基本信息科学研究教育教学论文专著English
基本信息

丁亮(1980-)，男，汉族。国家优青，哈尔滨工业大学机电工程学院/机器人技术与系统国家重点实验室教授、博导。

先后主持国家青年自然科学基金（3项）、973项目专题、863-704项目子课题、火星探测重大专项课题、省博士后青年英才计划项目、中国博士后特别资助、国家重点实验室自主研究课题、与中国空间技术研究院合作课题等。作为骨干参与国家973课题、863计划主题项目、探月工程二期/三期重大专项课题等。在IJRR、TIE等刊物发表学术论文140余篇，SCI论文70余篇，最高影响因子7.671。 获得国家技术发明二等奖(2011)、ISTVS Sohne-Hata- Jurecka Award(2017)、中国科协“科学中国人”杰出青年科学家奖“(2018)、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, 2015)、IEEE ARM国际会议大会最佳论文奖(2016)、国家开发银行科技创新奖教金(2016)、黑龙江高等教育学会优秀教育科研论文一等奖(2012)等。授权/受理发明专利50余项。入选中国博士后30周年成果萃要，哈工大基础研究杰出人才培育计划、青年拔尖人才选聘计划（破格评为教授）等。指导和协助指导的博士和硕士研究生8人获得国家奖学金，国外联合培养5人（CMU等）；1人获得省优秀硕士论文提名，5人获得金/银牌硕士论文。

荣誉称号
国家技术发明二等奖(2011)中国机械工程学会上银优秀机械博士论文奖(佳作奖,2011)；黑龙江省技术发明一等奖(2009)
IEEE ICIA国际会议Best paper in Information(2012)
黑龙江高等教育学会优秀教育科研论文一等奖(2012)黑龙江省技术发明一等奖(2013)
黑龙江省技术发明一等奖(2015)
IEEE ARM国际会议最佳论文奖(2016)
国家开发银行科技创新奖教金(2016)ISTVS S？hne-Hata-Jurecka Award（2017，国际地面车辆系统学青年科学家奖，平均每3年评选1人；首位华人获奖者）
中国科协科学中国人年度人物“杰出青年科学家奖”（2018）国家自然科学基金优秀青年基金（2018）


工作经历


时间

工作经历
2009.11至2010.1

哈工大，助教(国家公派留学预留师资)
2010.2至2013.11

哈工大，讲师
2013.12-2014.11

哈工大，副教授
2012.12至2013.6

加拿大Ryerson大学，访问学者
2014.4至今

哈工大，博导
2014.12至今

哈工大，教授（青年拔尖人才）


教育经历
1999.9-2006.2，哈尔滨理工大学，机械设计制造及其自动化，本科/硕士

2006.3-2009.12，哈尔滨工业大学，机械工程，博士

2008.10-2009.10，日本东北大学(Tohoku Univ.)CSC联合培养博士生

2010.5-2016.4，哈尔滨工业大学控制理论与控制工程，博士后

主要任职
The Scientific World Journal Editorial Board Member

2010.01 IEEE(美国电气电子工程师学会) 会员

2013.1 ISTVS国际地面车辆系统学会 会员

2018.08 自动化学会 会员、专业委员会委员

2017.11 机械工程学会 高级会员

2012.1 中国宇航学会 会员

我的链接

链接名称My ResearchGate

链接地址https://www.researchgate.net/profile/L_Ding2

简单介绍My research results and publications (including the files that can download)


链接名称Google Scholar Citation

链接地址https://xue.glgoo.org/citations?user=N_jCW-UAAAAJ&hl=zh-CN&oi=sra

简单介绍谷歌学术镜像网站。真实地址可以通过搜索"Liang Ding Harbin Institute of Technology"获取。


News and others
1. 丁亮教授获国际地面车辆学会青年科学家奖. http://www.miit.gov.cn/n**/n**/n**/c**/content.html

http://news.hit.edu.cn/e3/60/c1510a189280/page.psp

2. 4人获国家杰出青年基金 8人获优秀青年基金. http://news.hit.edu.cn/2018/0930/c1510a215666/page.htm

3. 3位哈工大人荣获科学中国人（2017）年度人物特别奖“杰出青年科学家”奖. http://www.sohu.com/a/**_734953

4. 月球车移动系统关键技术获得国家技术发明二等奖. （国家技术发明奖获奖项目目录）

http://www.most.gov.cn/ztzl/gjkxjsjldh/jldh2011/jldh11jlgg/201202/t**_92344.htm

5. 第一届上银优秀机械博士论文奖获奖名单.

http://hdda.cmes.org/app/common/publish/view/259d200c4c9b4240ab7d6bb86dd4bc19?type=5&projectCode=welcome

6. 指导的研究生龚肇沛同学获得宝钢优秀学生奖. http://www.yuloo.com/mbgx/1512/**.shtml?from=singlemessage

7. 指导的本科生李柠汐同学获得哈尔滨工业大学春晖创新成果奖一等奖. http://sme.hit.edu.cn/b7/ca/c6502a178122/page.psp

8. 机械工程学报封面论文《星球车车轮原地转向沉陷试验及模型研究》. http://www.sohu.com/a/**_652791

9. 《月球车移动系统设计》，高等教育出版社.

http://www.hep.com.cn/book/details?uuid=fabda48b-14be-1000-8cba-8b199bb65ff2

研究领域
研究方向：1. 星球探测机器人

2. 野外足式机器人

专业特长：1. 系统设计与仿真

2. 机器人力学(地面动力学、软体机器人力学）

3. 智能控制（运动控制、感知决策、图像处理、深度学习）

项目来源：1. 探月工程国家重大专项

2. 火星探测工程国家重大专项

3. 深海空间站国家重大专项

4. 国家自然科学基金优秀青年基金

5. 国家重点基础研究发展计划（973计划）

6. 国家高技术研究发展计划（863计划）

团队归属
机器人技术与系统国家重点实验室

宇航空间机构及控制技术国防重点学科实验室

邓宗全院士：http://homepage.hit.edu.cn/dengzongquang

高海波教授（副院长）：http://homepage.hit.edu.cn/gaohaibo

奖项成果

奖项名称月球车移动系统关键技术

获奖时间2011

所获奖项国家技术发明二等奖



奖项名称Terramechanics-based High-Fidelity Dynamics Simulation for Wheeled Mobile Root on Deformable Rough Terrain

获奖时间2011

完成人丁亮，高海波，邓宗全

所获奖项第十二届黑龙江省自然科学技术学术成果奖三等奖



奖项名称月/星球车轮地相互作用地面力学及其应用研究

获奖时间2011

完成人丁亮

所获奖项中国机械工程学会上银优秀机械博士论文佳作奖

简单介绍月/星球车轮地相互作用地面力学及其应用研究


奖项名称空间折展与锁解机构关键技术

获奖时间2013

所获奖项黑龙江省科学技术奖一等奖（发明类）



科研项目

项目名称机器人足地作用力学模型及参数辨识研究

项目来源国家重点实验室自主课

开始时间2011-01-01

结束时间2012-12-01

项目经费40

担任角色负责

项目类别纵向项目

项目状态完成



项目名称星球车先进移动控制方法研究

项目来源中国博士后基金特别资

开始时间2011-07-01

结束时间2013-04-01

项目经费10

担任角色负责

项目类别横向项目

项目状态完成



项目名称星球车轮转向与侧向滑移地面力学机理、预测模型及其应用研究

项目来源国家自然科学基金青年

开始时间2011-01-01

结束时间2013-12-01

项目经费20

担任角色负责

项目类别纵向项目

项目状态完成



项目名称松软崎岖地形中基于多物理模型的非完整轮式星球车移动控制研究

项目来源国家自然科学基金

开始时间2014-01-01

结束时间2017-12-01

项目经费82

担任角色负责

项目类别横向项目

项目状态完成



项目名称空间站核心舱装配机器人控制系统

项目来源航天五院

开始时间2012-01-01

结束时间2013-06-01

项目经费50

担任角色负责

项目类别横向项目

项目状态进行中



项目名称核事故救灾任务灵巧作业

项目来源科技部973课题

开始时间2013-01-01

结束时间2017-01-01

项目经费476

担任角色参与

项目类别横向项目

项目状态完成


讲授课程

机器人技术 学位课 授课班级：机电学院硕士研究生
机器人技术及空间应用 学位课 授课班级：航空宇航系本科生
轮步式行星探测车移动系统结构与控制研究 创新研修课

招生信息
欢迎机械、宇航、力学、自动化、计算机、数学等专业背景的同学报考研究生。

每年招收博士生2-3名；

每年招收硕士生2-3名，读博士同学优先考虑。





出版物

出版物名称Chapter 18, Mobile Robots - Current Trends

作者 Liang Ding, Haibo Gao, Zongquan Deng, Weihua Li

出版时间,完成时间2011-10-01

出版社Intech

简单介绍This book consists of 18 chapters divided in four sections: Robots for Educational Purposes, Health-Care and Medical Robots, Hardware - State of the Art, and Localization and Navigation. In the first section, there are four chapters covering autonomous mobile robot Emmy III, KCLBOT - mobile nonholonomic robot, and general overview of educational mobile robots. In the second section, the following themes are covered: walking support robots, control system for wheelchairs, leg-wheel mechanism as a mobile platform, micro mobile robot for abdominal use, and the influence of the robot size in the psychological treatment. In the third section, there are chapters about I2C bus system, vertical displacement service robots, quadruped robots - kinematics and dynamics model and Epi.q (hybrid) robots. Finally, in the last section, the following topics are covered: skid-steered vehicles, robotic exploration (new place recognition), omnidirectional mobile robots, ball-wheel mobile robots, and planetary wheeled mobile robots.


出版物名称月球车移动系统设计

作者邓宗全，高海波，丁亮

出版时间,完成时间2015-06-01

出版社高等教育出版社



论文期刊

论文标题Experimental study and analysis on driving wheels@#% performance for planetary exploration rovers moving in deformable soil

作者Liang Ding, Haibo Gao*, Zongquan Deng, Keiji Nagatani, Kazuya Yoshida

期刊名称Journal of Terramechanics



论文标题Adaptive Sliding Mode Control of Mobile Manipulators with Markovian Switching Joints

作者Liang Ding, Haibo Gao, Kerui Xia, Zhen Liu, Jianguo Tao, and Yiqun Liu

期刊名称Journal of Applied Mathematics



论文标题Wheel Slip-sinkage and Its Prediction Model of Lunar Rover

作者DING Liang, GAO Hai-bo, DENG Zong-quan, TAO Jian-guo

期刊名称Journal of Central South University of Technology



论文标题Planetary rovers’ Wheel-Soil Interaction Mechanics: New Challenges and Applications for Wheeled Mobile Robots

作者Liang Ding, Zongquan Deng, Haibo Gao, Keiji Nagatani, Kazuya Yoshida

期刊名称Journal of Intelligent Service Robotics



论文标题Foot–terrain interaction mechanics for legged robots: Modeling and experimental validation

作者L Ding, H Gao, Z Deng, J Song, Y Liu, G Liu, K Iagnemma

期刊名称The International Journal of Robotics Research

期卷32 (13)

简单介绍Contact mechanics plays an important role in the design, performance analysis, simulation, and control of legged robots. The Hunt–Crossley model and the Coulomb friction model are often used as black-box models with limited consideration of the properties of the terrain and the feet. This paper analyzes the foot–terrain interaction based on the knowledge of terramechanics and reveals the relationship between the parameters of the conventional models and the terramechanics models. The proposed models are derived in three categories: deformable foot on hard terrain, hard foot on deformable terrain, and deformable foot on deformable terrain. A novel model of tangential forces as the function of displacement is proposed on the basis of an in-depth understanding of the terrain properties. Methods for identifying the model parameters are also developed. Extensive foot–soil interaction experiments have been carried out, and the experimental results validate the high fidelity of the derived models.


论文标题Experimental study and analysis of the wheels’ steering mechanics for planetary exploration wheeled mobile robots moving on defo

作者Liang Ding, Zongquan Deng, Haibo Gao, Junlong Guo, Dapeng Zhang, K. Iagnemma

期刊名称The International Journal of Robotics Research

期卷32(6)



论文标题New perspective on characterizing pressure-sinkage relationship of terrains for estimating interaction mechanics

作者Liang Ding, Haibo Gao, Zongquan Deng, Yuankai Li, Guangjun Liu

期刊名称Journal of Terramechanics

期卷52

简单介绍Conventional pressure–sinkage models of characterizing bearing properties of terrains for vehicles are semi-empirical with poor adaptability and extrapolation ability; definitions of parameters are nonintuitive. The purpose of this paper is to provide more general and high-fidelity models for terrain characterization to satisfy the high requirements of autonomous wheeled vehicles, which should “understand” terramechanics in an accurate way on off-road terrains. Based on the analysis of conventional models and experimental results, new perspective and related equations on characterizing bearing performance are proposed. The stiffness modulus which is an intrinsic terrain parameter with determined unit of Pa/m has dominant role in governing the bearing performance. The sinkage exponent is variable as the function of various influential factors. Numerical analysis verifies that the new model with two meaningful parameters has high goodness of fit with Bekker’s model. Experimental results verifies that the new model using constant stiffness modulus and variable sinkage exponent reflects key factors such as dynamic sinkage, dimension effect, payload effect, and lug effect with high fidelity, which are not considered by the conventional models. This concept could be applied to various terrains and conventional vehicles.


论文标题Path-following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

作者Liang Ding, Hai-bo Gao, Zong-quan Deng, Zhijun Li, Ke-rui Xia, Guang-ren Duan

期刊名称The Scientific World Journal



论文标题Interaction Mechanics Model for Rigid Driving Wheels of Planetary Rovers Moving on Sandy Terrain with Consideration of Multiple

作者Liang Ding, Zongquan Deng, Haibo Gao, Jianguo Tao, Karl D. Iagnemma and Guangjun Liu

期刊名称Journal of Field Robotics

期卷DOI: 10.10

简单介绍33 pages


论文标题Kinematic Bilateral Tele-Driving of Wheeled Mobile Robots Coupled with Slippage

作者Weihua Li; Liang Ding*; Zhen Liu; Weidong Wang; Haibo Gao, Mahdi Tavakoli

期刊名称IEEE Transactions on Industrial Electronics



论文标题Gait Generation with Smooth Transition Using CPG-based Locomotion Control for Hexapod Walking Robot

作者Haitao Yu, Haibo Gao*, Liang Ding*, Mantian Li, Zongquan Deng, Guangjun Liu

期刊名称IEEE Transactions on Industrial Electronics

期卷63 (9)



论文标题Kinematic Bilateral Teleoperation of Wheeled Mobile Robots Subject to Longitudinal Slippage

作者Weihua Li, Liang Ding*, Haibo Gao and Mahdi Tavakoli

期刊名称 IET Control Theory and Application

期卷10（2）

简单介绍With the widespread use of wheeled mobile robots (WMRs) in various applications, new challenges have arisen in terms of designing its control system. One of such challenges is caused by wheel slippage. This study proposes a new method for haptic teleoperation control of a WMR with longitudinal slippage (not including sliding). In this teleoperation system, the mobile robot@#%s linear velocity follows the master haptic interface@#%s position. The proposed teleoperation controller also includes an acceleration-level control law for the mobile robot such that the velocity loss caused by slippage is compensated for. Information about the magnitude and timing of slippage is displayed to the human operator through haptic (force) feedback. Despite the functional benefits of displaying slippage information as haptic feedback to the user, there are system stability related concerns that have been addressed using the proposed controller. Experiments of the proposed controller demonstrate that it results in stable bilateral teleoperation with a satisfactory tracking performance


论文标题Enhancement of tensile strength of embedded parts in carbon fiber-reinforced plastic/aluminum honeycomb sandwich structures for vehicle

作者Jiangfeng Wang, Haibo Gao*, Liang Ding*, Yajing Xie, Baoyu Song, Jiachen Ma, Mingjin Lin, Renjie Sun

期刊名称 Composite Structures



论文标题 Locally Supervised Neural Networks for Approximating Terramechanics Models

作者Xingguo Song, Haibo Gao*, Liang Ding*, Pol. D Spanos, Zongquan Deng, Zhijun Li

期刊名称Mechanical Systems and Signal Processing



论文标题A real-time, high fidelity dynamic simulation platform for hexapod robots on soft terrain

作者Haibo Gao, Ma Jin, Liang Ding？, Yiqun Liu, Weihua Li, Xinyi Yu, Zongquan Deng, Zhen Liu

期刊名称Simulation Modelling Practice and Theory



论文标题 Bond strength between carbon fiber–reinforced plastic tubes and aluminum joints for racing car suspension

作者JianfengWang, Haibo Gao*, Liang Ding*, Yuzhou Hao, BaomingWang, Tianyao Sun and Yuhan Liang

期刊名称Advances in Mechanical Engineering

期卷8 (10)

简单介绍According to previous studies, the bond strength between the carbon fiber–reinforced plastics and metals mainly depends on the bond layer between the carbon fiber–reinforced plastic composites and the metal. This article presents the results of the experiments conducted on the tensile bond strength between the carbon fiber–reinforced plastic tubes and aluminum joints. The parameters examined in these experiments include adhesive type, surface roughness of the bonded area, and thickness and length of the bond layer. The results show that the 3M DP-460NS Off-White adhesive was suitable for our experiment. The bonded surfaces of the specimens were smoothened with a P600 sandpaper to achieve higher bond strengths with the adhesive. For the six bond thicknesses tested, a thickness of 0.2？mm was optimal for the tensile experiments. The ultimate tensile force was approximately directly proportional to the bond length.


论文标题Robust Stabilization of A Wheeled Mobile Robot Using Model Predictive Control Based on Neuro-Dynamics Optimization

作者Hanzhen Xiao, Zhijun Li, Chenguang Yang, Lixian Zhang, Peijiang Yuan, Liang Ding, Tianmiao Wang

期刊名称 IEEE Transactions on Industrial Electronics

期卷64（1）

简单介绍In this paper, a robust model predictive control (MPC) scheme using neural network-based optimization has been developed to stabilize a physically constrained mobile robot. By applying a state-scaling transformation, the intrinsic controllability of the mobile robot can be regained by incorporation into the control input u1 an additional exponential decaying term. An MPC-based control method is then designed for the robot in the presence of external disturbances. The MPC optimization can be formulated as a convex nonlinear minimization problem and a primal- dual neural network is adopted to solve this optimization problem over a finite receding horizon. The computational efficiency of MPC has been improved by the proposed neurodynamic approach. Experimental studies under various dynamic conditions have been performed to demonstrate the performance of the proposed approach.


论文标题Trajectory tracking control of wheeled mobile manipulator based on fuzzy neural network and extended Kalman filtering

作者Kerui Xia, Haibo Gao, Liang Ding, Guangjun Liu, Zongquan Deng, Zhen Liu, Changyou Ma

期刊名称 Neural Comput & Applic

期卷DOI: 10.10



论文标题 Robust Adaptive Control of Door Opening by a Mobile Rescue Manipulator Based on Unknown Force-related Constraints Estimation. Robotica

作者Liang Ding , Kerui Xia , Haibo Gao , Guangjun Liu ,Zongquan Deng



论文标题 Linear normal stress under a wheel in skid for wheeled mobile robots running on sandy terrain

作者Junlong Guo, Haibo Gao*, Liang Ding*, Tianyou Guo, Zongquan Deng

期刊名称Journal of Terramechanics



论文标题Adaptive Neural Network-Based Tracking Control for Full-State Constrained Wheeled Mobile Robotic System

作者Ding, L., Li, S., Liu, Y. J., Gao, H., Chen, C., & Deng, Z

期刊名称IEEE Transactions on Systems, Man, and Cybernetics: Systems

期卷DOI: 10.11

简单介绍In this paper, an adaptive neural network (NN)-based tracking control algorithm is proposed for the wheeled mobile robotic (WMR) system with full state constraints. It is the first time to design an adaptive NN-based control algorithm for the dynamic WMR system with full state constraints. The constraints come from the limitations of the wheels@#% forward speed and steering angular velocity, which depends on the motors@#% driving performance. By employing adaptive NNs and a barrier Lyapunov function with error variables, then, the unknown functions in the systems are estimated, and the constraints are not violated. Based on the assumptions and lemmas given in this paper and the references, while the design and the system parameters chose properly, our proposed scheme can guarantee the uniform ultimate boundedness for all signals in the WMR system, and the tracking error converge to a bounded compact set to zero. The numerical experiment of a WMR system is presented to illustrate the good performance of the proposed control algorithm.

Overview
Liang Ding received the Ph.D. degree in mechanical engineering in January 2010, from Harbin Institute of Technology, Harbin, China, where he is currently a full Professor with the State Key Laboratory of Robotics and Systems. He visited the Space Robotics Laboratory, Tohoku University, Japan, for one year in 2008-2009; and he visited the Ryerson University for half a year in 2013.

His current research interests include mechanics (in particular terramechanics), intelligent control, design and simulation of robotic systems, in particular for planetary exploration rovers and multi-legged robots. He has been teaching robotics for under- and post-graduates. Prof. Ding was a recipient of the 2018 Outstanding Youth Program of National Natural Science Foundation of China, 2017 ISTVS S？hne-Hata-Jurecka Award, 2011 National Award for Technological Invention of China and the 2009/2013/2015 Award for Technological Invention of Heilongjiang Province. He received the Hiwin Excellent Doctoral Dissertation Award, the Best Conference Paper Award of IEEE ARM, and the Best Paper in Information Award of the 2012 IEEE ICIA Conference. He has authored or co-authored over 140 papers in journals and conference proceedings; he has been more than 40 patent of invention of China.

Contact
Email: liangding@hit.edu.cn

Address: Room 404, Building 2F, Yikuang St. 2, Science and Technology Park, Harbin Institute of Technology, Harbin 150080, Heilongjian Province, China

Links

链接名称My ResearchGate

链接地址https://www.researchgate.net/profile/L_Ding2

简单介绍My research results and publications (including the files that can download)


链接名称Google Scholar Citation

链接地址https://xue.glgoo.org/citations?user=N_jCW-UAAAAJ&hl=zh-CN&oi=sra

简单介绍This is my website of Google Scholar Citation. The actual address can be found by searching "Liang Ding Harbin Institute of Technology"