State Key Laboratory of Robotics (SKLR), with support from the Shenyang Institute of Automation, Chinese Academy of Sciences (SIA-CAS), is one of the leading laboratories developing industrial, underwater, ground mobile, and micro-nano operative robots. State Key Laboratory of Robotics System (SKLRS), with support from Harbin Institute of Technology, is also one of the most famous laboratories. SKLRS has obtained important progress in industrial robots, lunar exploration robots, space robots, robotic arms, and dexterous hand technology. As the only two state key laboratories of robotics in China, SKLR and SKLRS represent China’s progress in state-of-the-art robot technology. In this workshop, several researchers from SKLR and SKLRS will introduce their relevant studies, including fundamental research and system technology, as well as future research plans.


The workshop is held on Jun 8th, at Room 8-16 of Shenyang Royal Wanxin Hotel.


The schedule and the brief introductions of the talks are listed below. All the conference attendees are allowed and encouraged to join the discussion. Welcome for attending!


Time Presenter Affiliation Title
13:40-14:00 Lianqing Liu SIA Micro/nano robotics for biology Study
14:00-14:20 Zhang Lixian HIT Switched MPC of switched linear systems with mode-dependent dwell time
14:20-14:40 Jiancheng Yu SIA The development of underwater vehicles for marine exploration
14:40-15:00 Qiang He HIT Design and fabrication of self-propelled synthetic nanorobots
15:00-15:20 Xingang Zhao SIA Surface EMG based interface for assistive robot
15:20-15:40 Coffee Break
15:40-16:00 Hui Xie HIT A flexible robotic system developed for multi-scale manipulation and assembly from nanoscale to microscale
16:00-16:20 Ruiwen Yi SIA Hydrodynamic Modeling of Unmanned Underwater Vehicle: Challenges and Opportunities
16:20-16:40 Wei Dong HIT Two Cases of Flexible Robots: Parallel Robots with Compliant Joints and Flexible Needle Insertion
16:40-17:00 Yuqing He SIA Autonomy of Mobile Robots in Complicated Environments
17:00-17:20 Liang Ding HIT An introduction to robotic terramechanics
18:00-20:00 Conference Welcome Reception


SIA-Speaker 1:

Lianqing Liu, professor of Shenyang Institute of Automation, Chinese Academy of Sciences. He received his BSc degree in Industrial Automation from Zhengzhou University, China, in 2002, and his Ph.D degree in Pattern Recognition and Intelligent Systems from Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) in 2009. Liu was awarded the Early Government/Industrial Career Award by the IEEE Robotics and Automation Society in May, 2011, Lu Jiaxi Young Scientist Award of the Chinese Academy of Sciences in Jan, 2011, and president Award of the Chinese Academy of Sciences in 2009. Currently his research interests include Nanorobotics, Intelligent control, and Biosensors.

刘连庆,博士,研究员,博士生导师,沈阳自动化所机器人学研究室副主任。主要研究方向:微纳机器人学,微纳制造与微纳生物医学。长期从事微纳机器人学的相关研究,在机器人基础理论、纳米制造和生物医学应用等方面取得了重要进展。发表SCI/EI检索90余篇次,曾获得IEEE机器人与自动化学会青年科学家奖(IEEE RAS Early Career Award, 每年两人,大陆学者首获此奖),中国科学院首批卓越青年科学家计划,中国科学院卢嘉锡青年人才奖,中国科学院院长优秀奖,中国科学院沈阳分院优秀青年科技人才奖,辽宁省自然学术成果奖等20余项荣誉和奖励。

Abstract: The technique of Robotic Nano manipulation extends people’s ability into nano scale, which generates a significant influence to the modern science. It provides new feasible ways to solve the problems that traditional technique cannot achieve. In this talk, we will present the demonstration of nanorobot for its applications in biological study firstly. Then aiming at meeting the new function requisites aroused from the multidiscipline research, we introduce the recent progress of nanorobot in perspective of system integration. The integration here includes two meanings. One is developing technologies based on nanorobot itself, such as more accurate manipulation, fast scanning, molecular recognition and so on. Another meaning is creating new functions through integrating other advanced techniques into nanorobot system, such as planar patch clamp, Scanning Ion Conductance Microscopy, Optical-induced tweezers. Each new integrated technology generates a boarder impact to the applications of nanorobot. The examples show the problems that cannot be investigated with traditional method can be elucidated through the work of nanorobot based integration, which in turn shows nanorobot as system integration leads to an improved significance and scientific value.



HIT-Speaker 1:

Lixian Zhang received the Ph.D. degree in control science and engineering from Harbin Institute of Technology, China, in 2006. He was a postdoc researcher in the Dept. Mechanical Engineering at EcolePolytechnique de Montreal, Canada, and visiting professor at Process Systems Engineering Laboratory, Massachusetts Institute of Technology (MIT) during Feb 2012 to March 2013. Since Jan 2009, he has been with the Harbin Institute of Technology, China, where he is currently a Professor in the Research Institute of Intelligent Control and Systems. Dr. Zhang’s research interests include nondeterministic and stochastic switched systems, networked control systems and their applications. He serves as Associated Editors for various peer-reviewed journals including IEEE Transactions on Automatic Control, IEEE Transactions on Cybernetics, etc., and was a leading Guest Editor for the Special Section of “Advances in Theories and Industrial Applications of Networked Control Systems” in IEEE Transactions on Industrial Informatics.


Abstract: In this talk, the model predictive control (MPC) of a class of discrete-time switched linear systems with mode-dependent dwell time (MDT) will be addressed. By the invariance of the reachable sets of the feasible region of each subsystem, the minimal admissible MDT is determined so as to guarantee both the persistent feasibility of MPC design and system stability. The conservatism of ignoring the position of the states at the switching instants is discussed by determining the state-dependent admissible MDT. It is shown that the system stability is guaranteed as long as the persistent feasibility is ensured both within the subsystems and at the switching instants. Finally, when the MDT is given, an algorithm is developed for determining the feasible region for the switched systems.



SIA-Speaker 2:

Jiancheng Yu, Professor in Shenyang Institute of Automation (SIA), CAS. He is the associate director of Marine Robotics Department of SIA. Dr. Yu received the B. S. degree in Mechanical Engineering and M. S. degree in Mechanical Design & Theory from Northeastern University, Shenyang, China, in 2000 and 2003, respectively, and the PhD degree in Mechatronic Engineering from Shenyang Institute of Automation, CAS, Shenyang, China, in 2006. His research interests include control theory & methods research for underwater vehicles and new concept underwater vehicles design, with a specific focus on the development of underwater glider.


Abstract: Marine exploration, especially for the polar regions, and other extreme deep sea diving detection relies heavily on the advances of underwater vehicle technology. This presentation will introduce the latest underwater vehicles and some of their application results for the marine exploration in the SIA. These underwater vehicles include Qianlong 6000m class AUV, 4500m class AUV, SeaWing underwater glider, Arctic ARV and small portable AUV.



HIT-Speaker 2:

Qiang He, Professor of Micro/Nanotechnology Research Center, Harbin Institute of Technology. He won his PhD degree in Physical Chemistry from the Institute of Chemistry, Chinese Academy of Sciences (ICCAS) in 2003. He then joined the ICCAS as an assistant professor and became an associate professor in 2006. He ever spent four years as a research fellow of the Alexander von Humboldt Foundation in the Max Plank Institute of Colloids and Interfaces, Germany. His research interests include responsive materials-based soft robots, self-propelled synthetic nanorobots and their biomedical application. He has published more than 80 peer-reviewed papers and holds 6 patents.

贺强,教授,博士生导师,哈尔滨工业大学。2003年在中国科学院化学研究所获理学博士学位。其后留所工作并历任助理研究员、副研究员。2006年获德国洪堡基金资助在德国马普胶体与界面研究所从事博士后研究。2010年4月回国,目前主要研究方向是基于智能高分子材料的柔性机器人、自驱动合成微纳米马达及其生物医用。已在Adv.Mater.,Angew.Chem., ACS Nano等国际著名学术期刊发表80多篇学术论文,合作出版英文专著一本。2011年入选教育部新世纪优秀人才,2012年入选黑龙江省龙江学者特聘教授。

Abstract: There is a growing effort in the scientific community to design and fabricate self-propelled synthetic nanorobots because they have potentials in the field of directed drug delivery, roving sensors, isolation and detection of targets, and active biomimetic systems. Inspired by the nanoscale linear biomotors (e.g. kinesins), our group recently developed chemical-powered synthetic nanorobots which have ability of havesting chemical energy into autonomous motion based on a catalytically chemical reaction. Based on this, different physical stimuli including magnetic fields, near infrared light, ultrasound waves have been employed to propel and tune the motion of synthetic nanorobots. These polymer-based nanorobots are able to be served as both autonomous motor and smart cargo, performing drug loading, targeted transportation and remote controlled release in the vicinity of cells and tissues in an organism.




Xingang Zhao, Professor in the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (SIA). He received BE and ME degree from Jilin University, China, in 2000 and 2004, and Ph.D. from Chinese Academy of Sciences, China in 2008. From 2007 through 2009, he was an Assistant Professor in the SIA. From 2010 through 2014, he was an Associate Professor. Since 2015, he is a Professor in SIA. His current research interests are rehabilitation robot and computer- assisted robotic surgery, which combine the robot design, modeling and control, physiological signal processing. Dr. Zhao has received grants from National Natural Sciences Foundation of China and Ministry of Science and Technology of the People’s Republic of China. He has published 50 peer reviewed papers.


Abstract: A surface electromyography (sEMG) is the summation of action potentials from the muscle fibers under the electrodes placed on the skin. The more muscles fired, the greater the amount of action potentials recorded and the greater the sEMG reading. sEMG signals have a variety of clinical and biomedical applications, for examples, detecting medical abnormalities, activation level, or recruitment order, analyzing the biomechanics of human movement. sEMG signals also have widely potential used as intelligent control interface for assistive robotic system, including rehabilitation robotic system and prosthetic devices, such as prosthetic hands, arms, and lower limbs. However, there are significant uncertainties of sEMG signals of different subjects, which restrict extensive applications in the assistive field seriously. In this presentation, we are going to introduce some common problem of sEMG signal processing and some of our unique research results dealing with the uncertainties, including the false tolerant decoding method, estimation method of continuous motion, user-independent recognition of hand gesture. Several examples of sEMG-controlled robotic system will be given.



HIT-Speaker 3:

Hui Xie is a full professor in the State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), China. Xie was an a Research Associate at the Institut des SystèmesIntelligents et Robotique (ISIR), Université Pierre et Marie Curie (UPMC)/Centre National de la RechercheScientifique (CNRS), Paris, France, from april 2006 to April 2010. He was awarded the National Science Fund for Excellent Young Scholars of China in 2012, and supported by Program for New Century Excellent Talents in University at the same year. Currently his research is micro/nanorobotics and applications in various fields, e.g. bio-nanotechnology, nanomaterials, nanoelectronics and CD metrology.


Abstract: The atomic force microscope (AFM) has gave nanotechnology a significant boost by providing it with a powerful tool for understanding physical and chemical phenomena from the nanoscale to atomic scale, as well as for performing engineering operations on nanoscale objects, molecules and atoms. A flexible robotic system developed for multi-scale manipulation and assembly from nanoscale to microscale is presented. This system is based on the principle of atomic force microscopy and comprises two individually functionalized cantilevers, to build a nanotweezer. Benefiting from capabilities of image scanning and accurate force sensing, the nanotweezer is capable of positioning one-dimensional nanostructures deposited on a surface, and then performing in situ peeling tests with pick-and-place operations at different peeling locations of interest along a selected nanostructure. As applications of the ducal probe nanotweezer, we will introduce the dual-probe caliper for critical dimension (CD) metrology, pick-and-place manipulation of a single living cell in an aqueous environment for in-situ qualification of cell adhesion and a three-dimensional atomic force microscope (3DAFM) for imaging of the micro and nanoscale sidewall structures with controllable scanning density.



SIA-Speaker 4

Yuqing He, professor of Shenyang Institute of Automation, Chinese Academy of Sciences. He received his BSc degree in Automation Northeastern University at Qinhuangdao, China, in 2002, and his PhD degree in Pattern Recognition and Intelligent Systems from Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS) in 2008. He was a visiting professor in Institute for Control Theory, Technique University of Dresden, Germany, from April 2012 to October 2012. He was awarded the honors of the 2008 ZhuliYuehua Excellent PhD Student Award of Chinese Academy of Sciences and Best Paper Award of several international academic conferences. He has published 1 book and more than 80 peer-reviewed SCI/EI cited academic papers and holds 3 patents (including a United States Patent). In this period, his researches focused on the autonomy of mobile robots and nonlinear control of mechatronic systems. Also, he was involved into the hardware and software development of some application oriented testbeds.


Abstract: All kinds of mobile robot systems (MRS) have been widely used in many applications, such as aiding disaster recovery efforts in mines and after earthquakes/tsunami, scientific explore, environmental monitoring, etc. However, the complicated environments introduce some dynamical factors and huge uncertainties, which often make the mobile robot difficult to work as desired without or with as little as possible human’s intervention. Thus, autonomy has been an open problem in the fields of mobile robotics since early 21st century. In this talk, the key techniques and some researches involved in autonomy of mobile robots while maneuvering on out-door, unstructured, and dynamic terrain are introduced. The main concerns of this talk include 3D real time environment modeling, online situational awareness and constraint generation, real time behavior optimization under multiple environmental constraints, and coordination and cooperation of cross-domain multiple robots. Besides, some application oriented experimental results will also be presented to show the validity of these methods/techniques for different mobile robots, including UAV, UGV and USV.



HIT-Speaker 4:

Dr. Wei Dong works with State Key Laboratory of Robotics and System, Harbin Institute of Technology. His research expertise is in the general areas of robotics and mechatronics. He has extensive experience in a series of inter-related research subjects including innovative design of robot/mechatronics systems, robotic system modeling and optimization, and smart material and structure integration and application etc. Prior to joining HIT, he worked as a postdoctoral researcher at CNRS FEMTO-ST, France (2009.09-2010.08) and University of Connecticut, US (2007.11-2009.07), respectively. He received the Ph.D. and M.S. degrees in Mechatronics Engineering and B.S. degree in Mechanical Engineering from HIT in 2007, 2003 and 2001, respectively.


Abstract: In this talk, the research progress on flexible robots will be reported, e.g. the high precision parallel robots with compliant joints and the robotic flexible needle insertion. On the first topic, creative generation of flexible parallel robots, modeling and optimization of compliant joints, and the applications will be presented. On the second topic, flexible needles’ innovative design, needles’ shaping identification and needle-tissue operation will be introduced.



SIA-Speaker 5

Ruiwen Yi, Assistant Professor in the State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS). He received the M.S. degree from Shanghai Jiao Tong University in 2010, and B.S. degree in Naval Architecture and Marine Engineering from Harbin Engineering University in 2003, and joined SIA in 2010. His current research interests include hydrodynamics and maneuverability of Unmanned Underwater Vehicle. In the last few years, he has been supported by National Natural Science Foundation of China, and served in charge sub-system of 863 Program.


Abstract: Hydrodynamic Modeling of Unmanned Underwater Vehicles (UUV) is the basic work for UUV maneuverability analysis and motion control research. In the last few years, many new type UUVs have been designed, such as super high speed UUV, on the other hand, the capability of UUV has been expanded, such as underwater docking. The traditional hydrodynamic modeling method based on taylor polynomials faces challenges in these new research fields. In this talk, we will present the new design of super high speed UUV in the State Key Laboratory of Robotics, and the new method to meet low speed motion control that based on synthetic jet will also be shown in the presentation. In the second topic, we will talk about the fresh new opportunities in the field of traditional maneuverability which based on hydrodynamics.



HIT-Speaker 5:

Liang Ding, Professor of State Key Laboratory of Robotics and Systems in Harbin Institute of Technology (HIT). He received the Ph.D. degree in mechanical engineering from the HIT, Harbin, China, in 2010. He has authored or co-authored over 70 papers in journals and conference proceedings. He has been teaching robotics for under- and post-graduates. His current research interests include robotic terramechanics, planetary rovers, and legged robots. Dr. Ding was a recipient of the 2011 National Award for Technological Invention of China and the 2009/2013 Award for Technological Invention of Heilongjiang Province in China. He received the Hiwin Excellent Doctoral Dissertation Award in 2011 and the Best Paper in Information Award in the 2012 IEEE ICIA Conference. He was among the distinguished young scholar plan and the cultivation plan of distinguished scholar for basic research in HIT.

丁亮,博士,哈尔滨工业大学机器人技术与系统国家重点实验室教授/博导。主要研究方向:机器人地面力学、星球车、足式机器人等。先后主持国家青年自然科学基金青年、面上项目(青年—面上连续资助),黑龙江省博士后青年英才计划项目,中国博士后特别、面上资助,国家重点实验室自主研究课题,中国空间技术研究院委托课题等。作为骨干参与国防973项目、国家973课题、863计划主题项目、探月工程重大专项课题等。在IJRR、IEEE汇刊、J. Terramechanics等刊物发表学术论文70余篇,其中SCI论文30余篇。获得国家技术发明二等奖(2011)、机械工程学会上银优秀博士论文佳作奖(2011)、黑龙江省技术发明一等奖(2009, 2013)等。入选哈尔滨工业大学青年拔尖人才选聘计划、哈工大基础研究杰出人才培育计划。

Abstract: Terramechanics has been developed for more than 50 years to support the development of the terrestrial machines. In recent years, more and more robots that have complex interaction with the terrains have been or will be developed, such as the exploration rovers and the automated sampling robots for planetary exploration, and the terrestrial mobile robots, therefore, intensive research has been carried out for robotic terramechanics, in order to solve the problems beyond the conventional contact mechanics. In this talk, we will present the current situation and development trend of robotic terramechanics. The wheel-terrain interaction mechanics and its application to planetary rovers is the main focus, including the high-fidelity models with consideration of multiple effects: slip-sinkage, lugs, loads and dimensions, the longitudinal skid mechanics, and steering mechanics. The tool-terrain interaction mechanics as well as the terramechanics and terradynamics for robots’ legs/feet that emerges in recent years will also be discussed.




Shenyang, China



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