FRAM-X Workshop

Research Hotspot Symposium Series of the IET Cyber-Systems and Robotics

No. 1 Fluids, Robotics & Applied Math X Workshop, Hangzhou, China


  • November 3, 2018
  • 浙江大学玉泉校区智能系统与控制研究所304教室

We are going to launch a multidisciplinary workshop on the challenging issues at the cross-area of fluid mechanics, bio-inspired robotics and their related applied mathematics.

Speakers and presentation titles (in an alphabetic order of the initial letters of last names):

  • Shengze Cai :: 蔡声泽 (College of Control Science and Engineering, Zhejiang University), Flow visualization and measurement via computer vision technologies
  • Pakpong Chirarattananon (Department of Mechanical and Biomedical Engineering, City University of Hong Kong), Biologically Inspired Robots: Flying Like a Fly, Swimming Like a …. Fly?
  • Qi Gao :: 高琪 (School of AA, Zhejiang University), 基于流动控制方程作为物理约束的三维实验数据后处理技术
  • Tiefeng Li :: 李铁风 (School of AA, Zhejiang University), Soft Robot made of hydrogel and electroactive polymer
  • Zhi Lin :: 林智 (School of Mathematics, Zhejiang University), Stochastic Hydrodynamic Model for Biogenic Mixing
  • Lianqing Liu :: 刘连庆 (Professor Shenyang Institute of Automation, Chinese Academy of Science, China), Living Cell based Modular Micro Robot Fabricated by Robotic Micro-Manipulation System
  • Jia Pan :: 潘佳 (Department of Mechanical Engineering and Biomedical Engineering, City University of Hong Kong), Learning-based Robotic Controller Design and Optimization
  • Jianghao Wu :: 吴江浩 (School of Transportation Science and Engineering, Behang University), 仿生微型飞行器设计中的空气动力学机理及其应用

9:00 -9:10 开幕式
9:10 -9:50 报告题目:Stochastic Hydrodynamic Model for Biogenic Mixing

报告人:林智(School of Mathematics, Zhejiang University)

9:50-10:30 报告题目:Living Cell based Modular Micro Robot Fabricated by Robotic Micro-Manipulation System

报告人:刘连庆 (Professor Shenyang Institute of Automation, Chinese Academy of Science, China)

10:30-11:10 报告题目:Biologically Inspired Robots: Flying Like a Fly, Swimming Like a …. Fly?

报告人:Pakpong Chirarattananon (Department of Mechanical and Biomedical Engineering, City University of Hong Kong)



报告人:吴江浩 (School of Transportation Science and Engineering, Behang University)

12:00-13:30 午餐
时间 内容
13:30-14:10 报告题目:Soft Robot made of hydrogel and electroactive polymer

报告人: 李铁风 (School of AA, Zhejiang University)

14:10-14:50 报告题目:Learning-based Robotic Controller Design and Optimization

报告人:潘佳(Department of Mechanical Engineering and Biomedical Engineering, City University of Hong Kong)

14:50-15:30 报告题目:基于流动控制方程作为物理约束的三维实验数据后处理技术

报告人:高琪(School of AA, Zhejiang University)

15:30-16:10 报告题目:Flow visualization and measurement via computer vision technologies

报告人:蔡声泽 (College of Control Science and Engineering, Zhejiang University)

Schedule and abstract information:

  • Soft Robot made of hydrogel and electroactive polymer, by Tiefeng Li(李铁风)

Abstract: The softness and large strain actuation of responsive hydrogels promise the potential to fabricate soft devices, which can function as a robotic system. The key challenges lie in the fabrication of soft devices with robust actuating ability and biocompatibility to the attached organ. Here we present a solution that integrates the responsive hydrogel membrane, electro-active polymer and flexible electronics can be integrated into a electromechanical device. As an example, the actuation assisting function of this soft device for shrinking an animal bladder is presented. The mechanical behaviors of the balloon-like soft device are experimentally and theoretically investigated. The concepts are applicable to other applications such as soft implants, soft robotics, and microfluidics.

  • Biologically Inspired Robots: Flying Like a Fly, Swimming Like a …. Fly?, by Pakpong Chirarattananon, Assistant Professor, Department of Biomedical Engineering City University of Hong Kong (Email:; Web:

Abstract: Using only tiny nervous system, flying insects are able to perform superlative aerodynamic feats such as deftly avoiding a striking hand or landing on flowers buffeted by wind. These amazing creatures inspire scientists and engineers to understand and translate this ubiquitous form of locomotion into man-made machines. In this talk, I will discuss challenges that arise in the fabrication and control and exciting research outcomes related to millimeter-scale biologically-inspired flapping-wing robots. Challenges for the development of such small robots are associated to actuation, power and complex fluid-structure interactions. Through multiple iterations of designs, experiments and theoretical modeling, over the years, not only did we demonstrate a stable tethered flight of an insect-scale robot, but complex maneuvers have also been realized. The flapping-wing robot is capable of flying, landing on a wall, or swimming and transitioning out of the water.

Biography: Pakpong Chirarattananon received his Bachelor and Master degrees from University of Cambridge, UK, and a Ph.D. degree from Harvard University under the supervision of Professor Robert Wood in 2014. His graduate work was centred on the dynamics and control for insect-scale flapping-wing robots. In December 2014, he joined the Department of Mechanical and Biomedical Engineering as an Assistant Professor and founded the Robotic and Intelligent Systems Laboratory at City University of Hong Kong. Dr Chirarattananon is broadly interested in applying control and dynamic system theories to study aerial and biologically-inspired robotic systems. He has published in Science, Science Robotics, and has been nominated as the best student paper award finalist at the 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) and the best paper award finalist at the 2014 IEEE International Conference on Biomedical Robotics and Biomechatronics. Dr Chirarattananon is serving as the publication co-chair for the upcoming 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) and the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

  • Stochastic Hydrodynamic Model for Biogenic Mixing, by Zhi Lin 林智

Abstract: Biogenic mixing (the mixing and transport due to the swimming of marine species) has attracted a significant amount of interdisciplinary research efforts in recent years. In previous work, the applicant has contributed in deriving a stochastic hydrodynamic model that incorporates both deterministic fluid dynamics models and statistic description for stochastic swimming with a bottom-up approach and leads to a formula for the effective diffusivity. This model provides a new approach for the study of biogenic mixing and similar phenomena in other areas of science and engineering. Recently, we are seeking to improve the model and its simulation by considering various complicated factors, such as anisotropic swimming, nonlinear coupling by massive schooling.


  • Ph.D.(2007), Mathematics, University of North Carolina, Chapel Hill, North Carolina, USA :: Thesis: “Scalar Intermittency in Random Flows: Modelling and Simulation” • Advisors: Professor Richard McLaughlin and Professor Roberto Camassa
  • B.Sc.(2002), Applied Mathematics and Applied Software, South China University of Technology, China


  • 2018/01 ~ Present, Professor, School of Mathematical Sciences, Zhejiang University, Hangzhou, China
  • 2011/08 ~ 2017/12, Special-Termed Professor, Department of Mathematics, Zhejiang University, Hangzhou, China
  • 2009/09 ~ 2011/08, Postdoctoral Fellow, Institute for Mathematics and its Applications, Minneapolis, Minnesota, USA
  • 2007/09 ~ 2009/05, Postdoctoral Assistant Professor, Department of Mathematics, University of Michigan, Ann Arbor, Michigan, USA

  • 基于流动控制方程作为物理约束的三维实验数据后处理技术, by Qi Gao 高琪

Abstract: 近年来实验流体力学测量技术在很多方面有了显著的发展,实验能实现三维非定常复杂流动的多物理量耦合测量。而针对时间解析的三维实验数据处理和分析也出现一个让人眼前一亮的趋势,就是通过引入物理约束,或者说利用流动控制方程来优化实验结果、进行杂交的数值模拟计算和对流场的预测。这一发展方向上,最具代表性的就是通过时间解析的三维速度场来重构流场三维压力场的技术,通过不可压缩连续性方程来抑制速度场误差,通过压力梯度无旋方程来实现压力场误差的抑制,通过涡量方程来实现三维数据时空分辨率的提高,以及以实验数据作为流场初边值条件通过求解动量方程来实现流场整体的数据优化。本报告将针对实验数据后处理技术来介绍其发展的最新动向。

  • Living Cell based Modular Micro Robot Fabricated by Robotic Micro-Manipulation System, by Lianqing Liu 刘连庆 (Professor Shenyang Institute of Automation, Chinese Academy of Science, China)

Abstract: Micro-robots have a great application prospect in the biomedical field due to the feature of small size. To solve the issues of energy supply and bio-compatibility of micro-robots, the bio-syncretic micro-robots actuated by living cells have been studied widely. However, the fabrication, assembling and control of the bio-syncretic micro-robots are the main challenges for the development of the bio-syncretic micro-robots. In this talk, manufacture and control of the living cells based modular micro robots will be discussed. Firstly, a robotic micro-manipulation system will be introduced to implement the high-throughput fabrication of the biological modules of micro robots, and to execute the on-line flexible assembling of the bio-syncretic robots by the fabricated living cells based modules. Then, an approach based on circularly distributed multiple electrodes (CE) will be induced to improve the differentiation of myoblast cells and characterize the electro-responsive beating behavior of living myotubes for the development of bio-syncretic micro robots. Moreover, a biomimetic bio-syncretic crawler actuated by living myotubes was demonstrated to move under the control of the CE. This talk will not only be related to the micro-robots, but will be also informative for biological tissue engineering and drugs screening.

  • Learning-based Robotic Controller Design and Optimization, by Jia Pan 潘佳

Abstract: Artificial intelligence has recently been used to design and optimize robotic controllers in a data-driven manner. This talk will introduce our recent work on how to use machine learning techniques to compute high-quality feedback controllers for several typical applications: the cloth assembly, the multi-robot warehouse scheduling, and the robot navigation in dense crowds.

Biography: Jia Pan received his Ph.D. degree in Computer Science from the University of North Carolina at Chapel Hill in 2013. He has been with the City University of Hong Kong since 2015. His research interests include robotics and artificial intelligence.

  • 仿生微型飞行器设计中的空气动力学机理及其应用, by Jianghao Wu 吴江浩

Abstract: 自然界中的昆虫和较小的鸟类展现出了卓越的机动飞行能力,这得益于其充分利用了翅膀拍动过程中产生的诸多非定常高升力气动原理。在仿生微小型飞行器上应用和融合这些高升力机理、实现高性能飞行是研究者们的梦想。近年来研究人员借鉴蜻蜓与蜂鸟等生物飞行的空气动力学原理提出了微型扑旋翼及仿蜂鸟扑翼两类代表性的仿生微型飞行器。其中,前者的翼主动竖直拍动、被动旋转,其翼的竖直拍动产生推力驱动翼旋转,借助拍动及旋转耦合效应使扑旋翼能够兼顾高升力产生及高气动效率;后者借鉴蜂鸟飞行原理实现仿生飞行及控制。本报告将介绍这两类仿生微型飞行器的空气动力学机理及其在气动增升、控制及飞行器总体设计等方面的应用进展。

  • Flow visualization and measurement via computer vision technologies, by Shengze Cai 蔡声泽

Abstract: Particle image velocimetry (PIV), as a flow visualization technology, can provide non-intrusive quantitative measurement of the velocity fields. This technique has been studied intensively and plays an increasingly important role in experimental fluid mechanics. To go deeper insight into complex flow phenomena, precise motion estimation methods dedicated to fluid mechanics and towards real-time measurement are being investigated in this talk. On the one hand, variational optical flow computation coupled with the stochastic transport theory is proposed for turbulent flow estimation. This formulation can extract accurate velocity fields from particle images as well as scalar images. On the other hand, deep learning technique is also introduced to PIV estimation with high efficiency, which is promising for real-time measurement and active flow control.

Security in Cyber-Physical Systems: A Control Systems Perspective

Title: Security in Cyber-Physical Systems: A Control Systems Perspective

演讲人:Prof. Petros Voulgaris, UIUC, Fellow of IEEE

  • 浙江大学玉泉校区工控新楼105教室
  • 时间:2018年10月26日(星期五)下午3点


Cyber-physical systems (CPS) have become ubiquitous in engineering and have extended the range of aerospace applications to several new domains. Unmanned Arial Vehicles (UAV) are typical examples of CPS that can execute cooperative missions of increasing complexity without constant supervision of human operators e.g., military reconnaissance and strike operations, border patrol missions, forest fire detection, police surveillance, and recovery operations to name a few. Similarly, current and future space applications such as satellite swarms and distributed spacecraft systems, autonomous and aerospace robotic systems, depend critically on the synergy of cyberspace with the physical components.

Pertinent to CPS is the notion of security, which is of paramount importance in aerospace, power, transportation, manufacturing, etc. The concept of security to malicious attacks brings an important new dimension in the design CPS.  In this talk, we present some aspects of this problem related to control system security to attacks and provide some ways to enhance detection and awareness. More specifically, we elaborate on this issue from the control analysis, design and actual implementation point of view. We consider malicious attacks on actuators and sensors of a feedback system which can be modelled as additive, possibly unbounded, disturbances at the digital (cyber) part of the feedback loop. It is shown that the standard sampled data implementation can create additional vulnerabilities to stealthy attacks, and therefore, when security is at stake, it is of paramount importance to have methods to eliminate these vulnerabilities. By devising a multi-rate scheme we can guarantee that stealthy attacks are not possible.  Further, we can provide precise trade-offs on performance and safety cost. Finally, we touch upon other type of attacks and their connections to switching systems and linear programming.

Short Bio:

Professor Petros G. Voulgaris received the Diploma in Mechanical Engineering from the National Technical University, Athens, Greece, in 1986, and the S.M. and Ph.D. degrees in Aeronautics and Astronautics from the Massachusetts Institute of Technology in 1988 and 1991, respectively.  Since 1991, he has been with the Department of Aerospace Engineering, University of Illinois where he is currently a Professor (also appointments with the Coordinated Science Laboratory, and the department of Electrical and Computer Engineering.)  His research interests include optimal, robust and distributed control and estimation; networked control; applications of advanced control methods to engineering practice including, power systems, air-vehicle, nano-scale, robotic, and structural control systems.  Dr. Voulgaris is a recipient of several awards including the NSF Research Initiation Award, the ONR Young Investigator Award and the UIUC Xerox Award for research.  He has also been a Visiting ADGAS Chair Professor, Mechanical Engineering, Petroleum Institute, Abu Dhabi, UAE (2008-10).  His research has been supported by several agencies including NSF, ONR, AFOSR, NASA, and Boeing totalling more than $12 million of funded projects.  He is also a Fellow of IEEE.

Optimization in Action: Unlocking Value in the Mining, Energy, and Agriculture Industries

Optimization in Action: Unlocking Value in the Mining, Energy, and Agriculture Industries

  • 时间:2018年10月19日星期五下午2点
  • 地点:浙江大学玉泉校区智能系统与控制研究所304教室
  • 演讲人:Ryan Loxton,澳大利亚科廷大学教授/ARC Future Fellow


Mathematical optimization has numerous applications in business and industry. However, there is a large mismatch between the optimization problems studied in academia (which tend to be highly structured problems) and those encountered in practice (which are non-standard, highly unstructured problems). This talk gives an overview of the presenter’s recent experiences in building optimization models and algorithms in theoil and gas, mining, and agriculture sectors. Some of this practical work has led to academic journal articles, showing that the gap between academia and industry can be overcome.


Ryan Loxton is a full professor and ARC Future Fellow in the School of Electrical Engineering, Computing, and Mathematical Sciences at Curtin University. His work focuses on using advanced mathematics to optimise complex processes in a wide range ofapplications such as mining, oil and gas, agriculture, and industrial process control. Ryan is a passionate advocate for industry engagement and has worked with many companies including Woodside Energy, Linkforce, and Vekta Automation. He was the 2014 West Australian Young Scientist of the Yearand he currently leads the optimisation theme in the new ARC Industrial Training Centre on Transforming Maintenance through Data Science, which is funded by the Australian Research Council (the equivalent of the NSFC in Australia) and industry partners Alcoa, BHP Billiton, and Roy Hill.