基本信息

姓名：代煜
性别：男
所属部门：机器人与信息自动化研究所
行政职务：
职称：副教授
学历：博士
所学专业：控制科学与工程
办公电话：**-811
电子邮件：daiyu@nankai.edu.cn
研究方向：面向手术机器人的智能感知技术




个人简介
1998年9月－2002年7月 哈尔滨工业大学 自动化测试与控制系 本科/学士
2002年9月－2004年7月 哈尔滨工业大学 自动化测试与控制系 研究生/硕士
2004年9月－2009年7月 哈尔滨工业大学 自动化测试与控制系 研究生/博士
2009年7月－2014年12月 南开大学 机器人与信息自动化研究所 讲师
2015年1月－至今 南开大学 机器人与信息自动化研究所 副教授
2018年8月－2019年8月 美国约翰霍普金斯大学 计算感知与机器人实验室 访问****







科研项目、成果、获奖、专利
科研项目：

天津市自然科学基金面上项目《面向骨切削手术的机器人听认知》(18JCYBJC18800)
国家自然科学基金面面上项目 《基于折展结构的经自然腔道手术器械入路载体设计与优化》 （**）
国家重点研发计划“智能机器人”专项《经输尿管肾内介入诊疗机器人系统》之课题3：术前影像与术中图像联合定位导引与虚拟内窥镜技术（2017YFB**）
国家重点研发计划“数字诊疗装备研发”专项《多孔腔镜手术机器人系统设计与产品研发》之课题2：多孔腔镜手术机器人功能拓展技术研究 （2017YFC**）
国家自然科学基金面面上项目 《面向脊柱外科切削手术的机器人触听觉术野仿生认知》 （**）
国家自然科学基金面青年项目 《基于非接触组织振动测量的骨外科手术机器人钻磨状态精准辨识》 （**）
天津市应用基础与前沿技术研究计划青年项目 《基于生物电阻抗的骨外科手术机器人钻磨过程实时监控》 (14JCQNJC04600）
国家自然科学基金面上项目 《基于非侵入式电阻抗测量的腹腔镜手术组织辨识系统研究》 （** ）
国家自然科学基金面上项目 《纤维输尿管镜手术辅助机器人基础设计理论与方法》 （** ）
科技部国家重点实验室开放基金 《微创手术机器人内窥镜立体视觉系统研究》 （SKLRS-2010-MS-01）
国家高技术研究发展计划 《微创腹腔外科手术机器人系统研究》（2009AA044001）
国家科技支撑计划项目 《影像导航、手术机器人等先进治疗装备研发》（2012BAI14B00）

授权发明专利：
1.代煜, 雪原, 张建勋. 一种用于切削动力工具的刀具寿命估计方法，专利号：5.X
2.代煜, 雪原, 张建勋. 一种能够检测生物电阻抗的智能组织分离手术器械，专利号：5.1
3.代煜, 雪原, 张建勋. 一种能实现钻磨状态监控的手术机器人半刚性智能器械臂，专利号：6.7
4.代煜, 雪原, 张建勋. 一种能够实时采集生物电阻抗的外科手术动力工具，专利号：6.9
5.代煜, 杨庆, 杜君, 张建勋. 一种 非侵入式力和电阻抗参数联合监测的微创手术工具. 专利号：0.5
6.代煜, 张建勋, 雪原. 一种能够感知待切削组织刚度和结构的智能手术动力工具. 专利号：2.2
7.代煜, 张建勋, 王树新, 李进华, 何超. 用于微创外科手术机器人的三维力传感器. 专利号：5.2
8.黄大刚, 代煜, 张建勋, 李彬. 一种随动照明的自由立体视频图像显示器. 专利号：8.0





撰写论文、专著、教材等
Journal Publications

2019
[1] Z. Jiang, Y. Dai, J. Zhang, and H. Sun, "Tremor reduction of the master arm for master-slave surgical robot," Robot, vol. 41, no. 3, pp. 327-333, 2019. (in Chinese)
[2] J. Zhang, J. Ge, Y. Dai, and X. Yao, "A level set evolution method for ultrasound image sequence segmentation," Journal of Tianjin University Science and Technology, vol. 52, no. 6, pp. 568-575, 2019. (in Chinese)
[3] F. Q. Shao, M. Y. Tang, H. Bai, Y. Xue, Y. Dai, and J. X. Zhang, "Drilling condition identification based on sound pressure signal in anterior cervical discectomy surgery," Medical Science Monitor, vol. 25, pp. 6574-6580, Sep 2019.

2018
[1] C. Zhang, X. Han, P. Douglas, Y. Dai, and G. Wang, Bipolar radiofrequency ablation of spinal tumors: The effect of the posterior vertebral cortex defect on temperature distribution in the spinal canal, American Journal of Neuroradiology, 2018, 39(1): E1-E2.
[2] Y. Dai, Y. Xue, and J. Zhang, Bio-inspired integration of auditory and haptic perception in bone milling surgery, IEEE/ASME Transactions on Mechatronics, 2018, 23(2): 614-623.
[3] J. Liu, J. Zhang, Y. Dai and H. Su, Dense Stereo Matching Based on Cross-Scale Guided Image Filtering. Acta Optica Sinica, 2018, 38(1): **. (in Chinese)
2017
[1] J. Liu, J. Zhang, and Y. Dai, Dense stereo matching based on region growing. Robot. 2017, 39(2): 182-188. (in Chinese)
[2] Xue Y., Bai H., Tang M., Dai Y., and Zhang J., Possibility of tissue discrimination in the anterior approach of the cervical spine by Electrical impedance. Chinese Journal of Orthopaedics. 2017, 37(12): 1-10. (in Chinese)
2016
[1] Dai, Y., X. Yuan, and J. Zhang, Milling state identification based on vibration sense of a robotic surgical system. IEEE Transactions on Industrial Electronics, 2016, 23(10): 6184-6193.
[2] D. Lv, J. Zhang, and Y. Dai, Analysis and compensation of stray parameters in high-voltage pulse generator circuits. Chinese Journal of Engineering. 2016. 38(5): 734-744. (in Chinese)
[3] Dai, Y, Y Xue, and J Zhang, A continuous wavelet transform approach for harmonic parameters estimation in the presence of impulsive noise. Journal of Sound and Vibration. 2016, 360: 300-314.
2015
[1] Dai, Y., Y. Xue, and J.-X. Zhang, Bone milling condition monitoring based on sound signal processing. Journal of Vibration and Shock, 2015. 34(22): 19-23. (in Chinese)
[2] Feng, C., J. Zhang, R. Liang, Y. Dai, and L. Cui, A lung region segmentation method based on the fractal theory and the minimal convex hull method. Journal of Tianjin University Science and Technology, 2015. 48(10): 937-946. (in Chinese)
[3] Dai Y, Du J, Yang Q, Zhang J X. Development of a noninvasive electrical impedance probe for minimally invasive tumor localization. Physiological Measurement. 2015, 36(9): 1785-1799.
[4] Dai Y, Xue Y, Zhang J. Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery.IEEE/ASME Transactions on Mechatronics. 2015, 20(6): 3028-3039.
2014
[1] Dai Y, Xue Y, Zhang J X. Drilling Electrode for Real-Time Measurement of Electrical Impedance in Bone Tissues. Annals of Biomedical Engineering, 2014, 42(3): 579-588.
[2] Dai Y, Xue Y, Zhang J X. Noncontact Vibration Measurement Based Thoracic Spine Condition Monitoring During Pedicle Drilling. IEEE/ASME Transactions on Mechatronics, 2014, 19(5): 1532-1540.
[3] Dai Y, Du J, Yang Q, Zhang J X. Noninvasive Electrical Impedance Sensor for In Vivo Tissue Discrimination at Radio Frequencies. Bioelectromagnetics, 2014, 35(6): 385-395.
[4] Feng C, Zhang J X, Dai Y, A relay active contour model for image segmentation based on edge and region information. Chinese High Technology Letters, 2013. 23(4): 421-429. (in Chinese)
2013
[1] Dai Y, Zhang J X, Xue Y. Use of wavelet energy for spinal cord vibration analysis during spinal surgery. International Journal of Medical Robotics and Computer Assisted Surgery, 2013, 9(4): 433-440.
[2] Dai Y, Yang Q, Zhang J X, Du J. An Artificial Neural Network Approach to the Predictive Modeling of Tensile Force during Renal Suturing. Annals of Biomedical Engineering, 2013, 41(4): 786-794.
2012
[1] Dai Y, Zhang J X. Dispersion compensation for an ultrathin metal film using LCD-CCD system. Chinese Physics B, 2012, 21(10): 104203.
[2] Dai Y, Zhang J-X. Identification of modal parameters based on wavelet transform and back propagation network. Journal of Vibration and Shock, 2012, 31(3): 55-59. (in Chinese)
2011
[1] Dai Y, Zhang J X. Stereoscopic visualization based on splitting of two-way polarized image beams. Acta Physica Sinica, 2011, 60(8): 084205. (in Chinese)
[2] Dai Y, Zhang J X. Reduction of 1/f noise in semiconductor devices based on wavelet transform and Wiener filter. Acta Physica Sinica, 2011, 60(11): 110516. (in Chinese)
2009
[1] Dai Y, Sun H-Y, Li H-P, Tang W-Y. Identification of weak nonlinearities in damping and stiffness based on wavelet transform. Journal of Vibration and Shock, 2009, 28(2): 51-55. (in Chinese)
2008
[1] Dai Y, Sun H-Y, Li H-P, Tang W-Y. Natural frequencies and damping estimation based on continuous wavelet transform. Journal of Harbin Institute of Technology (New Series), 2008, 15(6): 794-800. (in Chinese)
[2] Dai Y, Ma Q, Tang W Y. Efficient wavelet ridge extraction method for asymptotic signal analysis. Review of Scientific Instruments, 2008, 79(12): 124703.

Conference Papers

2017
[1] Y. Dai, Y. Xue, J. Zhang, and J. Li, Biologically-inspired auditory perception during robotic bone milling, in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp. 1112-1116.
[2] Y. Li, J. Zhang, Y. Dai, and G. Cao, Modeling and motion controller design of clamping endoscopic mechanical arm, in 2017 29th Chinese Control And Decision Conference (CCDC), 2017, pp. 7521-7525.
[3] J. Zhang, H. Shang, and Y. Dai, Design of tumor therapy system based on irreversible electroporation, in 2017 29th Chinese Control And Decision Conference (CCDC), 2017, pp. 7515-7520.
[4] J. Zhang, R. Zhang, and Y. Dai, Design and fpga implementation of dds based on waveform compression and taylor series, in 2017 29th Chinese Control And Decision Conference (CCDC), 2017, pp. 1301-1306.
[5] Z. Jiang, Y. Dai, J. Zhang, and S. He, Kinematics calculation of minimally invasive surgical robot based on fpga, in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, pp. 1726-1730.
[6] Z. Men, J. Zhang, Y. Dai, X. Zhao, D. Huang, and H. Su, Localization error compensation of percutaneous surgery robot based on magnetic positioner, in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, pp. 1571-1576.
[7] J. Shi, J. Zhang, Y. Dai, and S. He, Design of real-time ethernet motion controller based on FPGA, in 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017, pp. 1737-1742.
[8] J. Liu, J. Zhang and Y. Dai, Local Adaptive Support Region Approach for Stereo Correspondence, in 2017 IEEE 7th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2017, pp. 255-258.

2016
[1] Y. Dai, Y. Xue and J. Zhang. Estimation of tool position based on vibration sense during robotic bone milling. In 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 57-61, 2016.
[2] Y. Dai, Y. Xue, J. Zhang, and L. Zhou, Burr wear detection based on vibration sense during surgical milling, in 2016 35th Chinese Control Conference (CCC), 2016, pp. 6307-6310.
2015
[1] Y. Dai, Y. Xue and J. Zhang. State Identification Based on Sound Analysis During Surgical Milling Process. In 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 1666-1669, 2015.
[2] Y. Dai, Y. Xue, and J. Zhang, Tissue discrimination based on vibratory sense in robot-assisted spine surgery, in Robotics and Automation (ICRA), 2015 IEEE International Conference on, 2015, pp. 4717-4722.
[3] Y. Dai, Y. Xue, and J. Zhang, Wavelet based harmonic parameter estimation in non-Gaussian impulsive noise environments, in 34th Chinese Control Conference, CCC 2015, July 28, 2015 - July 30, 2015, Hangzhou, China, 2015, pp. 4512-4516.
[4] D. Lv, J. Zhang, and Y. Dai, Nanosecond pulse delivery device with adjustable pulse-width based on IGBT, in 34th Chinese Control Conference, CCC 2015, July 28, 2015 - July 30, 2015, Hangzhou, China, 2015, pp. 5593-5598.
[5] Du, J., Y. Dai, Q. Yang, and J. Zhang, Intraoperative Bioelectrical Impedance Measurement for Assisting Segmental Renal Artery Clamping Partial Nephrectomy, in World Congress on Medical Physics and Biomedical Engineering, June 7-12, 2015, Toronto, Canada, D.A. Jaffray, Editor. 2015, Springer International Publishing. p. 1261-1264.
[6] Lv, D., J. Zhang, and Y. Dai. Study on time and frequency-domain harmonic models of single-phase full bridge rectifiers. in Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on. 2015.
2014
[1] Liang R, Zhang J, Feng C, Dai Y, Zhao R. An algorithm to auto-match the fiducial markers for CT Image-Guided Surgical Navigation System. Proceedings of the 33rd Chinese Control Conference, CCC 2014, July 28, 2014 - July 30, 2014, 2014: 4854-4859.
[2] Dai Y, Xue Y, Zhang J. Condition monitoring based on sound feature extraction during bone drilling process. Proceedings of the 33rd Chinese Control Conference, CCC 2014, July 28, 2014 - July 30, 2014, 2014: 7317-7322.
2012
[1] Dai Y, Zhang J. Continuous wavelet transform-based estimation of modal parameters with scale selection. IEEE International Conference on Mechatronics and Automation, ICMA 2012, August 5, 2012 - August 8, 2012, 2012: 1445-1450.

教学论文

[1]代煜,许林. 脑与认知科学基础课程中学生创新能力培养方式探索. 计算机教育,2017,(10):54-56.


讲授课程
本科：《电路基础》，《认知科学基础》，《高级语言程序设计(上机) 》
硕士：《最优估计理论》



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