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Prof. SUN, Dong

Photo of Prof. SUN

Professor


Ph.D., P.Eng. (Canada), Senior Member (IEEE)

Email: medsun@cityu.edu.hk

Research interests: Mechatronics, Motion Control, Robotics and Automation

EMPLOYMENT

Professor City University of Hong Kong Since 2009
Associate Professor City University of Hong Kong 2005 - 2009
Assistant Professor City University of Hong Kong 2000 - 2005

EDUCATION

Ph.D. Robotics and Automation Chinese University of Hong Kong
M.S. Biomedical Engineering Tsinghua University, Beijing, China
B.Sc. Mechatronics Tsinghua University, Beijing, China

RESEARCH EXPERIENCE AND ACCOMPLISHMENT

Extensive research experience in robotics and automation, advanced mechatronics, and motion controls, with numerous outcomes in both fundamental and applied researches. In particular, making the following academic contributions:

Robotics bio-manipulation: Pioneered works on proposing and creating automatic table-top biological cell manipulation with robotics technology. The work holds promise of automating large scale production and manipulation of clinical grade cell-based therapeutics to be used in regenerative medicine. Researches on micropipette cell injection include mechanical modeling analysis of bio-cells, visual based impedance control, and automatic batch biomanipulation. Current research is towards advanced manipulation of biological cells with robotics and optical tweezers systems.

Synchronization: Creatively designed a cross-coupling synchronization control framework to control both position and synchronization errors to converge to zero. The research exhibits large potential in applications with multi-agent coordination and networks. The method has been applied to multirobot assembly, multi-axis motion control systems, CNC machining, parallel manipulators, and formation of multiple mobile robots.

Robotics manipulation: Pioneered an effort in manipulating flexible object by multiple robot manipulators. Successfully developed non-model based methodology to solve the challenging problem of asymptotically stable manipulations of flexible objects.

Mechatronics and motion controls: Designed state-of-the-art motion control technologies for various robot control applications and mechatronics systems. Working with industry, led the applied research in developing innovative motion control product technology. The applied research outcome received numerous prestigious awards, attracted industrial investment and government supports, and led to technology transfer for establishing a high-tech start-up in Hong Kong Science Park.


SELECTED PUBLICATION

  1. D. Sun, C. Wang, W. Shang, and G. Feng, "A synchronization approach to trajectory tracking of multiple mobile robots while maintaining time-varying formations," IEEE Trans. on Robotics, vol. 25, no. 5, October 2009.


  2. H. Huang, D. Sun, J. K. Mills, and S. H. Cheng, "Robotics cell injection system with vision and force control: Towards automatic batch biomanipulation," IEEE Trans. on Robotics, vol. 25, no. 3, pp. 727-737, June 2009.


  3. J. Chen, D. Sun, J. Yang, and H. Chen, "A leader-follower formation control of multiple nonholonomic mobile robots incorporating receding-horizon scheme," Int. J. of Robotics Research, vol. 28, no. 11, November 2009.


  4. D. Sun, and M. C. Tong, "A synchronization approach for the minimization of contouring errors of CNC machine tools," IEEE Trans. on Automation Science and Engineering, vol. 6, no. 4, October 2009.


  5. D. Sun, S. Y. Hu, X. Shao, and C. Liu, "Global stability of a saturated nonlinear PID controller for robotic manipulators," IEEE Trans. on Control System Technology, vol. 17, no. 4, pp. 892-899, July 2009.


  6. H. Huang, D. Sun, J. K. Mills, and W. J. Li, "Visual-based Impedance Force Control of Out-of-Plane Cell Injection Systems", IEEE Trans. on Automation Science and Engineering, vol. 6, no. 3, July 2009.


  7. L. Jiang, D. Sun, and H. Liu, "An Inverse Kinematics Solution of Humanoid Robot Finger with Nonlinearly Coupled Joints," IEEE/ASME Trans. on Mechatronics, vol. 14, no. 3, pp. 273-281, June 2009.


  8. Y. Tan, D. Sun, W. Huang, and S. H. Cheng, "Mechanical modeling of biological cells in microinjection," IEEE Trans. on Nanobioscience, vol. 7, no. 4, pp. 257-266, Dec. 2008.


  9. Z. Li, D. Sun, Z. Zhang, J. Song, and D. Xiao, "Control mechanism analysis of small-agent networks using a distinguished node model for urban traffic control," IEEE Trans. on Automation Science and Engineering, vol. 5, no. 3, pp. 420-430, July 2008.


  10. X. Shao and D. Sun, "Development of a New Robot Controller Architecture with FPGA Based IC Design for Improved High-Speed Performance," IEEE Trans. on Industrial Electronics, vol. 3, no. 4, pp. 312-321, Nov. 2007.


  11. D. Sun, X. Y. Shao and G. Feng, "A model-free cross-coupled control for position synchronization of multi-axis motions: Theory and Experiments," IEEE Trans. on Control System Technology, vol. 15, no. 2, pp. 306-314, Mar. 2007.


  12. D. Sun. L. Ren, J. K. Mills, and C. Wang, "A synchronous tracking control of parallel manipulators using cross-coupling approach," Int. J. of Robotics Research, vol. 25, no. 11, pp. 1137-1148, Nov. 2006.


  13. Y. X. Su, D. Sun, L. Ren, and J. K. Mills, "Integration of saturated PI synchronous control and PD feedback for control of parallel manipulators," IEEE Trans. on Robotics, vol. 22, no. 1, pp.202-207, Feb. 2006.


  14. D. Sun, G. Feng, C. Lam and H. Dong, "Orientation control of a differential mobile robot through wheels' synchronization," IEEE/ASME Trans. on Mechatronics, vol. 10, no. 3, pp. 345-351, Jun. 2005.


  15. H. Wu, D. Sun, and Z. Zhou, "Model identification of a micro air vehicle in loitering flight based on attitude performance evaluation", IEEE Trans. on Robotics, vol. 20, no. 4, pp. 702-712, Aug. 2004.


  16. J. Shan, D. Sun, and D. Liu, "Design for robust component synthesis vibration suppression of flexible structures with on-off actuators," IEEE Trans. on Robotics and Automation, vol. 20, no. 3, pp. 512-525, Jun. 2004.


  17. D. Sun, "Position synchronization of multiple motion axes with adaptive coupling control", Automatica, vol. 39, no. 6, pp. 997-1005, Jun. 2003.


  18. D. Sun, and J. K. Mills, "Adaptive synchronized control for coordination of multi-robot assembly tasks", IEEE Trans. on Robotics and Automation, vol. 18, no. 4, pp. 498-510, Aug. 2002.


  19. D. Sun, and J. K. Mills, "Development of partial model-based torque control of AC induction motors", IEEE Trans. on Robotics and Automation, vol. 46, no. 1, pp. 100-107, Feb. 2001.


  20. Y. H. Liu, and D. Sun, "Stabilizing a flexible beam handled by two manipulators via PD feedback", IEEE Trans on Automatic Control, vol. 45, no. 11, pp. 2159-2164, Nov. 2000.


Last modified on 1 September, 2009