Xiumin Diao
Assistant Professor

School of Engineering Technology
Purdue Polytechnic Institute
Purdue University

Knoy Hall of Technology, Room 105
401 N. Grant Street
West Lafayette, Indiana, 47907-2021

Phone: (765) 494-2212
Fax:     (765) 494-6219
E-mail: diaox@purdue.edu

Schedule
Announcement
I am looking for highly motivated graduate students interested in robotics research.
Education
Professional Experience
Research Interests
  • Robotics (kinematics, dynamics, and control)
  • Mechatronic system design and analysis
  • Rehabilitation robotics
  • Human-robot interaction
Teaching
  • MET   31500 Applied Mechanism Kinematics and Dynamics
  • MFET 24800 Introduction to Robotics
  • MFET 34800 Advanced Industrial Robotics
Publications
[64]H. Xiong and X. Diao, "Safety Robustness of Reinforcement Learning Policies: A View from Robust Control", Neurocomputing, Vol. 422, 2021, pp. 12-21.
[63]R. Athinarayanan, M. Walton, X. Diao, and B. Balakreshnan, "The Future of Robots: Human-Robot Interaction and Artificial Intelligence", in The Robot and Automation Almanac, J. Schenker, Ed. Prestige Professional Publishing, 2021.
[62]H. Xiong, J. Hu, and X. Diao, "A Flight-Trim System for Quadrotors with Rotatable Arms", Journal of Guidance, Control, and Dynamics, Vol. 43, No. 12, 2020, pp.2406-2412.
[61]T. Ma, L. Zhang, X. Diao, and O. Ma, "Human Intention Prediction Using BIL-SCNN", Workshop on Active Vision and Perception in Human-Robot Collaboration (AVHRC) on IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Naples, Italy, August 31 - September 4, 2020.
[60]H. Xiong and X. Diao, "Stiffness Analysis of Cable-Driven Parallel Mechanisms with Cables Having Large Sustainable Strains", Journal of Mechanical Engineering Science, Vol. 234, No. 10, 2020.
[59]H. Xiong, L. Zhang, and X. Diao, "A Learning-Based Control Framework for Cable-Driven Parallel Robots with Unknown Jacobians", Journal of Systems and Control Engineering, Vol. 234, No. 9, 2020, pp.1024-1036.
[58]H. Xiong, T. Ma, L. Zhang, and X. Diao, "Comparison of End-to-End and Hybrid Deep Reinforcement Learning Strategies for Controlling Cable-Driven Parallel Robots", Neurocomputing, Vol. 377, 2020, pp.73-84.
[57]H. Xiong, L. Zhang, and X. Diao, "A Novel Control Strategy for Cable-Driven Parallel Robots with Unknown Jacobians", IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO), Beijing, China, October 31 - November 2, 2019.
[56]T. Ma, H. Xiong, L. Zhang, and X. Diao, "Control of a Cable-Driven Parallel Robot via Deep Reinforcement Learning", IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO), Beijing, China, October 31 - November 2, 2019.
[55]S. Luo, Y. Singh, H. Yang, J. Bae, E. Dietz, X. Diao, and B. Min, "Image Processing and Model-Based Spill Coverage Path Planning for Unmanned Surface Vehicles", IEEE Oceans Conference & Exposition (OCEANS), Seattle, Washington, USA, October 27 - 31, 2019.
[54]H. Xiong and X. Diao, "A Review of Cable-Driven Rehabilitation Devices", Disability and Rehabilitation: Assistive Technology, 2019.
[53]L. Zhang, S. Li, H. Xiong, X. Diao, and O. Ma, "An Application of Convolutional Neural Networks on Human Intention Prediction", International Journal of Artificial Intelligence & Applications, Vol. 10, No. 5, 2019, pp. 1-10.
[52]S. Li, L. Zhang, and X. Diao, "Deep-Learning-Based Human Intention Prediction Using RGB Images and Optical Flow", Journal of Intelligent & Robotic Systems, 2019.
[51]L. Zhang, S. Li, H. Xiong, X. Diao, O. Ma, Z. Wang, "Prediction of Intention Behind a Single Human Action: An Application of Convolutional Neural Network", IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Suzhou, China, July 29 - August 2, 2019.
[50]H. Xiong and X. Diao, "The Effects of Cables’ Strain and Specific Stiffness on the Stiffness of Cable-Driven Parallel Manipulators", SAGE Journal of Mechanical Engineering and Science, Vol. 233, No. 15, 2019.
[49]S. Li, H. Xiong, and X. Diao, "Pre-Impact Fall Detection Using 3D Convolutional Neural Network", IEEE International Conference on Rehabilitation Robotics (ICORR), Toronto, Canada, June 24-28, 2019.
[48]H. Xiong, J. Hu, and X. Diao, "Optimize Energy Efficiency of Quadrotors Via Arm Rotation", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 141, No. 9, 2019.
[47]R. Athinarayanan, B. Newell, J. Garcia, J. Ostanek, X. Diao, R. Sundararajan, H. Zhang, and G. Richards, "Learning in Context with Horizontally & Vertically Integrated Curriculum in a Smart Learning Factory", Procedia Manufacturing, Vol. 31, 2019, pp. 91-96.
[46]S. Li, L. Zhang, and X. Diao, "Human Intention Prediction Using Two-Stream Spatio-Temporal Features", Workshop on Social Human-Robot Interaction of Human-care Service Robots on the ACM/IEEE International Conference on Human-Robot Interaction (HRI), Daegu, Korea, March 11-14, 2019.
[45]H. Xiong, L. Zhang, Y. Liu, and X. Diao, "Joint Force Analysis and Moment Efficiency Index of Cable-Driven Rehabilitation Devices", IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Beijing, China, November 6-9, 2018.
[44]H. Xiong and X. Diao, "Safe Tension Control of Cable-Driven Rehabilitation Devices with Elastic Cables", IEEE International Conference on Cyborg and Bionic Systems (CBS), Shenzhen, China, October 25-27, 2018.
[43]H. Xiong and X. Diao, "Motion Control of Cable-Driven Rehabilitation Devices with Large Deformation Cables", IEEE International Conference on Cyborg and Bionic Systems (CBS), Shenzhen, China, October 25-27, 2018.
[42]S. Li, L. Zhang, and X. Diao, "Improving Human Intention Prediction Using Data Augmentation", IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Nanjing, China, August 27-31, 2018.
[41]H. Xiong and X. Diao, "Geometric Isotropy Indices for Workspace Analysis of Parallel Manipulators", Mechanism and Machine Theory, Vol. 128, 2018, pp. 648-662.
[40]S. Li, L. Zhang, and X. Diao, "Improving Human Intention Prediction Using Data Augmentation", Workshop on Social Human-Robot Interaction of Human-Care Service Robots on the ACM/IEEE International Conference on Human Robot Interaction (HRI), Chicago, USA, March 5-8, 2018.
[39]Y. Liang, J. Hu, and X. Diao, "A Novel Robotic Manufacturing System for Learning Innovation", ASEE Conference for Industry and Education Collaboration (CIEC), San Antonio, TX, USA, February 7-9, 2018.
[38]J. Hu, Y. Liang, and X. Diao, "An Insect-Inspired Hybrid Robot for Disaster Exploration and Evaluation", IEEE International Conference on Robotics and BioMimetics (ROBIO), Macau, China, December 5-8, 2017.
[37]H. Xiong and X. Diao, "Cable Tension Control of Cable-Driven Parallel Manipulators with Position-Controlling Actuators", IEEE International Conference on Robotics and BioMimetics (ROBIO), Macau, China, December 5-8, 2017.
[36]H. Xiong and X. Diao, "Geometric Isotropy Indices for Workspace Analysis of Spatial Parallel Manipulators", IEEE International Conference on Robotics and BioMimetics (ROBIO), Macau, China, December 5-8, 2017.
[35]L. Zhang, X. Diao, O. Ma, "A Preliminary Study on a Robot’s Prediction of Human Intention", IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), Waikiki Beach, USA, July 31 - August 4, 2017.
[34]H. Xiong and X. Diao, "Novel Geometric Isotropy Indices for Workspace Analysis of Planar Parallel Manipulators", IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, July 3-7, 2017.
[33]H. Xiong and X. Diao, "The Effect of Cable Tensions on the Stiffness of Cable-Driven Parallel Manipulators", IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, July 3-7, 2017.
[32]X. Diao, "Modular control of a rotary inverted pendulum system", ASEE Annual Conference & Exposition, New Orleans, USA, June 26-29, 2016.
[31]X. Diao, "Singularity analysis of fully-constrained cable-driven parallel robots with seven cables", Journal of Mechatronics and Automation, Vol. 5, 2015, pp. 133-139.
[30]X. Diao, "Singularity analysis of fully-constrained cable-driven parallel robots with seven cables", IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, August 2-5, 2015.
[29]X. Diao, J. Liang, and O. Ma, "Angular-Velocity Tracking with Unknown Dynamics for Satellite Rendezvous and Docking", SPIE Defense and Security Symposium on Sensors and Systems for Space Applications, Orlando, USA, April 14-15, 2009.
[28]X. Diao and O. Ma, "Force-Closure Analysis of General 6-DOF Cable Manipulators with Seven or More Cables", Robotica, Vol. 27, 2009, pp. 209-215.
[27]X. Diao and O. Ma, "Vibration Analysis of Cable-Driven Parallel Manipulators", Multibody System Dynamics, Vol. 21, 2009, pp. 347-360.
[26]X. Diao and O. Ma, "Workspace Determination of General 6-DOF Cable Manipulators", Journal of Advanced Robotics, Vol. 22, 2008, pp. 261-278.
[25]X. Diao, O. Ma, and Zhang M., "Contact Dynamic Modeling and Simulation of Micro/Nano-scale Manipulation for Medical Applications", Systems Engineering Approach to Medical Automation, Robin A. Felder, Majd Alwan, and Mingjun Zhang (Eds.), Artech Publishing house, 2008.
[24]X. Diao, O. Ma, and Q. Lu, "Singularity Analysis of Planar Cable-Driven Parallel Robots", IEEE International Conferences on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics (CIS-RAM), Chengdu, China, June 3-6, 2008.
[23]D. Low, E. Izaguirre, J. Deasy, S. Mutic, A. Hope, S. Stojadinovic, X. Diao, and P. Grigsby, "Teletherapy MicroRT Using a Commercial 192Ir Source", American Association of Physicists in Medicine (AAPM) annual meeting, Houston, USA, July 27-31, 2008.
[22]E. Izaguirre, X.Diao, S. Stojadinovic, S. Mutic, D. Khullar, J. Deasy, P. Parikh, A. Hope, P. Grigsby, and D. Low, "Design of the Washington University Small Animal Conformal Micro Irradiator", American Association of Physicists in Medicine (AAPM) annual meeting, Houston, USA, July 27-31, 2008.
[21]E. Izaguirre, X.Diao, S. Mutic, S. Stojadinovic, A. Hope, J. Grigsby, and D. Low, "Modeling Small Animal Micro Irradiators Orthovoltage Sources", American Association of Physicists in Medicine (AAPM) annual meeting, Houston, USA, July 27-31, 2008.
[20]E. Izaguirre, X.Diao, S. Mutic, S. Stojadinovic, D. Khullar, J. Deasy, P. Parikh, A. Hope, P. Grigsby, and D. Low, "Feasibility Study of a Multi-aperture Beam Delivery System for Conformal Orthovoltage Micro Irradiators", American Society for Therapeutic Radiology and Oncology (ASTRO) annual meeting, Boston, USA, September 21-25, 2008.
[19]E. Izaguirre, X.Diao, J. Birch, and D. Low, "Design and Feasibility Study of a High Resolution Dual Energy MicroCT for Image Guided Small Animal Irradiation", IEEE Nuclear Science Symposium and Medical Imaging Conference (NSS-MIC), Dresden, Germany, October 19-25, 2008.
[18]X. Diao and O. Ma, "A Method of Verifying the Force-Closure Condition for General Cable Manipulators with Seven Cables", Mechanism and Machine Theory, Vol. 42, 2007, pp. 1563-1576.
[17]O. Ma, X. Diao, L. Martinez, and T. Sarkodie-Gyan, "Dynamically Removing Partial Body Mass Using Acceleration Feedback for Neutral Training", IEEE International Conference on Rehabilitation Robotics (ICORR), Noordwijk, Netherlands, June 13-15, 2007.
[16]O. Ma, X. Diao, and M. Zhang, "Simulation of Nanomanipulation Using Compliance-Based Contact-Dynamics Modeling Technique", ASME International Design Engineering Technical Conferences & Computer and Information in Engineering Conference (IDET/CIE), Las Vegas, USA, September 4-7, 2007.
[15]X. Diao and O. Ma, "Vibration Analysis of Cable-Driven Parallel Manipulators for Hardware-in-the-Loop Contact-Dynamics Simulation", ASME International Design Engineering Technical Conferences & Computer and Information in Engineering Conference (IDET/CIE), Las Vegas, USA, September 4-7, 2007.
[14]X. Diao and O. Ma, "Force-Closure Analysis of General 6-DOF Cable Manipulators", IEEE International Conference on Intelligent Robots and Systems (IROS), San Diego, USA, October 29 - November 2, 2007.
[13]M. Zhang, O. Ma, and X. Diao, "Dynamics Modeling and Analysis of Inkjet Technology Based Oligo DNA Microarray Spotting", IEEE Transactions on Automation Science and Engineering, Vol. 3, 2006, pp. 159-168.
[12]X. Diao, O. Ma, and M. Liu, "Dynamics of a Robotics-Based Hardware-in-the-Loop Dynamics Simulator for Verifying Microgravity Contact Dynamics", SPIE Defense and Security Symposium on Modeling, Simulation, and Verification of Space-based Systems (DSS), Orlando, USA, April 17-21, 2006.
[11]X. Diao, O. Ma, and R. Paz, "Study of 6-DOF Cable-Robots for Potential Application of HIL Microgravity Contact-Dynamics Simulation", AIAA Modeling and Simulation Technologies Conference and Exhibit (M&ST), Keystone, USA, August 21-24, 2006.
[10]X. Diao and O. Ma, "Workspace Analysis of a 6-DOF Cable Robot for Hardware-in-the-Loop Dynamic Simulation", IEEE International Conference on Intelligent Robots and Systems (IROS), Beijing, China, October 9-15, 2006.
[9]O. Ma and X. Diao, "Dynamics Analysis of a Cable-Driven Parallel Manipulator for Hardware-in-the-Loop Dynamic Simulation", IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Monterey, USA, July 24-28, 2005.
[8]O. Ma, G. Yang, and X. Diao, "Experimental Validation of CDT-Based Satellite Docking Simulations Using SOSS Testbed", Proceedings of the 8th International symposium on Artificial Intelligence, Robotics and Automation in Space (ISAIRAS), Munich, Germany, September 5-9, 2005.
[7]J. Sun, Y. Liu, and X. Diao, "Research and Implementation of Signal Synchronization using PXI", Computer Measurement and control, Vol. 12, No. 5, 2004, pp. 458-460. (In Chinese)
[6]X. Diao, Y. Liu, and S. Yu, "Design and Implementation of a High-Speed Data Acquisition System in Windows", Computer Engineering, Vol. 29, No. 10, 2003, pp. 176-178. (In Chinese)
[5]X. Diao and J. Wang, "Software development of Virtual Instruments Based on LabWindows/CVI", Foreign Electronic Measurement Technology, Vol. 2003, No. 8, 2003, pp. 73-75. (In Chinese)
[4]H. Han, S. Yu, Y. Liu, and X. Diao, "An Image Processing System Using the Matrox Meteor Image Acquisition Card", Computer Measurement and Control, Vol. 11, No. 6, 2003, pp. 455-457. (In Chinese)
[3]X. Diao, Y. Liu, and S. Yu, "Two Methods of Integrating LabWindows/CVI and Visual C++", Computer and Modernization, Vol. 2003, No. 4, 2003, pp. 85-90. (In Chinese)
[2]D. Liu, C. Yao, W. Li, B. Ge, and X. Diao, "The Design of Control Logic Based on FPGA in Real-time and Multi-resolution Image Acquisition System", Application of Electronic Technique, Vol. 2003, No. 3, 2003, pp. 69-72. (In Chinese)
[1]X. Diao, Y. Liu, S. Yu, and P. Wang, "Several Problems Related to the Realization of High-Speed Data Acquisition using Visual C++", Computer Measurement and control, Vol. 11, No. 2, 2003, pp. 131-134. (In Chinese)
Patents
[6]X. Diao and J. Hu, “Multirotor Aerial Vehicle with Automatically Rotatable Arms”, 2019. (Patent application # 20190359324)
[5]X. Diao and H. Xiong, “Method and Apparatus for Cable-Driven Adaptive Vibration Control”, US10640210B2, 2020.
[4]X. Diao, “Method and System for Body Weight Support”, US9987188B1, 2018.
[3]X. Yu, Q. Deng, and X. Diao, “Source loading device for radiotherapy equipment and source loading method”, WO2017197557A1, 2017.
[2]M. Zheng, C. Yu, X. Diao, B. Zhou, “Method and Device for Patient Loading and Positioning”, US20120198624A1, 2014.
[1]X. Diao, "Method and Device for Positioning Patients with Breast Cancer in Prone Position for Imaging and Radiotherapy", US20110047702A1, 2012.
Xiumin Diao
Last updated on Monday, 10/1/2018