Dongming Gan, BSc, PhD

Transcription

1 Dongming Gan, BSc, PhD Assistant Professor Robotics Institute/Mechanical Engineering Department, Khalifa University of Science, Technology and Research, Abu Dhabi, UAE Airport Road, P.O.Box , Abu Dhabi, UAE Telephone:+971 (0) Fax: (0) dongming.gan@kustar.ac.ae Web: WORK EXPERIENCES present Assistant Professor, Robotics Institute/Mechanical Engineering Department, Khalifa University, UAE Research and teaching in Robotics and Mechanical Engineering Post Doctoral Fellow, Robotics Institute, Khalifa University, UA E Research in Robotics and Mechanical Engineering Post Doctoral Researcher, Advanced Robotics Department, Italian Institute of Technology (IIT), Genoa, Italy Involved in the European Framework 7 Project: Adaptive Modular Architectures for Rich Motor Skills (AMARSi) Teaching Assistant, Automation School, Beijing University of Posts and Telecommunications Mechanical Design Assistant, Beijing Langhe Technology Co. LtD. EDUCATION Joint Phd (with BUPT), Mechanical Engineering, Division of Engineering, King s College London Phd Project in King s College London: Innovative Design and

2 Analysis of Metamorphic Parallel Mechanisms (MPMs) Phd, Mechatronics Engineering, Beijing University of Posts and Telecommunications (BUPT), Automation School Involved in the National Natural Science Foundation project ( ): General Stewart parallel mechanisms based on geometric points, lines and surfaces B.Sc., Mechanical Design, Manufacture and Automation, East China University of Science and Technology (ECUST), Petrol- Chemical School, Shanghai, China Thesis: Improvement of a tooth-chain-transmission chest of acrylic fiber molding machine RESEARCH GRANTS 1/9/2015-1/9/2017, A Parallel Drilling Robotic System in Aerospace Manufacturing, KU-Strata Project, PI, 2m AED (~0.5m USD); 1/9/ /12/2016, Shared Autonomous Mobile Manipulation Using a Compliant Exoskeleton, KUIRF Level 2 Project, PI, 1.9m AED (~0.5m USD); 1/1/ /12/2014, Automation of Composite Manufacturing Processes for Aerospace Structures, KUIRF Level 1 Project, Co-PI, 390,000 AED (~100k USD); 1/1/ /12/2013, Design and Fabrication of a 5-DOF Hybrid Parallel/Serical Kinematics Machine Tool, KUIRF Level 1 Project, Co-PI, 200,000 AED (~54k USD); 1/9/ /12/2015, Multi-Robot Cooperation for Mapping and Intervention in Hazardous Environments, KUIRF Level 2 Project, WP leader, 1.9m AED (~0.5m USD); 1/5/ /12/2013, Reconfigurable Exoskeleton for Wrist-Ankle Rehabilitation With Motion Intention Based Control, KU-KAIST Seed Money Project, PI at KU, 224,000 AED (~60k USD);

3 CURRENT RESEARCH INTERESTS My research interests cover both serial and parallel mechanisms and their applications in automatic manufacturing, medical robotics and wearable robotics. My research focuses on the fundamental theories of mechanisms and machines including design, kinematics, dynamics, and control of traditional mechanisms and novel reconfigurable parallel mechanisms. My research goal is to develop new theories in simplifying modeling of traditional mechanisms, describing new reconfigurable mechanisms and applying them in various applications. Fundamental Modelling Theories of Mechanisms and Machines: Theoretical kinematics, Mathematical methods for solving geometric constraint equations, Mobility analysis with screw theory, Dynamics modeling, Singularity analysis, Workspace representation. Design and Modelling of Reconfigurable Parallel Mechanisms: Reconfigurable joint design, Reconfigurable parallel mechanism synthesis, Unified kinematics, dynamics modelling and control for variable configuration topologies of reconfigurable parallel mechanisms. Wearable Robotics: Compliant robot joint design, Exoskeleton modeling and design as human-robot interface, Haptics, Robotics teleoperation and rehabilitation, Control space mapping. Automatic Manufacturing: Design, modelling, prototyping and testing of parallel mechanisms in automated fiber placement (AFP) and automatic drilling in airplane part manufacturing. ACADEMIC ACTIVITIES Session Chair of ASME 2015 IDETC 39 th Mechanisms and Robotics Conference, Boston, US; Symposium co-chair of ASME 2015 IDETC 39 th Mechanisms and Robotics Conference, Boston, US; Track Chair of the 2015 IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China; Session co-chair of the 2015 IEEE/IFToMM International Conference on Reconfigurable

4 Mechanisms and Robots, Beijing, China; Technical Program Committee member of the 10th International Conference on System of Systems Engineering (SoSE 2015), San Antonio, TX, US; Technical Program Committee member of the 9th International Conference on System of Systems Engineering (SoSE 2014), Adelaide, Australia; Session co-chair of ASME 2014 IDETC 38 th Mechanisms and Robotics Conference, Buffalo, NY, US; Symposium co-chair of ASME 2014 IDETC 38 th Mechanisms and Robotics Conference, Buffalo, NY, US; Technical program committee member of the 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (held every six years), Tianjin, China; Session co-chair of ASME 2013 IDETC 37 th Mechanisms and Robotics Conference, Portland, US; Program committee member of the 8th International Conference on System of Systems Engineering (SoSE 2013), Hawaii, US; Session Chair and co-chair of ASME 2012 IDETC 36 th Mechanisms and Robotics Conference, Chicago, US; Symposium co-chair of ASME 2012 IDETC 36 th Mechanisms and Robotics Conference, Chicago, US; Regional chair, and track co-chair of the second (2012) ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China; Scientific committee member of the second (2012) ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China; Reviewer for journals: Mechanism and Machine theory, IEEE Transactions on Robotics, IEEE Transactions on Mechatronics, IEEE Transactions on Neural Systems and Rehabilitation Engineering, IEEE Sensor Journal, ASME Journal of Mechanical Design, ASME Journal of Mechanisms and Robotics, Robotica, Robotics and Computer Integrated Manufacturing, Journal of Mechanical Engineering Science, Journal of Mechanical Science and Technology. Reviewer for conferences: ICRA, IROS, ASME IDETC, REMAR, IFToMM, ARK.

5 ACADEMIC AFFILIATION Member of the American Society of Mechanical Engineers (ASME). PUBLICATIONS English Journal Papers 1. D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism with Reconfigurable 3T and 3R Motion, Transactions of the ASME: Journal of Mechanisms and Robotics, 2015, in press. 2. D. M. Gan, Jorge Dias, and L. D. Seneviratne, Unified Kinematics and Optimal Design of a 3rRPS Metamorphic Parallel Mechanism with a Reconfigurable Revolute Joint, Mechanism and Machine Theory, 2015, in press. 3. D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Joint force decomposition and variation in unified inverse dynamics analysis of a metamorphic parallel mechanism, Meccanica, 2015, 1-11, in press. 4. D. M. Gan, J. S. Dai, Jorge Dias, R. Umer, and L. D. Seneviratne, Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement, Transactions of the ASME: Journal of Mechanisms and Robotics, 7(4), 2015, pp _ D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators, Transactions of the ASME: Journal of Mechanisms and Robotics, 7(4), 2015, pp _ Y. F. Zhuang, D. M. Gan, Unified Singularity Modeling and Reconfiguration of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws, Advances in Mechanical Engineering, 2015, 7(1): D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Constraint-Plane-Based Synthesis and Topology Variation of A Class of Metamorphic Parallel Mechanisms, Journal of Mechanical Science and Technology, 28(10), 2014, pp D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Unified Kinematics and

6 Singularity Analysis of A Metamorphic Parallel Mechanism with Bifurcated Motion, Transactions of the ASME: Journal of Mechanisms and Robotics, 5(3), 2013, pp _ D. M. Gan, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, L. D. Seneviratne, Stiffness Design for a Spatial 3-DOF Compliant Manipulator Based on Impact Configuration Decomposition, Transactions of the ASME: Journal of Mechanisms and Robotics, 5(1), 2013, pp (1-10). 10. D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Reconfigurability and Unified Kinematics Modeling of a 3rTPS Metamorphic Parallel Mechanism with Perpendicular Constraint Screws, Robotics and Computer Integrated Manufacturing, Vol. 29, Issue 4, 2013, pp D. M. Gan, J. S. Dai, Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion, Mechanism and Machine Theory, 61, 2013, D. M. Gan, J. S. Dai, D. G. Caldwell, Constraint-Based Limb Synthesis and Mobility- Change Aimed Mechanism Construction, Transactions of the ASME: Journal of Mechanical Design, 2011, 133(5), pp _ D. M. Gan, J. S. Dai and Q. Z. Liao, Constraint Analysis on Mobility Change of a Novel Metamorphic Parallel Mechanism, Mechanism and Machine Theory, 45(12), 2010, D. M. Gan, Q. Z. Liao, J. S. Dai and S. M. Wei, Design and kinematics analysis of a new 3CCC parallel mechanism, Robotica, 28(7), 2010, D. M. Gan, J. S. Dai and Q. Z. Liao, Mobility change in two types of metamorphic parallel mechanisms, Transactions of the ASME: Journal of Mechanisms and Robotics, 2009, 1: D. M. Gan, Q. Z. Liao, J. S. Dai, S. M. Wei and L. D. Seneviratne, Forward displacement analysis of the general 6-6 Stewart mechanism using Grobner bases, Mechanism and Machine Theory, 44(9), 2009, D. M. Gan, Q. Z. Liao, J. S. Dai, S. M. Wei and L. D. Seneviratne, Forward displacement analysis of a new 1CCC-5SPS parallel mechanism using Grobner theory, Proc. IMechE, Part C: J. Mechanical Engineering Science, 223(C5), 2009,

7 18. D. M. Gan, Q. Z. Liao, J. S. Dai, S. M. Wei and S. G. Qiao, Dual quaternion based inverse kinematics of the general spatial 7R mechanism, Proc. IMechE, Part C: J. Mechanical Engineering Science, 222(C8), 2008, Chinese Journal Papers 19. L. Guo, D. M. Gan, Q. Z. Liao and S. M. Wei, Control of a new 3P-6SS parallel mechanism, China Mechanical Engineering, Vol.19, N.9, 2008, X. L. Cui, Q. Z. Liao, D. M. Gan and P. Wang, New method of inverse kinematic analysis of special-dimension serial robots, Science paper online, Vol. 3(8), 2008, D. M. Gan, Q. Z. Liao and S. M. Wei, Forward kinematics analysis of the new 2CCC- 4SPS parallel mechanism, Journal of Beijing University of Posts and Telecommunications, Vol.30 (No. 6), 2007, D. M. Gan, Q. Z. Liao, P. Wang and S. M. Wei, Forward kinematics analysis and motion simulation of the new 6-CCS parallel mechanism, China Mechanical Engineering, Vol.18, N.24, 2007, Y. Li, X. G. Zhou, D. M. Gan, Q. Z. Liao, Configurable analysis and kinematics simulation of a new 6-CCS parallel mechanism, New Technology & New Process, Vol.12, 2006, Book chapters 24. D. M. Gan, J. S. Dai, D. G. Caldwell, Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism, In: Lenarčič J, Stanišić M. M. (eds), Advances in Robot Kinematics, Dordrecht, Springer, 2010, pp International Conference Papers 25. D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism with Reconfigurable 3T and 3R Motion, Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, USA, August 2-5, D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Reconfiguration and Static Joint

8 Force Variation of a 3rRPS Metamorphic Parallel Mechanism with 3R and 1T2R Motion, Proceedings of the IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China, July 20-22, D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Unified Kinematics Analysis and Analytic Singularity-Free Workspace of a Metamorphic Parallel Mechanism with Controllable Rotation Center, Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, USA, August 17-20, D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Joint Force Decomposition and Variation in Unified Inverse Dynamics Analysis of a Metamorphic Parallel Mechanism, The 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, Bashar El-Khasawneh, Abdulla AlAli, Anas AlAzzam, D. M. Gan, Mohammad Abu Tayeh, A Novel 5 Degrees-of-Freedom Hybrid Serial-Parallel Kinematics Manipulator (Two-3PRR): Inverse and Forward Kinematics, The 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, D. M. Gan, G. Cai, J. Dias, L. D. Seneviratne, "Attitude Control of Quad-Rotor UAVs Using an Intuitive Kinematics Model". In proceedings of 2013 IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2013), December , Abu Dhabi, UAE. 31. H. Hussein, T. Caldeira, D. M. Gan, J. Dias, L. D. Seneviratne, "Object Shape Perception in Blind Robot Grasping Using a Wrist Force/Torque Sensor". In proceedings of 2013 IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2013), December , Abu Dhabi, UAE. 32. D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, "Controllable Rotation Workspace of a Metamorphic Parallel Mechanism, Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Portland, USA, August 4-7, D. M. Gan, Jorge Dias, and L. D. Seneviratne, "Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory, Proceedings of

9 the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Portland, USA, August 4-7, D. M. Gan, J. S. Dai, and L. D. Seneviratne, Reconfiguration and Unified Kinematics Analysis of A Metamorphic Parallel Mechanism with Bifurcated Motion, Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Chicago, USA, August 12-15, Hussam AlHussein, D. M. Gan, Jorge Dias and L. D. Seneviratne, Unified Kinematics Modeling of Variable Topologies of a 3(rT)PS Metamorphic Parallel Mechanism, Proceedings of the 2012 IEEE International Conference on Mechatronics and Automation, Chendu, China, August 5-8, D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, Reconfiguration and Actuation Scheme of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws, Proceedings of the Second ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China, July 8-11, D. M. Gan, L. D. Seneviratne, and Jorge Dias, Design and Analytical Kinematics of a Robot Wrist Based on a Parallel Mechanism, Proceedings of the The 14th International Symposium on Robotics and Applications, Puerto Vallarta, Mexico, June 24-28, D. M. Gan, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, Joint Stiffness Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts, 13 th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 19-25, D. M. Gan, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, Stiffness Design for compliant manipulators based on dynamic analysis of the impact configuration, Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Wanshington, DC, USA, August 28-31, D. M. Gan, J. S. Dai, D. G. Caldwell, Constraint-Based Limb Synthesis and Mobility- Change Aimed Mechanism Construction, Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Montreal, Quebec, Canada, August 15-18, D. M. Gan, Q. Z. Liao and S. M. Wei, Forward kinematics analysis of the new 3CCC parallel mechanism, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, 2007, Vol.1,

10 PATENTS 42. D. M. Gan, J. S. Dai, Jorge Dias, R. Umer, and L. D. Seneviratne, A 2T2R Parallel Mechanism for Automated Fiber Placement, US patent, filed, D. M. Gan, J. S. Dai, A reconfigurable Hooke joint, China patent, 2011, CN A.