教师名录

石云德副教授博士生导师
所在院系:机器人系
办公室:机械楼 541
电话:025-52090501-8533
邮箱:ydshi@seu.edu.cn
个人简介

石云德，机械工程专业博士，js3845金沙线路教师，副教授，硕导/博导。2008年于上海交通大学机械工程系获得学士学位，2009年和2013年于（美国）哥伦比亚大学机械工程系获得硕士和博士学位，2013年至2015年在（美国）希捷硬盘公司担任高级研发工程师，负责计算机硬盘高精度伺服控制研究。2016年起任职js3845金沙线路教师，主要从事机械工程、机械电子和机器人领域的教学和科研工作。在可穿戴外骨骼机器人、非标自动化机电系统和医疗机器人等研究方向承担或参与国家基金、省部级基金、企业委托合作等各类科研项目。先后在国内外机械工程、航天工程、机电系统、无人自主系统、机器人和控制工程等领域核心学术期刊与会议上发表论文近30篇，参与出版国家级教材1部。


欢迎机械、航天、电子、力学、仪科、自动化、计算机等专业的优秀本科生、硕士生加入研究团队。具体信息可通过email(ydshi@seu.edu.cn)或qq(864940738)进一步了解。

学习经历
工作经历

2013年01月-2016年01月 (美国)希捷硬盘公司，高级研发工程师 

2016年02月-2022年09月 东南大学，js3845金沙线路，讲师

2022年10月-至今 东南大学，js3845金沙线路，副教授

教授课程

机电控制技术

机器人学及应用（全英文）

电子精密机械设计（机械、仪科）

机械制图




研究方向
可穿戴外骨骼机器人；无人自主系统；迭代学习控制
审稿期刊

IEEE Transactions on Control Systems Technology

Journal of Bionic Engineering

Mechatronics

浙江大学学报（工学版）


学术兼职

南京机械工程学会（工业自动化分会）会员


获奖情况


2022 东南大学优秀班主任 

2021 出版国家级规划教材（排3），《机电控制技术》 

2020 苏州高新区科技创新创业领军人才

2019 校级课程思政示范课程，《机器人学及应用》 

2019 东南大学校级全英文精品课程，《机器人学及应用》 

2018 东南大学第25届青年教师授课竞赛，三等奖，《机器人学及应用》

论文著作

[27] X. Li, W. He, J. Li, D. Xia, X. Luo, Y. Shi, X. Ji and Y. Yang, Design and Development of an Underwater Robot Inspired by Sea Turtles, 2024 IEEE International Conference on Mechatronics and Automation (ICMA), Guilin, Tianjin, China, 2024, pp. 1723-1728. (EI)

[26] D. Xia, Z. Li, M. Lei, Y. Shi, X. Luo, Numerical Study on the Hydrodynamics of Dolphin's Pectoral Fins Based on the Butterfly Mode in Elliptical Track, Biomimetics, Vol. 8, No. 7, 522, 2023. (SCI)

[25] J. Dou, S. Wang, C. Zhang, Y. Shi, A Genetic Algorithm With Path-relinking for Operation Sequencing, International Journal of Advanced Manufacturing Technology, Vol. 125, pp 3667-3690, 2023. (SCI)

[24] H. Yang, Y. Wang, H. Wang, Y. Shi, L. Zhu, Y. Kuang, Y. Yang, Multi-Inertial Sensor-Based Arm 3D Motion Tracking Using Elman Neural Network, Journal of Sensors, Vol. 2022, 3926417, 2022. (SCI) 

[23] Y. Shi, M. Guo, C. Hui, S. Li, X. Ji, Y. Yang, X. Luo, D. Xia, Learning-Based Repetitive Control of a Bowden-Cable-Actuated Exoskeleton with Frictional Hysteresis, Micromachines, Vol. 13, No. 10, 1674, 2022. (SCI)

[22] Y. Shi, M. Guo, H. Zhong, X. Ji, D. Xia, X. Luo, Y. Yang, Kinetic Walking Energy Harvester Design for a Wearable Bowden Cable-Actuated Exoskeleton Robot, Micromachines, Vol. 13, No. 4, 571, 2022. (SCI)

[21] Y. Shi, W. He, M. Guo, D. Xia, X. Luo, X. Ji, Mechanism Design and Motion Analysis of a Flapping-Wing Air Vehicle, Mathematical Problems in Engineering, Vol. 2022, 7920914, 2022. (SCI)

[20] Y. Shi, S. Li, M. Guo, Y. Yang, D. Xia, X. Luo, Structural Design, Simulation and Experiment of Quadruped Robot, Applied Sciences, Vol. 11, No. 22, 10705, 2022. (SCI)

[19] D. Xia, Q. Yin, Z. Li, W. Chen, Y. Shi, J. Dou, Numerical Study on the Hydrodynamics of Porpoising Behavior in Dolphins, Ocean Engineering, Vol. 229, 108985, 2022. (SCI)

[18] J. Li, C. Yin, Y. Shi, S. Dai, X. Wang, Circumferentially Rotatable Inspection Robot with Elastic Suspensions for Bridge Cables, Industrial Robot, Vol. 49, No. 5, pp. 981-993, 2022. (SCI)

[17] Y. Shi, M. Guo, R. Wang, D. Xia, X. Luo, X. Ji, Y. Yang, Modeling and Synergetic Simulation of a Lower Limb Exoskeleton Robot With the Human Subject, 2022 IEEE International Conference on Mechatronics and Automation (ICMA), Guilin, Guangxi, China, 2022, pp. 1493-1498. (EI)

[16] C. Wang, L. Dai, D. Shen, J. Wu, X. Wang, M. Tian, Y. Shi, C. Su, Design of an Ankle Exoskeleton That Recycles Energy to Assist Propulsion During Human Walking, IEEE Transactions on Biomedical Engineering, vol. 69, no. 3, pp. 1212-1224, 2022. (SCI)

[15] J. Zhu, Y. Shi, F. Ma, Symmetry and Asymmetry From MEMS Variable Capacitor by Nonlinear Micro Stoppers, Mechanics & Industry, Vol. 22, 41, 2021. (SCI)

[14] M. Guo, Y. Shi and D. Xia, Simulation Design of Intelligent Vehicle Transverse Control System, 2021 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, 2021, pp. 514-519. (EI)

[13] X. Zhou, Z. Li, Y. Zhu, Y. Shi, D. Xia and J. Lv, Effect of Pectoral Fin Flapping Motion on Swimming Performance of Robotic Dolphin, 2020 IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, 2020, pp. 880-885. (EI)

[12] Y. Zhu, X. Zhou, S. Liu, Y. Shi, D. Xia and J. Lv, Effect of Straight-wing Pectoral Fin Motion on Propulsive Performance of Robotic Dolphin, 2020 IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, 2020, pp. 791-796. (EI)

[11] K. Ma, L. Han, X. Sun, C. Liang, S. Zhang, Y. Shi, X. Wang, A Path Planning Method of Robotic Belt Grinding for Workpieces With Complex Surfaces, in IEEE/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 728-738, 2020. (SCI)

[10] M. Yang, K. Ma, Y. Shi and X. Wang, Modeling and Position Tracking Control of a Novel Circular Hydraulic Actuator With Uncertain Parameters, IEEE Access, vol. 7, pp. 181022-181031, 2019. (SCI)

[9] F. Jia, X. Liu, J. Wu, Y. Shi, F. Xu and Z. Zhang, Research on Multi-AGV Autonomous Obstacle Avoidance Strategy Based on Improved a* Algorithm, 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nov 2018, Stuttgart, Germany.

[8] F. Jia, L. Gu, X. Guo, Y. Shi, F. Xu and Z. Zhang, Topology and Size Optimization of a Gantry-type Industrial 3D Printer's Beam, 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nov 2018, Stuttgart, Germany.

[7] Y. Shi, R. W. Longman, M. Nagashima, Small Gain Stability Theory for Matched Basis Function Repetitive Control, Acta Astronautica, Vol 95, 2014, p. 260-271. (SCI)

[6] M. Q. Phan,Y. Shi, R. Betti, R. W. Longman, Discrete-time Bilinear Representation of Continuous-time Bilinear State-space Models, Advances in the Astronautical Sciences, Vol. 143, 2012, pp. 571-589. (EI)

[5] Y. Shi, R. W. Longman, Converging Repetitive Control Robustification Methods to Apply to Iterative Learning Control, Advances in the Astronautical Sciences, Vol. 143, 2012, pp. 1003-1021. (EI)

[4] T. Li, R. W. Longman, Y. Shi, Stabilizing Intersample Error in Iterative Learning Control Using Multiple Zero Order Holds Each Time Step, Advances in the Astronautical Sciences, Vol. 142, 2012, pp. 2965-2980. (EI)

[3] R. W. Longman, Y. Shi, M. Nagashima, Repetitive Control Design for High Precision Motion Control Using Frequency Raising, Proceedings of the International Conference on Manufacturing and Engineering Systems, 2010, Tainan, Taiwan, Keynote Address, pp. 2-8.

[2] Y. Shi and R. W. Longman, The Influence on Stability Robustness of Compromising on the Zero Tracking Error Requirement in Repetitive Control, Journal of the Astronautical Sciences, Volume 59, Issue 1-2 , 2012, pp 441-458. (SCI)

[1] Y. Shi, R. W. Longman, and M. Q. Phan, An Algorithm for Robustification of Repetitive Control to Parameter Uncertainties, Advances in the Astronautical Sciences, Vol. 136, 2010, pp. 1953-1966. (EI)

科研项目

椎骨活检机器人样机设计，企业横向课题，2024-2024，主持，15万

户外割草机械臂的结构设计与控制研究，企业横向课题，2023-2024，主持，1万

光伏晶片搬运机械臂振动抑制控制与仿真，企业横向课题，2023-2024，主持，1万

光伏晶片搬运机械臂振动特性仿真及结构优化，企业横向课题，2023-2024，参与，1万

80T大型重载高精度全方位移动机器人研制，企业横向课题，2023-2025，参与，60万

人形机器人步行系统关键技术分析与初步方案设计，企业横向课题，2023-2024，参与，6万

智能墙体抹灰机器人研制，企业横向课题，2022-2023，参与，100万

椎骨活检机器人旋转进给全自动装置的研发设计，企业横向课题，2022-2023，主持，45万

医疗机器人旋转进给功能动力装置，企业横向课题，2022-2022，主持，10万

吻合器电机控制硬件及算法设计，企业横向课题，2022-2023，主持，12万

智能物流技术装备产品参数化设计软件研发，企业横向课题，2021-2022，参与，25万

墙体抹灰机器人技术改造，企业横向课题，2022-2022，参与，20万

基于双向闭环互适应脑机接口技术的脑卒中功能促进机器人研制，江苏省重点研发计划，2021-2025，参与，200万

高性能主动假肢膝关节研发，江苏省重点研发计划，2021-2024，参与，50万

核磁共振医疗检测装置的机电控制系统开发，企业横向课题，2021-2022，主持，5万

可穿戴外骨骼康复机器人的学习控制研究，国家自然科学基金(青年项目)，2020.01-2022.12，主持，20万

下肢康复外骨骼机器人的多步态自适应学习控制研究，江苏省自然科学基金（青年项目），2017.7-2020.6，主持，20万

面向深海的水下激光增材再制造装置及工艺研究，装备预研教育部联合基金，2016.10-2018.10，参与，80万

东南大学新进教师人才引进启动经费，其他纵向课题，2016.01-2016.12，主持，10万

专利

中国发明 CN202310215504.4 具有量程保护功能的绳索拉力测量装置及测量方法

石云德
Tel:
Email:ydshi@seu.edu.cn
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Personal Introduction

石云德，机械工程专业博士，js3845金沙线路教师，副教授，硕导/博导。2008年于上海交通大学机械工程系获得学士学位，2009年和2013年于（美国）哥伦比亚大学机械工程系获得硕士和博士学位，2013年至2015年在（美国）希捷硬盘公司担任高级研发工程师，负责计算机硬盘高精度伺服控制研究。2016年起任职js3845金沙线路教师，主要从事机械工程、机械电子和机器人领域的教学和科研工作。在可穿戴外骨骼机器人、非标自动化机电系统和医疗机器人等研究方向承担或参与国家基金、省部级基金、企业委托合作等各类科研项目。先后在国内外机械工程、航天工程、机电系统、无人自主系统、机器人和控制工程等领域核心学术期刊与会议上发表论文近30篇，参与出版国家级教材1部。


欢迎机械、航天、电子、力学、仪科、自动化、计算机等专业的优秀本科生、硕士生加入研究团队。具体信息可通过email(ydshi@seu.edu.cn)或qq(864940738)进一步了解。

Educational Background

[27] X. Li, W. He, J. Li, D. Xia, X. Luo, Y. Shi, X. Ji and Y. Yang, Design and Development of an Underwater Robot Inspired by Sea Turtles, 2024 IEEE International Conference on Mechatronics and Automation (ICMA), Guilin, Tianjin, China, 2024, pp. 1723-1728. (EI)

[26] D. Xia, Z. Li, M. Lei, Y. Shi, X. Luo, Numerical Study on the Hydrodynamics of Dolphin's Pectoral Fins Based on the Butterfly Mode in Elliptical Track, Biomimetics, Vol. 8, No. 7, 522, 2023. (SCI)

[25] J. Dou, S. Wang, C. Zhang, Y. Shi, A Genetic Algorithm With Path-relinking for Operation Sequencing, International Journal of Advanced Manufacturing Technology, Vol. 125, pp 3667-3690, 2023. (SCI)

[24] H. Yang, Y. Wang, H. Wang, Y. Shi, L. Zhu, Y. Kuang, Y. Yang, Multi-Inertial Sensor-Based Arm 3D Motion Tracking Using Elman Neural Network, Journal of Sensors, Vol. 2022, 3926417, 2022. (SCI) 

[23] Y. Shi, M. Guo, C. Hui, S. Li, X. Ji, Y. Yang, X. Luo, D. Xia, Learning-Based Repetitive Control of a Bowden-Cable-Actuated Exoskeleton with Frictional Hysteresis, Micromachines, Vol. 13, No. 10, 1674, 2022. (SCI)

[22] Y. Shi, M. Guo, H. Zhong, X. Ji, D. Xia, X. Luo, Y. Yang, Kinetic Walking Energy Harvester Design for a Wearable Bowden Cable-Actuated Exoskeleton Robot, Micromachines, Vol. 13, No. 4, 571, 2022. (SCI)

[21] Y. Shi, W. He, M. Guo, D. Xia, X. Luo, X. Ji, Mechanism Design and Motion Analysis of a Flapping-Wing Air Vehicle, Mathematical Problems in Engineering, Vol. 2022, 7920914, 2022. (SCI)

[20] Y. Shi, S. Li, M. Guo, Y. Yang, D. Xia, X. Luo, Structural Design, Simulation and Experiment of Quadruped Robot, Applied Sciences, Vol. 11, No. 22, 10705, 2022. (SCI)

[19] D. Xia, Q. Yin, Z. Li, W. Chen, Y. Shi, J. Dou, Numerical Study on the Hydrodynamics of Porpoising Behavior in Dolphins, Ocean Engineering, Vol. 229, 108985, 2022. (SCI)

[18] J. Li, C. Yin, Y. Shi, S. Dai, X. Wang, Circumferentially Rotatable Inspection Robot with Elastic Suspensions for Bridge Cables, Industrial Robot, Vol. 49, No. 5, pp. 981-993, 2022. (SCI)

[17] Y. Shi, M. Guo, R. Wang, D. Xia, X. Luo, X. Ji, Y. Yang, Modeling and Synergetic Simulation of a Lower Limb Exoskeleton Robot With the Human Subject, 2022 IEEE International Conference on Mechatronics and Automation (ICMA), Guilin, Guangxi, China, 2022, pp. 1493-1498. (EI)

[16] C. Wang, L. Dai, D. Shen, J. Wu, X. Wang, M. Tian, Y. Shi, C. Su, Design of an Ankle Exoskeleton That Recycles Energy to Assist Propulsion During Human Walking, IEEE Transactions on Biomedical Engineering, vol. 69, no. 3, pp. 1212-1224, 2022. (SCI)

[15] J. Zhu, Y. Shi, F. Ma, Symmetry and Asymmetry From MEMS Variable Capacitor by Nonlinear Micro Stoppers, Mechanics & Industry, Vol. 22, 41, 2021. (SCI)

[14] M. Guo, Y. Shi and D. Xia, Simulation Design of Intelligent Vehicle Transverse Control System, 2021 IEEE International Conference on Mechatronics and Automation (ICMA), Takamatsu, Japan, 2021, pp. 514-519. (EI)

[13] X. Zhou, Z. Li, Y. Zhu, Y. Shi, D. Xia and J. Lv, Effect of Pectoral Fin Flapping Motion on Swimming Performance of Robotic Dolphin, 2020 IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, 2020, pp. 880-885. (EI)

[12] Y. Zhu, X. Zhou, S. Liu, Y. Shi, D. Xia and J. Lv, Effect of Straight-wing Pectoral Fin Motion on Propulsive Performance of Robotic Dolphin, 2020 IEEE International Conference on Mechatronics and Automation (ICMA), Beijing, China, 2020, pp. 791-796. (EI)

[11] K. Ma, L. Han, X. Sun, C. Liang, S. Zhang, Y. Shi, X. Wang, A Path Planning Method of Robotic Belt Grinding for Workpieces With Complex Surfaces, in IEEE/ASME Transactions on Mechatronics, vol. 25, no. 2, pp. 728-738, 2020. (SCI)

[10] M. Yang, K. Ma, Y. Shi and X. Wang, Modeling and Position Tracking Control of a Novel Circular Hydraulic Actuator With Uncertain Parameters, IEEE Access, vol. 7, pp. 181022-181031, 2019. (SCI)

[9] F. Jia, X. Liu, J. Wu, Y. Shi, F. Xu and Z. Zhang, Research on Multi-AGV Autonomous Obstacle Avoidance Strategy Based on Improved a* Algorithm, 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nov 2018, Stuttgart, Germany.

[8] F. Jia, L. Gu, X. Guo, Y. Shi, F. Xu and Z. Zhang, Topology and Size Optimization of a Gantry-type Industrial 3D Printer's Beam, 2018 25th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), Nov 2018, Stuttgart, Germany.

[7] Y. Shi, R. W. Longman, M. Nagashima, Small Gain Stability Theory for Matched Basis Function Repetitive Control, Acta Astronautica, Vol 95, 2014, p. 260-271. (SCI)

[6] M. Q. Phan,Y. Shi, R. Betti, R. W. Longman, Discrete-time Bilinear Representation of Continuous-time Bilinear State-space Models, Advances in the Astronautical Sciences, Vol. 143, 2012, pp. 571-589. (EI)

[5] Y. Shi, R. W. Longman, Converging Repetitive Control Robustification Methods to Apply to Iterative Learning Control, Advances in the Astronautical Sciences, Vol. 143, 2012, pp. 1003-1021. (EI)

[4] T. Li, R. W. Longman, Y. Shi, Stabilizing Intersample Error in Iterative Learning Control Using Multiple Zero Order Holds Each Time Step, Advances in the Astronautical Sciences, Vol. 142, 2012, pp. 2965-2980. (EI)

[3] R. W. Longman, Y. Shi, M. Nagashima, Repetitive Control Design for High Precision Motion Control Using Frequency Raising, Proceedings of the International Conference on Manufacturing and Engineering Systems, 2010, Tainan, Taiwan, Keynote Address, pp. 2-8.

[2] Y. Shi and R. W. Longman, The Influence on Stability Robustness of Compromising on the Zero Tracking Error Requirement in Repetitive Control, Journal of the Astronautical Sciences, Volume 59, Issue 1-2 , 2012, pp 441-458. (SCI)

[1] Y. Shi, R. W. Longman, and M. Q. Phan, An Algorithm for Robustification of Repetitive Control to Parameter Uncertainties, Advances in the Astronautical Sciences, Vol. 136, 2010, pp. 1953-1966. (EI)

Professional Experience

南京机械工程学会（工业自动化分会）会员


Teaching

椎骨活检机器人样机设计，企业横向课题，2024-2024，主持，15万

户外割草机械臂的结构设计与控制研究，企业横向课题，2023-2024，主持，1万

光伏晶片搬运机械臂振动抑制控制与仿真，企业横向课题，2023-2024，主持，1万

光伏晶片搬运机械臂振动特性仿真及结构优化，企业横向课题，2023-2024，参与，1万

80T大型重载高精度全方位移动机器人研制，企业横向课题，2023-2025，参与，60万

人形机器人步行系统关键技术分析与初步方案设计，企业横向课题，2023-2024，参与，6万

智能墙体抹灰机器人研制，企业横向课题，2022-2023，参与，100万

椎骨活检机器人旋转进给全自动装置的研发设计，企业横向课题，2022-2023，主持，45万

医疗机器人旋转进给功能动力装置，企业横向课题，2022-2022，主持，10万

吻合器电机控制硬件及算法设计，企业横向课题，2022-2023，主持，12万

智能物流技术装备产品参数化设计软件研发，企业横向课题，2021-2022，参与，25万

墙体抹灰机器人技术改造，企业横向课题，2022-2022，参与，20万

基于双向闭环互适应脑机接口技术的脑卒中功能促进机器人研制，江苏省重点研发计划，2021-2025，参与，200万

高性能主动假肢膝关节研发，江苏省重点研发计划，2021-2024，参与，50万

核磁共振医疗检测装置的机电控制系统开发，企业横向课题，2021-2022，主持，5万

可穿戴外骨骼康复机器人的学习控制研究，国家自然科学基金(青年项目)，2020.01-2022.12，主持，20万

下肢康复外骨骼机器人的多步态自适应学习控制研究，江苏省自然科学基金（青年项目），2017.7-2020.6，主持，20万

面向深海的水下激光增材再制造装置及工艺研究，装备预研教育部联合基金，2016.10-2018.10，参与，80万

东南大学新进教师人才引进启动经费，其他纵向课题，2016.01-2016.12，主持，10万

Research Interests

中国发明 CN202310215504.4 具有量程保护功能的绳索拉力测量装置及测量方法

Refereed Journals
Other Professional Activities
Selected Publications
Research Projects
Patents and Applications