Publications
For a full list of my publications, please refer to my Google Scholar profile . * indicates corresponding author.
2026
[5]. Boyang Zhao, Bo Xiao, Cong Liu, Xiao Jin, JunMing Ye, Mingjie Yu, Zhenhua Yu*. “Bovine-LTID: A vision-based spatio-temporal identity system for multi-camera cattle tracking and long-term behavior monitoring”. Computers and Electronics in Agriculture (2026).
[4]. Xiao Jin, Yixian Fan, Zefeng Yuan, Zhenhua Yu*. “Underwater MMG-Based Muscle State Monitoring with Integrated Emergency Buoyancy Assistance”. arXiv preprint arXiv:2608.08263.
[3]. Sohini Patel, Isabella Abati, Giulia Zamagni, Zhenhua Yu, Thomas Liney, Susanna Inzoli, Antonio De Sanctis, Liam Corette, Lorenzo Monasta, Ravi Vaidyanathan, Christoph Lees. “Fetal movements are related to maternal characteristics: a prospective ultrasound study”. American Journal of Obstetrics & Gynaecology MFM (2026).
[2]. Xiao Jin, Zhenhua Yu*, Thrishantha Nanayakkara. “Bioinspired Tapered-Spring Turbulence Sensor for Underwater Flow Detection”. IEEE Sensors Journal (2026).
[1]. Xiao Jin, Ge Gao, Ravi Vaidyanathan, Peter Childs, Zhenhua Yu*. “Human-in-the-loop Capacitive Microphone Sensors-Based Muscle Sensing System for Predictive and Adaptive Exoskeleton Assistance”. IEEE Robotics and Automation Letters (RA-L, Q1) (2026).
2025
[7]. Xiao Jin, Zhenhua Yu*, Thrishantha Nanayakkara. “Bioinspired Tapered-Spring Turbulence Sensor for Underwater Flow Detection”. IEEE Sensors Journal (2025).
[6]. Wenbo Zhang, Zhihui Wang, Xiaoqing Yuan, Zhenhua Yu, Wendong Wang. “Human-in-the-loop target location detection method based on the region of interest in multi-object scenes”. Signal, Image and Video Processing, vol. 16, Dec. 15, 2025.
[5]. Arshad Kalathil Ashik, Robert Gutierrez, Zhenhua Yu, Daniele Dini, Christoph Lees, Ravi Vaidyanathan. “A machine learning model for assessing fetal health during pregnancy”. Frontiers in Bioengineering and Biotechnology (2025).
[4]. Sohini Patel, Alexandra E Conway, Tricia Adjei, Isabella Abati, Saksham Dhawan, Zhenhua Yu, Ravi Vaidyanathan, Christoph Lees. “Is it possible to monitor fetal movements with a wearable device? A review of novel technologies”. European Journal of Obstetrics & Gynecology and Reproductive Biology (2025).
[3]. Xiao Jin, Bo Xiao, Huijiang Wang, Wendong Wang, Peter Childs, Zhenhua Yu*. “Multisensor Wearable Device Based on Capacitive Microphone Sensors for Robust Human–Robot Interaction in Smart Home Environments”. IEEE Sensors Journal (2025).
[2]. Zeyu Wang, Frank Po Wen Lo, Qian Chen, Zhenhua Yu, Alexander J Thompson, Eric M Yeatman, Benny PL Lo. “An LLM-enabled multi-agent autonomous mechatronics design framework”. Proceedings of the Computer Vision and Pattern Recognition Conference (CVPR) (2025).
[1]. Zehao Liu, Weiguang Huo, Zhenhua Yu, Bentley Paul, Anthony M. J. Bull, Ravi Vaidyanathan. “Continuous Estimation of FES-induced Neuromuscular Fatigue Using Mechanomyography Signals”. IEEE Journal of Biomedical and Health Informatics (2025).
2024
[7]. Thrishantha Nanayakkara, Barry Mulvey, Shehara Perera, Yukun Ge, Zhenhua Yu, Parvathi Sunilkumar. “Soft Robots as a Platform to Understand Embodied Intelligence”. Handbook on Soft Robotics (2024).
[6]. Lukas Cha, Annika Guez, Chih-Yu Chen, Sion Kim, Zhenhua Yu, Bo Xiao, Ravi Vaidyanathan. “Transparency Control of a 1-DoF Knee Exoskeleton via Human-in-the-Loop Velocity Optimisation”. 2024 IEEE International Conference on Robotics and Automation (ICRA) (2024).
[5]. Zhenhua Yu*, Peter RN Childs, Yukun Ge, Thrishantha Nanayakkara. “Whisker Sensor for Robot Environments Perception: A Review”. IEEE Sensors Journal (2024).
[4]. Bo Xiao, Hak-Keung Lam, Lichao Sun, Shihong Chen, Zhenhua Yu, Tieshan Li, Zhaohui Zhu, Eric M Yeatman. “Stabilization of Interval Type-2 Polynomial Fuzzy Networked Control Systems under Cyber-Attacks”. IEEE Transactions on Industrial Cyber-Physical Systems (2024).
[3]. Shibo Jing, Hsien-Yung Huang, Melanie Jouaiti, Yongkun Zhao, Zhenhua Yu, Ravi Vaidyanathan, Dario Farina. “Enhancing the Prediction of Locomotion Transition with High-Density Surface Electromyography”. IEEE Journal of Biomedical and Health Informatics (2024).
[2]. Zhenhua Yu*, Yalou Han, Lukas Cha, Shihong Chen, Zeyu Wang, Yang Zhang, Thrishantha Nanayakkara. “Design of an intelligent wearable device for real-time cattle health monitoring”. Frontiers in Robotics and AI (2024).
[1]. Sohini Patel, Alexandra E Conway, Tricia Adjei, Isabella Abati, Saksham Dhawan, Zhenhua Yu, Ravi Vaidyanathan, Christoph Lees. “Is it possible to monitor fetal movements with a wearable device? A review of novel technologies”. European Journal of Obstetrics & Gynecology and Reproductive Biology (2024).
2023
[3]. Bo Xiao, Wuzhou Hong, Ziwei Wang, Frank Po Wen Lo, Zeyu Wang, Zhenhua Yu, Shihong Chen, Zehao Liu, Ravi Vaidyanathan, Eric M Yeatman. “Learning-Based Inverse Kinematics Identification of the Tendon-Driven Robotic Manipulator for Minimally Invasive Surgery”. IEEE 49th Annual Conference of the IEEE Industrial Electronics Society (2023).
[2]. Zhenhua Yu*, Peter R.N. Childs, Thrishantha Nanayakkara. “Towards the Neuromorphic Computing for Offroad Robot Environment Perception and Navigation”. Robotics: Science and Systems (RSS) (2023).
[1]. Zhenhua Yu*, SM Hadi Sadati, Shehara Perera, Helmut Hauser, Peter RN Childs, Thrishantha Nanayakkara. “Tapered whisker reservoir computing for real-time terrain identification-based navigation”. Scientific Reports (2023).
2022
[2]. Zhenhua Yu*, Shehara Perera, Helmut Hauser, Peter RN Childs, Thrishantha Nanayakkara. “A tapered whisker-based physical reservoir computing system for mobile robot terrain identification in un-structured environments”. IEEE Robotics and Automation Letters, 7(2), 3608–3615 (2022). This paper was also presented at the IEEE International Conference on Robotics and Automation (ICRA).
[1]. Zhenhua Yu*, SM Hadi Sadati, Helmut Hauser, Peter RN Childs, Thrishantha Nanayakkara. “A semi-supervised reservoir computing system based on tapered whisker for mobile robot terrain identification and roughness estimation”. IEEE Robotics and Automation Letters, 7(2), 5655–5662 (2022). This paper was also presented at the IEEE International Conference on Soft Robotics (RoboSoft).
2021
[1]. Zhenhua Yu*, SM Sadati, Hasitha Wegiriya, Peter Childs, Thrishantha Nanayakkara. “A Method to use Nonlinear Dynamics in a Whisker Sensor for Terrain Identification by Mobile Robots”. IEEE International Conference on Intelligent Robots and Systems (IROS), pp. 8437–8443 (2021).
Before 2021
[5]. Mingliang Suo, Baolong Zhu, Ruoming An, Huimin Sun, Shengzhong Xu, Zhenhua Yu. “Data-driven fault diagnosis of satellite power system using fuzzy Bayes risk and SVM”. Aerospace Science and Technology (2019).
[4]. Ding Zhou, Zhenhua Yu, Yanquan Zhang, Shunli Li. “Translational and rotational motion planning for spacecraft close proximity using sampling-based methods”. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering (2019).
[3]. Ding Zhou, Zhenhua Yu, Yanquan Zhang, Shunli Li. “Rapidly Sampling-Based Trajectory Planning for Spacecraft Proximity”. IEEE 9th International Conference on Mechanical and Aerospace Engineering (ICMAE) (2018).
[2]. Ying Chen, Zhen He, Ding Zhou, Zhenhua Yu, Shunli Li. “Integrated guidance and control for microsatellite real-time automated proximity operations”. Acta Astronautica (2018).
[1]. Baolong Zhu, Zhiping Zhang, Mingliang Suo, Zhenhua Yu, Shunli Li. “Sampled-data H∞ control for attitude stabilization and vibration suppression of flexible spacecrafts”. IEEE 36th Chinese Control Conference (CCC) (2017).