熊亚，博士，研究员，草莓采摘机器人小组负责人。2013年获中国农业大学工学学士学位，2016年获中国农业大学工程硕士学位和英国哈珀亚当斯大学理学硕士学位（国家公派），2019年获挪威生命科学大学哲学博士学位（岗位制全奖），期间，2017年在美国明尼苏达大学机器人传感网络实验室访问交流。2019年至2022年底，在挪威生命科学大学从事博士后科学研究工作；期间，2020-2021年兼任挪威Saga Robotics As公司机器人研发工程师，2021年在英国林肯大学农业机器人中心访问交流。2023年初回国，在北京市农林科学院智能装备技术研究中心工作。

熊亚博士主要从事农业机器人技术研究，入选国家海外高层次人才青年项目。在国外期间，作为主要完成人，先后研制了首台激光除草机器人、三代不同的草莓采摘机器人以及一套生物样品制备机器人系统。草莓采摘机器人已实现多手完全自主长时间地采摘作业，获批多个政府项目资助及社会资本投资。在国外期间，先后承担3项挪威国家级科研项目，主持项目1项（获批500万挪威克朗），子任务1项。当前，主持包含国家重点研发计划项目、海淀区农业科技创新项目等各类项目共6项，致力于自主研发新一代具有自主产权的农业机器人，推动研究成果的应用转化。目前，已发表学术论文23篇，申请/授权专利16件。其中，以第一或通讯作者在领域内知名期刊发表研究型SCI/EI论文15篇、机器人顶会3篇，有2篇一作论文分别被引420次及291次；以第一发明人申请国际专利5项，已有2项获美国授权。担任Agriculture Communications技术编辑，机器人顶会IROS副编辑，Frontiers in Plant Science、Horticulturae和Agronomy客座编辑，长期为30余SCI期刊及知名会议审稿。

本课题组热忱欢迎对农业机器人有热情的博士后、科研助理、客座研究生和实习生加入！我们提供国际化的研发平台和产业转化机会，期待与您共同推动智能农业技术革新！"

课题组网站：https://xiong-lab.cn/

Dr. Ya (Bill) Xiong is a research professor at the National Engineering Research Center for Information Technology in Agriculture (Nercita) at the Beijing Academy of Agriculture and Forestry Sciences. He earned his Ph.D. from the Norwegian University of Life Sciences (NMBU) in 2019 and subsequently worked as a postdoctoral researcher and robotics engineer at NMBU and Saga Robotics, respectively. During his time at NMBU, he focused on designing, developing, and integrating strawberry-harvesting robots and sampling robots in the Robotics Control Group under the supervision of Prof. Pål Johan From.

Over the past seven years, he has successfully developed a laser weeding robot, a world-leading strawberry-harvesting robot from scratch, and a sampling robot. His work, spanning from hardware to software, included gripper design, arm development, vision system development, picking path planning, manipulation control, system integration, and evaluation. In 2022. the strawberry harvester was fully automated, capable of continuously picking and collecting dozens of punnets of berries without interruption using two arms simultaneously.

In 2023, Ya Xiong left Norway to begin his carrier at Nercita, where he is currently leading a team to develop the new generation agricultural robots with full Chinese IP, aiming to be a pioneer in making agricultural robots available to farmers.

We are hiring! There are several vacant postdoc and research assistant positions available in all fields of robotics. Please don't hesitate to contact us.

主要从事于农业机器人领域果蔬采摘机器人的研发工作，具体包含：

1.低损采摘机械手及其控制方法的研究；

2.成簇果实选择性采摘的规划与控制；

3.遮挡环境下的精准感知技术；

4.温室环境下机器人的自主导航技术；

5.“手-眼-脚”协同控制技术；

6.采摘机器人设计、集成与应用。

应对非结构化作业环境，熊亚做出多个创新学术工作：1). 为解决草莓果梗细小而当前视觉感知系统难以提供其精准位置和姿态的问题，设计了一种对定位误差高容忍的采摘装置；2). 为克服遮挡及光照变化对视觉系统的影响，提出一种点云补全和自适应调参数的方法；3). 为了选择性采摘成簇草莓中的熟草莓，首创并持续发展了主动障碍物分离的新概念，此方法已取得较好效果并得到领域内学者跟随研究； 4). 为克服动态环境下采摘手捕捉精度不高的问题，提出一种采摘手动态跟踪方法，实现了动态环境下采摘手从接近目标到目标进入采摘手并分离障碍物的全程视觉闭环控制。这些方法构成了草莓采摘机器人的关键技术，也为其它农业机器人发展提供了技术方案。

部分论文及专利：

1.Miao, Z., Chen, Y., Yang, L., Hu, S., Xiong, Y. *, 2025. A Fast Path-Planning Method for Continuous Harvesting of Table-Top Grown Strawberries, IEEE Transactions on AgriFood Electronics, 1-13.

2.Wang, Y., Hu, H., Wu, S. and Xiong, Y*., 2025. Enhancing Weeding Efficiency: Addressing Targeting Positional Errors and Key Determinants of Cutting Efficiency in Laser Weeding Robots. IEEE Transactions on AgriFood Electronics.

3.Chen, Y., Miao, Z., Ge, Y., Lin, S., Chen, L.* and Xiong, Y.*, 2024. Design and control of a novel six-degree-of-freedom hybrid robotic arm. In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 3597-3604). IEEE.

4.Ge, Y., From, P.J. and Xiong, Y.*, 2024. Multi-view gripper internal sensing for the regression of strawberry ripeness using a mini-convolutional neural network for robotic harvesting. Computers and Electronics in Agriculture, 216, p.108474.

5.Ge, Y., Xiong, Y.*, and From, P.J., 2023. Three-dimensional location methods for the vision system of strawberry-harvesting robots: development and comparison. Precision Agriculture, 24 (2), 764-782.

6.Xiong, Y., Ge, Y., and From, P.J., 2021. An improved obstacle separation method using deep learning for object detection and tracking in a hybrid visual control loop for fruit picking in clusters. Computers and Electronics in Agriculture, 191, 106508. 

7.Xiong, Y. *, Ge, Y., Grimstad, L. and From, P.J., 2020. An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation. Journal of Field Robotics, 37(2), pp.202-224. 

8.Xiong, Y., Ge, Y., and From, P.J., 2020. An obstacle separation method for robotic picking of fruits in clusters. Computers and Electronics in Agriculture, 175, 105397.

9.Ge, Y., Xiong, Y.*, and From, P.J., 2020. Symmetry-based 3D shape completion for fruit localization for harvesting robots. Biosystems Engineering, 197, pp.188-202.

10.Xiong, Y.*, Peng, C., Grimstad, L., From, P.J., & Isler, V., 2019. Development and field evaluation of a strawberry harvesting robot with a cable-driven gripper. Computers and Electronics in Agriculture, 157, 392-402.

11.Xiong, Y.*, Ge, Y., Liang, Y., & Blackmore, S., 2017. Development of a prototype robot and fast path planning algorithm for static laser feeding. Computers and Electronics in Agriculture, 142, 494-503.

12.Xiong, Y.*, From, P.J. and Isler, V., 2018. Design and evaluation of a novel cable-driven gripper with perception capabilities for strawberry picking robots. IEEE International Conference on Robotics and Automation (ICRA), pp.7384-7391, Brisbane, Australia.

13.Xiong, Y.*, Shapaval, V., Kohler, A., & From, P. J., 2019. A Laboratory-Built Fully Automated Ultrasonication Robot for Filamentous Fungi Homogenization. SLAS TECHNOLOGY, 24(6), 583–595.

14.Xiong, Y., From, P., 2019. Device for picking fruit. WIPO: WO/2019/158610, EPO: EP3751980A1 and USPO: US11445663B2. 

15.Xiong, Y., Ge, Y. and From, P.J., 2022. Method of controlling a robotic harvesting device. WIPO: WO/2021/018854, EPO: EP4002986A1 and USPO: US20220264801A1.