在研项目 Current Projects： 1. 国家自然科学基金重点项目， Robust fault-tolerant control of high-capacity vehicular power-electronic transformers，车载大功率电力电子变压器鲁棒容错控制，2018-2022，主持 2. 国家自然科学基金委员会-中国工程物理研究院联合基金（NSAF联合基金），Robust modeling and control of multi-axis motion with time-variant uncertainties,面向时变不确定性的多轴运动鲁棒建模与控制研究，2018-2020，主持 3. 国家重点研发计划子课题，Welding robot for high-speed train manufactory, 高铁白车身机器人智能焊接拼装技术研究，2018-2020，主持 4. 成都交大光芒科技有限公司委托项目，Inspection Robot for Traction Substations，牵引变电站巡检机器人，2017-2019，主持 5. 四川省应用基础研究项目，Key technology for human-robot interaction towards intelligent manufactory, 面向智能制造的人-机器人交互若干关键问题，2016.1-2018.12， 主持 已结题项目 Finished Projects: 1. 国家外专局引进海外高层次文教专家项目，2017.01-12，主持 2. 四川省科技支撑计划项目， Mobile manipulator with autonoumous motion and target tracking, 具有自主导航和目标跟踪能力的移动装配机器人，2015.1-2017.12， 主持 3. 中国工程物理研究院委托项目,Technology for Manipulation of Dangerous Goods, 危险品应急处置技术，2013-2017，主持 4. PEMFC/SC Hybrid Tram Vehicle, 燃料电池/超级电容混合动力100%低地板有轨电车研制，2014-2016，国家科技支撑计划课题 5. Research on Optimal Control for Net Output Power of Locomotive Fuel Cell System Based on Optimal Oxygen Excess Ratio, 2012-2014, NSFC (国家自然科学基金面上项目: 基于最佳过氧比的机车燃料电池系统净输出功率最优控制方法研究) 6. Evaluation of in-service safty and performance of high-speed trains, 2012-2015, NSFC (国家自然科学基金重点项目: 基于监测数据的高速列车服役安全性态评估的关键问题研究) 7. Quantized consensus of multi-agent systems, 2011-2013, NSFC (国家自然科学基金面上项目:多智能体系统中量化一致性问题的研究) 8. Human-Multirobot cooperation in networked environment, 2010-2011, SWJTU (中央高校基本业务费科技创新项目: 网络环境中人-多机器人协作若干问题的研究) 9. New energy and its applications - PEMFC and Locomotive Fuel Cell Systems, 2010-2014, SWJTU (中央高校基本业务费专题研究项目: 新能源及其应用－PEM燃料电池及燃料电池电动机车技术) 10. Advanced control theory and technology, 2010-2014, SWJTU (中央高校基本业务费专题研究项目: 先进控制理论与技术) 11. Locomotive Fuel Cell Systems，2009-2011, State Key Laboratory pf Traction Power （牵引动力国家重点实验室项目: 燃料电池电动机车前期研究) 12. Observation and control of networked heterogeneous dynamic systems, 2006-2009, German Research Foundation (DFG) (德意志研究基金 (DFG) 重点项目“网络化动态系统的控制理论“子项目: 异构动态系统的状态观测与控制) 13. Robot-asissted adaptive radiotherapy, 2006-2008, Bavarian Research Foundation (BFS) (巴伐利亚研究基金：机器人辅助放射治疗系统) 14. Bilateral teleoperation of mobile robots, 2007-2008, European Union (欧盟国际交流项目: 基於力反馈的移动机器人遥操作) 15. Autonomous helicopter, 2006-2008, University of Wuerzburg (维尔茨堡大学项目：无人自主直升机) 16. Teleoperation of mobile robots via Internet, 2004-2005, German Academic Exchange Services (DAAD) (德国学术交流中心国际合作项目：基于互联网的移动机器人遥操作) 17. Remote experimentation with real hardware via Internet, 2003-2004, German Ministry of Education Reseach (BMBF) (德国联邦教育和研究部: 基于互联网的远程实验) 18. Remote experimentation of mechatronics, 2004-2006, European Union (欧盟国际合作项目: 机械电子技术远程实验) 19. Tele-experiments with mobile robots, 2004-2005, Bavarian Virtual Universities (VHB) (巴伐利亚虚拟高校基金: 移动机器人远程实验) 20. Adaptive sliding-mode control, 2000-2003, German Academic Exchange Services (DAAD) (德国学术交流中心博士生奖学金项目: 自适应滑模控制及其在柔性机械臂中的应用）

Publications Book: Lei Ma. A Contribution to Adaptive Sliding-Mode Control with Gaussian Radial-Basis-Function Networks，ISBN 3-86537-873-0，Cuvillier Verlag，Goettingen， Germany，2006. Selected Papers: [1] Wang P, Ma L, Goverde R.M.P, Wang Q. Rescheduling Trains Using Petri Nets and Heuristic Search[J], IEEE Transactions on Intelligent Transportation Systems, 2016,17（3）：726-735 [2] Yang Y, Ma L and Huang D Q, Development and Repetitive Learning Control of Lower Limb Exoskeleton Driven by Electro-Hydraulic Actuators, IEEE Transactions on Industrial Electronics, 2016, DOI: 10.1109/TIE.2016.2622665 [3] Yang Y, Zhou P, Ma L and et al，Gait recognition and trajectory prediction of Lower limb Load Exoskeleton，2016 35th Chinese Control Conference (CCC) [4] Zhang J X, Zhou P and Ma L, Coverage control of multiple heterogeneous mobile robots with nonholonomic constraints,2016 35th Chinese Control Conference (CCC) [5] Y. Yang, D. Zhao, L. Ma, Q. Zhu, and D. Huang. Backstepping Trajectory Tracking Control of Electro-Hydraulic Actuators of Lower Limb Load Exoskeleton[C]. //The 42nd Annual Conference of IEEE Industrial Electronics Society, Firenze, Italy, 2016. [6] 范家华，马磊，周攀，刘佳彬，：基于径向基神经网络的压电作动器建模与控制[J]，控制理论与应用，33（7），856-861，2016 [7] 邓宫泰，马磊，贾俊波，韩明：基于模型估计的LiFePO4电池EKF滤波算法SOC估计研究[J]，电源技术， [8] 王佳佳，马磊，韩晓霞，徐智豪：基于输入输出反馈线性化的移动机器人混合编队控制[J]，计算机工程与设计，2016年02期，525-529 [9] 陈志远，马磊，杨之青，邓宫泰：燃料电池混合动力系统的平坦性控制方法研究[J]，2016年04期，765-767 [10] Qi Li, Weirong Chen, Zhixiang Liu, Ming Li, Lei Ma. Development of Energy Management System based on a Power Sharing Strategy for a Fuel Cell-Battery-Supercapacitor Hybrid Tramway. Journal of Power Sources, 2015，279，267-280. (SCI: 000350919600031, IF: 6.217, A++） [11] Qi Li, Weirong Chen, Zhixiang Liu, Guohua Zhou, Lei Ma. Active control strategy based on vector-proportion integration controller for proton exchange membrane fuel cell grid-connected system. IET Renewable Power Generation, 2015, 9(8), 991-999. (SCI: 000364432600016, IF: 2.007, A+) [12] Wang P, Goverde R.M.P, Ma L, A Multiple-Phase Train Trajectory Optimization Method under Real-Time Rail Traffic Management，2015 IEEE 18th International Conference on Intelligent Transportation Systems (ITSC), 2015 [13] 王鹏玲, 马磊, 王青元, 冯晓云；基于Petri网列车群模型的列车运行冲突分析[J], 铁道学报, 2015, 37(3)：1- 7 [14] 王蛟龙, 周洁, 高慧, 秦娜, 马磊； 基于局部环境形状特征识别的移动机器人避障方法[J], 信息与控制, 2015,44(1)：91-98 [15] 李应, 马磊, 王晓东, 向光海；变电站巡检机器人组合导航实验[J], 测控技术, 2015, 34(6)：37- 40 [16] 王晓东, 马磊, 韦宗毅；基于Sage-Husa方法的旋翼姿态控制[J]，计算机工程与设计，2015, 36(7)：1747- 1751 [17] 陈小龙, 马磊, 张文旭；基于动态加权的量化分布式卡尔曼滤波[J]，计算机应用 , 2015, 35(7) : 1824-1828 [18] Sun Y, Ma L, Qin N, et al. Analog filter circuits feature selection using MRMR and SVM[C] //Control, Automation and Systems (ICCAS), 2014 14th International Conference on. IEEE, 2014: 1543-1547. [19] Zhongshun Z, Bowen X, Lei M, et al. Parameter estimation of a railway vehicle running bogie using extended Kalman filter[C] //Control Conference (CCC), 2014 33rd Chinese. IEEE, 2014: 3393-3398. [20] Xu B, Zhang Z, Geng S, et al. Parameter estimation of high-speed railway vehicle using improved Rao-Blackwellised Particle Filter[C] //Intelligent Transportation Systems (ITSC), 2014 IEEE 17th International Conference on. IEEE, 2014: 1199-1204. [21] Li Q, Chen W, Liu Z, et al. Net Power Control Based on Linear Matrix Inequality for Proton Exchange Membrane Fuel Cell System[J]. Energy Conversion, IEEE Transactions on, 2014, 29(1): 1-8. [22] Q. Li，W.R. Chen, Z. Liu, J. Huang and L. Ma. Net Power Control Based on Linear Matrix Inequality for Proton Exchange Membrane Fuel Cell System, IEEE Transactions on Energy Conversion, 2014,29(1): 1-8 [23] W.X. Zhang，L. Ma and X.L. Chen. Online Planning for Multi-Agent Systems with Consensus Protocol[C], 33rd Chinese Control Conference, Nanjing, China, 2014 [24] S.S. Zhang，B.W. Xu, L. Ma and S.Y. Geng. Parameter Estimation of a Railway Vehicle Running Bogie Using Extended Kalman Filter[C]，33rd Chinese Control Conference, Nanjing, China, 2014 [25] 马磊，张文旭，戴朝华，多机器人强化学习研究综述[J]，西南交通大学学报，2014，49(6)：1032-1044 [26] 王鹏玲, 王青元, 崔恒斌, 马磊, 冯晓云. 考虑列车追踪的自动驾驶控制算法[J]. 西南交通大学学报，2013，48（6），1045-1051, [27] 曹超, 马磊, 李应，赵舵. 基于ARM的移动机器人组合导航系统设计与实现[J]. 传感器与微系统，32（2），102-105，2013 [28] 胡美，马磊，陈志远，燃料电池空气供应系统动态建模与仿真[J]，电源技术，2013, 37（10）,1767-1769 [29] P.L. Wang, Q.Y. Wang, L. Ma and X.Y. Feng. Real-time Train Speed Regulation with Consideration of Over-Speed Protection[C]. 32nd Chinese Control Conference, Xi’an, China, 2013 [30] W.X. Zhang, X.L. Chen and L. Ma. Multi-agent system pursuit with decision-making and formation control[C]. 32nd Chinese Control Conference, Xi’an, China, 2013 [31] Herrmann, C., Ma, L., Wilbert, J., Baier, K. and Schilling, K. Control of a HexaPOD Treatment Couch for Robot Assisted Radiotherapy[C]. Biomedical Engineering/Biomedizinische Technik (BMT), Vol. 57(5), July 2012, pp.333-351 [32] Z.H. Xu, M. Schröter, D. Necsulescu, L. Ma and K. Schilling. Formation Control of Car-like Autonomous Vehicles under Communication Delay. 31st Chinese Control Conference, Hefei, China [33] J.L. Wang, Y.X. Huang and L. Ma. Extending the Player Project for Flexible Cooperation of Multiple Robots. IEEE ICMA 2012, Chengdu, China. [34] T. Tschichholz, L. Ma and K. Schilling. Model-based spacecraft pose estimation and motion prediction using photonic mixer devices，Acta Astronautica，v68, n7-8, p 1156-1167, 2011. [35] Z.H. Xu, L. Ma, Z.Y. Wu, K. Schilling and D. Necsulescu. Teleoperating a formation of car-like mobile rovers under time delays，30th Chinese Control Conference，Yantai，China, 2011. [36] C. Herrmann, L. Ma and K. Schilling. Model Predictive Control for Tumor Motion Compensation in Robot Assisted Radiotherapy, IFAC World Congress 2011，Milan, Italy, 2011. [37] 马磊，史习智. 多智能体系统中一致性卡尔曼滤波的研究进展[J], 西南交通大学学报，v46,p 287-293, 2011. [38] L. Ma, C. Herrmann and K. Schilling. On Challenges of Robot Assisted Radiotherapy for Lung Tumors, 2010 IEEE International Conference on Robotics and Biomimetics, Tianjin, China, 2010. [39] J. Wilbert et al. Influence of Continuous Table Motion On Patient Breathing Patterns, Int. J. Radiation Oncology Biol. Phys., Vol.77, No. 2, 2010. pp. 622–629. [40] C. Herrmann, L. Ma and K. Schilling. Modeling a HexaPOD for Tumor Motion Compensation in Robot Assisted Radiotherapy, Proceedings of the 41st International Symposium on Robotics (ISR 2010), Munich, Germany, 2010. [41] L. Ma and K. Schilling. Attitude coordination for swarms of PICO- and Nano-satellites, 60th International Astronautical Congress 2009, Seoul, Korea, 2009. [42] T. Tschichholz, L. Ma and K. Schilling. Model-based spacecraft pose estimation and motion prediction using photonic mixer devices, 60th International Astronautical Congress 2009, Seoul, Korea, 2009. [43] L. Ma, Z. H. Xu and K. Schilling. Robust bilateral teleoperation of a car-like rover with communication delay, 10th European Control Conference, Budapest, Hungary, August 2009. [44] Z. H. Xu, L. Ma and K. Schilling. Passive bilateral teleoperation of a car-like mobile robot, 17th Mediterranean Conference on Control and Automation, Thessaloniki, Greece, June 2009 . [45] J. Wilbert et al. Tumor tracking and motion compensation with an adaptive tumor tracking system (ATTS): System description and prototype testing, MEDICAL PHYSICS v35(9) 3911-3921 SEP 2008. [46] L. Ma and K. Schilling. Survey on Bilateral Teleoperation of Mobile Robots, 13th IASTED International Conference on Robotics and Applications, Würzburg, Germany, 2007. [47] L. Ma, C. Herrmann and K. Schilling. Modeling and Prediction of Lung Tumor Motion for Robotic Assisted Radiotherapy, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems，San Diego, CA, USA, 2007. [48] L. Ma, C. Herrmann, K. Schilling, J. Wilbert and K. Baier. Real-Time Tumor Tracking with a Robotic Treatment Couch, 2nd International Conference on Computer Aided Medical Interventions, Chambery, France, 2007. [49] C. Herrmann, L. Ma, K. Schilling, J. Wilbert and K. Baier. Tumorverfolgung und Nachführung mittels eines automatisierten Bestrahlungstisches, Proceedings of the 8th Würzburger Medizintechnik-Kongress, Würzburg, Germany, 2007. [50] C. Herrmann, F. Zeiger, L. Ma and C. Selbach. Design and Test of an Autonomous Helicopter for Multi-Vehicle Cooperation, IFAC Symposium on Intelligent Autonomous Vehicles 2007, Toulouse, France, 2007. [51] L. Ma, C. Schmid and K. Schilling. Adaptive Backstepping Sliding-Mode Control with Application to a Flexible-Joint Manipulator，4th IFAC Symposium on Mechatronic Systems, Heidelberg, Germany, 2006. [52] L. Ma, C. Schmid and K. Schilling. Adaptive Backstepping Sliding Mode Control with Gaussian Networks for a Class of Nonlinear Systems with mismatched Uncertainties，44th IEEE Conference on Decision and Control Seville, Spain, 2005. [53] L. Ma, C. Schmid and K. Schilling. Adaptive sliding-mode control with gaussian network，16th IFAC World Congress, Prague, Czech Republic, July 2005. [54] 张红，马磊，李治，半波差分频谱对于汉语声母和韵母的区分特性，西南交通大学学报，34（4），466-470 [55] 马磊，宋俊寿，直接数字频率合成器的相位量化噪声分析，西南交通大学学报，32（6），652-655