Flying Animals & Robots Symposium (Dec. 17 – 18, 2016)

飞行生物与机器人论坛 | Cyber-Systems & Control Forum | Flying Animals & Robots Symposium, Dec. 17 – 18, 2016





Topic Chairs

  • Dr. Jian Deng, Associate Professor
  • Dr. Chao Xu, Associate Professor
  • Dr. Yu Zhang, Associate Professor
  • Dr. Nenggan Zheng, Associate Professor

Focus Topics

  • Aerial robotics
  • Animal congnition
  • Bio-inspired locomotion


  • 邓亦敏|Yimin Deng, PhD Candidate, School of Automation Science & Electrical Engineering, Beihang University
  • 何玉庆|Dr. Yuqing He, Professor, Shenyang Institute of Automation (SIA), the Chinese Academy of Sciences (CAS)
  • 卢焕达|Dr. Huanda Lu, Associate Professor, Ningbo Institute of Technology, Zhejiang University
  • 罗淑贞|Shuzhen Luo, PhD candidate, College of Computer & Control Engineering, Nankai University
  • Mr. Benjamin Paffhausen, PhD candidate, Institute of Biology, Dept. of Biology, Chemistry, Pharmacy, Freie Universität Berlin
  • 邬婉楠|Wannan Wu, PhD candidate, College of Computer & Control Engineering, Nankai University
  • 孙孟孟|Mengmeng Sun, Zerotech
  • 孙昊|Hao Sun, PhD candidate, College of Computer & Control Engineering, Nankai University
  • Jin Tao, PhD candidate, College of Computer & Control Engineering, Nankai University
  • 吴大伟|Dawei Wu, College of Automation Engineering, Nanjing University of Aeronautics and Astronautics
  • 袁振珲|Dr. Zhenhui Yuan, Ph.D., Robsense Tech
  • Dr. Yingying Zheng, Postdoctoral Researcher in National University of Singapore

Contact Info

  • Jiangcheng Zhu (朱疆成) (13738082849,
  • Zhepei Wang (汪哲培)


  • 石琥驿站(电话:15715717021;地址:浙江省杭州市青芝坞石虎山18号)

Schedule on Oct.17th, 2016

09:00 – 09:30 | Benjamin H Paffhausen, Neuronal Correlates of Social Behavior in Mushroom Body Extrinsic Neurons

09:30 – 10:00 | Zhenhui Yuan (袁振珲), All Programmable Flight Controller for Industry Applications

10:00 – 10:30 | Mengmeng Sun (孙孟孟), On Localization for UAV Formation (无人机编队定位简介)

10:30 – 10:50 | Tea Break

10:50 – 11:10 | Yingying Zheng, An Experimental Study on the Aerodynamic Performance of Flexible Tandem Wings

11:10 – 11:40 | Yuqing He (何玉庆), Aerial manipulator systems: Modeling, Control and Implementation

11:40 – 12:10 | Dawei Wu (吴大伟), Attitude Tracking Control of Aircraft Subjected to Unsteady Aerodynamic Disturbance

12:10 – 13:30 | Lunch

14:00 – 14:30 | Yimin Deng (邓亦敏), Bio-inspired Visual Detection and Measurement for Multiple Unmanned Aerial Vehicles

14:30 – 15:00 | Shuzhen Luo (罗淑贞), Trajectory tracking decoupling controller of the powered parafoil system based on ADRC

15:30 – 16:00 | Hao Sun (孙昊), Design of A Flight Control System for Autonomous Parafoils Using ADRC and Improved PID Control Approach

16:00 – 16:20 | Tea Break

16:20 – 16:50 | Wannan Wu (邬婉楠), Research on Simulation of Parafoil Modeling of Aerodynamic Performance based on CFD

16:50 – 17:20 | Jin Tao, Dynamic modeling and homing control of a parafoil system in windy conditions

17:20 – 17:50 | Huanda Lu (卢焕达), TBA


Neuronal Correlates of Social Behavior in Mushroom Body Extrinsic Neurons

Speaker: Benjamin H Paffhausen

Institute of Biology, Neurobiology, Freie Universität Berlin, Germany

So far no data exist about the neural correlates of social interaction in the honeybee. Werecord from multiple mushroom body extrinsic neurons during social interaction in a smallfunctioning honeybee colony. The bees cared for the queen, nursed the brood, guarded theexit, cleaned the hive and foraged. The colony used the honeycombs as they wouldnaturally. The recorded bee behaved normal. The weight of the highly flexible twisted tripleof wires was counterbalanced by a loose nylon spring. The behavior of both the recordedanimal and the hive mates was monitored in infrared by a video camera and later tracked.Up to 4 neurons were recorded simultaneously and lasted for up to 47 hours per animal.Spontaneous spike rates were lower than those of similar neurons in harnessed bees. Socialinteractions, location on the comb and body directions were not encoded by specific neuralactivities of selected units but rather by the combination of several units.Neural activity increases frequently during interactions. Furthermore, we find that thevariance of spike activity of the units increases suggesting that the neurons sense orcontrols the contacts with other bees. Hints were found that different activity patterns acrossneurons changes with different forms of social interactions. Ongoing analysis, that includemachine learning, are pursued to clarify whether the activity changes are related to, forexample, the origin of the approaching bee or the division of labor within the bee colony. Thehighly variability of neural activity needs further analyses.

An Experimental Study on the Aerodynamic Performance of Flexible Tandem Wings

Speaker: Zheng Yingying

As typical four-wing insects, the dragonflies have the features of both flexible wing and tandem-wing configuration. In previous studies, these two features have been widely studied and proven to account much for the great flight capability of the dragonflies. However, these two features were usually concerned separately. How the flexibility will affect the performance of tandem wings, and how tandem-wing configuration will affect the performance of flexible wings are still unknown. Therefore, the present work aims to study the combined effects of the wing flexibility and tandem configuration by investigating the aerodynamic performance of flexible tandem wings.

Three sets of dragonfly-like flexible tandem wings termed Wing I, Wing II and Wing III, and a set of rigid tandem wings as references were investigated in a hovering and two forward flights (St = 0.3 and 0.6). Three phase differences between the forewing and hindwing, i.e. , 9and , were employed. The results of force measurements showed that both the flexibility and phase difference had significant effects on the aerodynamic performance of flexible tandem wings. Generally, the tandem Wing III models with appropriate flexibility outperformed the other tandem wing models. The most favorable phase difference for different wing models varied. According to deformation measurements, the bending deformation of flexible wings was found to cause lags of wings’ locations in plunging direction as compared to the rigid wings. Both phase-locked PIV and time-resolved PIV measurements were carried out. Comparing the flow fields of Wing III models and rigid tandem wings, the lags contributed to the force generation of Wing III models by making the LEVs closer to the wings. Besides, the lags restrained the shedding of LEVs on the Wing III models as compared to that on the rigid wings, which also offered benefits to the Wing III models. What is more important, the lags modified the separation between forewing and hindwing, which resulted in different forewing-hindwing interactions between the tandem Wing III models and tandem rigid wings.

About the speaker

Zheng Yingying received her Bachelor’s Degree in Aerospace Engineering from Zhejiang University, China in 2011. She then pursued her PhD degree at School of Mechanical and Aerospace Engineering in Nanyang Technological University (Singapore) and graduated in 2016. She is currently a postdoctoral researcher in National University of Singapore.

Email:; HP: 65-96586139

Aerial manipulator systems: Modeling, Control and Implementation

Speaker: Yuqing He

About the speaker