Ronghuai Qi, Tin Lun Lam, Huihuan Qian, and Yangsheng Xu, “Arc Tracking on an Eight-Axis Robot System,” in Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), Phuket Island, Thailand, Dec. 7–11, 2011, pp. 678–683.  PDF  Video 1  Video 2

  9. Ronghuai Qi, Huihuan Qian, Tin Lun Lam, Yangsheng Xu, et al, “A New Cartesian Cutting Robot with Laser Height Control System,” in Proc. IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, Aug. 7–10, 2011, pp. 2153-2158.  PDF  Video

  10. Ronghuai Qi, Guichi Hu, Kai Jiang, and Tao Mei, “A New Vehicle Intelligent Navigation Alarm System Based on SB5227 Microprocessor,” in Proc. International Conference on Information Acquisition (ICIA), Jeju, Korea, July 9–11, 2007, pp. 408-414.  PDF

Thesis

• 1. Ronghuai Qi, Redundant Hybrid Cable-Driven Robots: Modeling, Control, and Analysis, PhD thesis, University of Waterloo, Waterloo, ON, Canada, Aug. 2019.  PDF

Technical Report 

• 1. Hamed Jamshidianfar, Ronghuai Qi, and Amir Khajepour,  Development of a House Printing Robot, Technical Report, University of Waterloo, Waterloo, ON, Canada, pp. 1-56, May 2020. (contributed to system modeling and software (CPSoft) development)

Patents

• 1. Jing Mao, Ronghuai Qi, Feng Shen, et al., “A robot charger,” CN Patent, NO. 201530367461.8, 2015.

  2. Jing Mao, Ronghuai Qi, Feng Shen, et al., “A telepresence robot,” CN Patent, NO. 201530154797, 2015.

  3. Ronghuai Qi, Tin Lun Lam, “A soft inflatable robot finger,” CN Patent, NO. 201410465035.2, 2014.

  4. Xuebin Zhao, Tin Lun Lam, Wing Kwong Chong, Ronghuai Qi, “Telepresence robot ,” CN Patent, NO. 201430040883, 2014.

  5. Ronghuai Qi, Yong Yang, Wentao Tai, Huihuan Qian, Tin Lun Lam, Bufu Huang, Yangsheng Xu, “Patrol robot ,” CN Patent, NO. 201430045630, 2014.

  6. Ronghuai Qi, Yong Yang, Wentao Tai, Huihuan Qian, Tin Lun Lam, Bufu Huang, Yangsheng Xu, “A patrol robot ,” CN Patent, NO. 201420004330, 2014.

  7. Ronghuai Qi, Tin Lun Lam, “A measurement device for soft joint,” CN Patent, NO. 201310381755, 2013.

  8. Ronghuai Qi, Tin Lun Lam, “A driven device for 12 DOF robot arm,” CN Patent, NO. 201320829640, 2013.

  9. Ronghuai Qi, Tin Lun Lam, “A soft inflatable arm,” CN Patent, NO. 201330399901, 2013.

  10. Yangsheng Xu, Yuandong Sun, Tin Lun Lam, Huihuan Qian, Maxwell Chow, Hoi Wut Ip , Kai Wing Hou, Wing Kwong Chong, Ronghuai Qi, “Absolute Encoders for Determining Absolute Position and Methods Thereof,” U.S. provisional patent, 61/587,834, 2012.

  11. Ronghuai Qi, Zukui Guo, Wei Zu, and Chuangen Zhang, “A cutting robot control system and approaches based on OPC,” CN Patent, NO. 201010159200.3, 2010.

  12. Ronghuai Qi, Wei Zu, Zukui Guo, and Jie Zhuang, “A double-drive device and its control approaches,” CN Patent, NO. 201010128644.0, 2010.

  13. Ronghuai Qi, Wei Zu, and Zukui Guo, “The methods of deviation compensation on an arc tracking robot,” CN Patent, NO. 201010128611.6, 2010.

  14. Ronghuai Qi, Wei Zu, Zukui Guo, Kun Zhang, Wei Liu, and Chuangen Zhang, “A three-torch  ame device and its trace planning algorithms for a cutting machine,” CN Patent, NO. 201010128654.4, 2010.

  15. Ronghuai Qi, Li Liu, Yanxing Ma, Wen Wang, Fei Hang, Zhenfei Wei, et al, “A dissolved oxygen transmitter device,” CN Patent, NO. 200620079170.4, 2006.

  16. Ronghuai Qi, Fan Li, Jie Wang, Yanfei Shen, Lihong Lu, Yafei Huang, et al, “A signal generator based on 4-DOF acceleration and angular velocity for vehicle navigation,” CN Patent, NO. 200510096078.9, 2005.

  17. Ronghuai Qi, Guoyang Liu, Yongjie Wei, Honggang Wang, Lang Cai, Ping Zhang, et al, “A high-voltage electrostatic scale eliminated device,” CN Patent, NO. 200520078672.0, 2005.

  18. Ronghuai Qi, Liang Li, Dongliang Wang, and Xinrong Huang, “An electromagnetic energy-saving switch,” CN Patent, NO. 200420086001.4, 2004.

  19. Haiyan Cao, Ronghuai Qi, Yafei Huang, and Lijun Wan, “A removable aquaculture gloves,” CN Patent, NO. 200420085973.1, 2004.

Software Packages

• 1. Ronghuai Qi, “The control system software for a 4 DOF redundant robot arm V 1.0,” CN 2014SR059907, published on Nov. 22, 2013, registered on May 14, 2014. (C/C++)

  2. Ronghuai Qi, “The control system software for a 4 DOF soft inflatable robot arm V 1.0,” CN 2013SR092076, published on May 13, 2013, registered on Aug. 29, 2013. (C/C++)

  3. Ronghuai Qi, “The control system software for a 14 DOF soft inflatable robot arm V 1.0,” CN 2013SR078317, published on April 19, 2013, registered on July 31, 2013. (C/C++)

  4. Ronghuai Qi, “Huaheng Rob. Cut-4000F robot control software V 1.0,” CN 2010SR062753, published on Oct. 25, 2009, registered on Nov. 04, 2009. (C#)

  5. Ronghuai Qi, “Huaheng robot control graphics planning and management software V 1.0,” CN 2010SR062712, published on Oct. 25, 2009, registered on Nov. 04, 2009. (C#)