教师名录
宋霜
通讯地址:
电子邮件:songshuang@hit.edu.cn
联系电话:0755-86912763

研究方向

电磁定位算法与驱动技术
微创手术机器人结构创新设计与优化、控制与感知、规划与导航等关键技术研究

具体内容包括:胶囊机器人、线驱动机器人、同心管机器人、磁驱动微机器人、电磁定位系统与算法等。

一些实验视频: http://i.youku.com/songshuanghit

教育经历

2010-2013  中国科学院大学,博士学位
2007-2010  中国科学院研究生院,硕士学位
2003-2007  华北电力大学,学士学位

研究与工作经历

2015-今  哈尔滨工业大学深圳研究生院,助理教授
2013-2015  新加坡国立大学, Research Fellow
  

专业资质与学术兼职

Publication Chair  IEEE ICIA 2012,2014,2015,2016
CCECE 2015
Reviewer  IEEE Transactions on Biomedical Engineering;
IEEE Transactions on Magnetics
IEEE Sensors Journal;
International Journal of Medical Robotics and Computer Assisted Surgery;
International Journal of Robotics and Automation;
Measurement
IEEE RAL
IEEE ICRA

科研项目

2015-2017  哈工大深圳新教师启动项目: 微创手术多目标磁定位技术研究
2016-2018  哈工大科研创新基金: 新型磁控蛇型柔性机器人关键技术研究
2016-2018  深圳市基础研究自由探索项目: 基于可控磁场的微机器人主动控制技术研究
2017-2019  深圳市基础研究自由探索项目: 面向无线胶囊机器人的精确定位与主动驱动关键技术研究
2017-2020  深圳市基础研究学科布局项目: 具活检取样及施药功能的微型肠道机器人系统研究
2017-2019  哈工大深圳引进人才启动经费: 微创手术机器人主动控制与精确定位导航关键技术研究

科研成果及奖励

2016  深圳市南山区领航人才C
2016  深圳市海外高层次人才孔雀计划C
2015  IEEE CCECE Best Conference Paper Award

论文及著作

期刊文章

[28] S. Song, Q. Xiao, W. Liu, M. Meng, An Improved 6D Pose Detection Method Based on
Opposing-Magnet Pair System and Constraint Multiple Magnets Tracking Algorithm. IEEE Sensors Journal, 2017

[27] Q. Xiao, S. Song*, M. Meng. A Novel 6-D Pose Detection Method Using Opposing-Magnet Pair System. IEEE Sensors Journal, 2017

[26] S. Song, X. Qiu, J. Wang, M. Meng. Design and Optimization Strategy of Sensor Array Layout for Magnetic Localization System. IEEE Sensors Journal, 2017

[25] C. Shi, X. Luo, P. Qi, T. Li, S. Song, Z. Najdovski, T. Fukuda, H. Ren. Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey. IEEE Transactions on Biomedical Engineering, 2017

[24] Y. Chen, W. Xu, Z. Li, S. Song, C.M. Lim, Y. Wang, H. Ren. Safety-Enhanced Motion Planning for Flexible Surgical Manipulator Using Neural Dynamic. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2017.

[23] S. Song, X. Qiu, J. Wang, M. Meng. Real-time Tracking and Navigation for Magnetically Manipulated Untethered Robot. IEEE ACCESS, 2016.

[22] S. Song, C. Hu and M. Meng. Multiple Objects Positioning and Identification Method Based on Magnetic Localization System. IEEE Transactions on Magnetics, 2016.

[21] L. Wu, S. Song, K. Wu, C. Lim and H. Ren. Development of a compact continuum tubular robotic system for nasopharyngeal biopsy. Medical & Biological Engineering & Computing, 2016

[20] C. Hu, Y. Ren, X. You, W. Yang, S. Song*, S. Xiang, X. He, Z. Zhang and M. Meng. Locating Intra-Body Capsule Object by Three-Magnet Sensing System. IEEE Sensors Journal, 16(13):5167-5176, July 2016

[19] Y. Sun, S. Song, X. Liang, H. Ren. A Miniature Soft Robotic Manipulator Based on Novel Fabrication Methods. IEEE Robotics and Automation Letters, 1(2):617-623, July, 2016

[18] S. Song, Z. Li, Max Meng, H. Yu, H. Ren. Real-Time Shape Estimation for Wire-Driven Flexible Robots With Multiple Bending Sections Based on Quadratic Bézier Curves. IEEE Sensors Jounrnal, 15(11):6326-6334, Nov 2015

[17] S. Song, Z. Li, H. Ren and H. Yu. Shape Reconstruction for Wire-Driven Flexible Robots Based on Bézier Curve and Electromagnetic Positioning. Mechatronics. 29:28-35, Aug 2015.

[16] S. Song, H. Ren and H. Yu. Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots. IEEE Sensors Journal, 15(8):4565-4575, 2015 (封面文章)

[15] S. Song, H. Ren and H. Yu. An Improved Magnetic Tracking Method using Rotating Uniaxial Coil with Sparse Points and Closed Form Analytic Solution. IEEE Sensors Journal, 14(10): 3585-3592, 2014

[14] S. Song, B. Li, W. Qiao, C. Hu, H. Ren, H. Yu, Q. Zhang, Max Meng and G. Xu. 6-D Magnetic Localization and Orientation Method for an Annular Magnet Based on a Closed-Form Analytical Model. IEEE Transactions on Magnetics. 2014, 50(9)

[13] S. Song, W. Qiao, B. Li, C. Hu, H. Ren and Max Meng. An Efficient Magnetic Tracking Method Using Uniaxial Sensing Coil. IEEE Transactions on Magnetics,  2014. 50(1)

[12] S. Song, C. Hu, B. Li, X.Li and Max Meng. An Electromagnetic Localization and Orientation Method Based on Rotating Magnetic Dipole. IEEE Transactions on Magnetics, 49(3):1274-1277, 2013.


[11] C. Hu, W. Qu, Z. Zhang, Z. Feng, S. Song and Meng, M.Q.-H. Recovering Amplitudes and Phases From Saturated Multifrequency Sinusoid Signals. IEEE Sensors Journal, 13(11):4569-4575, 2013

[10] H. Ren, W. Liu and S. Song. Towards occlusion-resistant surgical instrument tracking. Bone and Joint Journal Orthopaedic Proceedings Supplement, 95-B(SUPP 28):52, 2013.

[9] C. Hu, S. Song, X. Wang, Meng, M.Q.-H. and B. Li. A Novel Positioning and Orientation System Based on Three-Axis Magnetic Coils. IEEE Transactions on Magnetics, 48(7):2211-2219, 2012


[8] W. Yang, Y. Li, C. Hu and S. Song. A real-time tracking method for the rectangular magnet based on parallel Levenberg-Marquardt algorithm. International Journal of Applied Electromagnetics and Mechanics, 37(4):241-251, 2011.

[7] W. Yang, C. Hu, M. Li, Meng M.Q.-H. and S. Song. A New Tracking System for Three Magnetic Objectives.  IEEE Transactions on Magnetics, 46(12):4023-4029, 2010.

[6] C. Hu, M. Li, S. Song, W. Yang, R. Zhang and Meng, M.Q.-H. A Cubic 3-Axis Magnetic Sensor Array for Wirelessly Tracking Magnet Position and Orientation. IEEE Sensors Journal, 10(5):903-913, 2010.

[5] W. Yang, C. Hu, Meng, M.Q.-H., S. Song and H. Dai. A Six-Dimensional Magnetic Localization Algorithm for a Rectangular Magnet Objective Based on a Particle Swarm Optimizer. IEEE Transactions on Magnetics, 45(8):3092-3099, 2009.

[4] S. Song, C. Hu, B. Li, X. Li, W. Qiao and Max Meng. Electromagnetic Localization and Orientation Method and System. Journal of Integration Technology, 2(2):8-15, 2013.

[3] C. Hu, S. Song, W. Yang, Max Meng, B. Li, D. Zeng, X. Li and H. Zhu. On the Magnetic Localization Techniques for Position and Orientation of the Capsule Endoscope. Journal of Integration Technology, 1(1):105-113,2012.

[2] W. Liu, C. Hu, B. Li, S. Song and Max Meng. Multi-view Optical Tracking System. Journal of Integration Technology, 2(1):35-41, 2012.

[1] X. Shi, C. Hu, W. Xiang, S. Song and X. Wang. An Electromagnetic Locating Method for Orthopaedic Surgery Robot. Chinese Journal of Sensors and Actuators, 24(11):1569-1573, 2011. 

会议论文及发表演说

[13] C. Zhang, Y. Lu, X. Qiu, S. Song*, L. Liu, M. Meng. Preliminary Study on Magnetic Tracking based Navigation for Wire-Driven Flexible Robot. IROS2017

[12] H. Gu, S. Song*, Q. Zhang, M. Meng, RectMag : An Accurate Magnetic Field Model based Actuation System, ROBIO2016

[11] S. Shen, S. Song, J. Zhu, Max Meng, J. Li, H .Ren. Preliminary design towards a magnetic actuated drug delivery system. Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), 2015 IEEE 7th International Conference on, 2015

[10] S. Song, H. Yu and H. Ren. Study on Mathematic Magnetic Field Model of Rectangular Coils for Magnetic Actuation. In: Proceedings of the IEEE 28th Canadian Conference on Electrical and Computer Engineering, May 2015

[9] S. Song, H. Yu and H. Ren. Study on Mathematic Magnetic Model of Annular Magnet for 6D Localization and Orientation ofWireless Capsule Endoscope. In: Proceedings of the 4th Annual IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER 2014), June 2014.

[8] S. Song and H. Ren. A Magnetic Tracking Method Using Active Uniaxial Sensor And Variable Step Size Searching Strategy. In: Proceedings of the 3rd IFToMM International Symposium on Robotics and Mechatronics (ISRM 2013), pp.770-779. October 2-4, 2013.

[7] S. Song, H. Ren, W. Liu and C. Hu. An Analytic Algorithm based Electromagnetic Localization Method. In: Proceedings of the 2013 IEEE International Conference on Information and Automation (ICIA 2013), pp.626-630. August 26-28, 2013.

[6] S. Song, C. Hu, M. Li, W. Yang, and M.Q.-H. Meng. Two-magnet-based 6d-localization and orientation for wireless capsule endoscope. In: Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, pages 2338-2343, 2009.

[5] S. Song, C. Hu, M. Li, W. Yang, and M.Q.-H. Meng. Real time algorithm for magnet.s localization in capsule endoscope. In: Automation and Logistics, 2009. ICAL 09. IEEE International Conference on, pages 2030-2035, 2009.

[4] J. Tian, S. Song, X.Wang, T. Yan, C. Hu, and M.Q.-H. Meng. An improved method and algorithm for electromagnetic localization. In: Information and Automation (ICIA), 2011 IEEE International Conference on, pages 406-411, 2011.

[3] Xiaojing Wang, Shuang Song, and Chao Hu. The extraction technology of weak coupling ac signal in an electromagnetic localization system. In: Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on, pages 1170-1175, 2010.

[2] Mao Li, Shuang Song, Chao Hu, Dongmei Chen, and M.Q.-H. Meng. A novel method of 6-dof electromagnetic navigation system for surgical robot. In: Intelligent Control and Automation (WCICA), 2010 8th World Congress on, pages 2163-2167, 2010.

[1] Mao Li, Shuang Song, Chao Hu, Wanan Yang, Lujia Wang, and M.Q.-H. Meng. A new calibration method for magnetic sensor array for tracking capsule endoscope. In: Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on, pages1561-1566, 2009.

任教和任导师经历

2016年春,数据结构与算法分析  
最后更新:2017-09-25 22:48:40