Publication List

📄 Journal Papers (* Corresponding author) / 期刊论文

🐍 2025（乙巳蛇年）

[62] Yuzhou Duan, Jie Ling*, Micky Rakotondrabe, Zuoqing Yu, Lei Zhang and Yuchuan Zhu*. A review of flexible bronchoscope robots for peripheral pulmonary nodule intervention. IEEE Transactions on Medical Robotics and Bionics (TMRB). 2025. Doi: 10.1109/TMRB.2025.3583172. (Early Access)

[61] 彭洪涛，张允执，凌杰*，张文星，康佳豪，朱玉川. 油液环境下的压电双晶片执行器数学建模与试验分析. 航空科学技术. 2025. (Accepted)

[60] 彭洪涛，张允执，凌杰*，张文星，康佳豪，朱玉川. 油液环境下的电液伺服阀用压电双晶片执行器复合阻尼控制. 航空动力学报. 2025. (Accepted)

[59] Yunzhi Zhang, Jie Ling*, Micky Rakotondrabe, Yuchuan Zhu, and Dan Wang. Modeling and feedforward control of hysteresis in piezoelectric actuators considering its rotation and expansion. Mechatronics. 2025. 110: 103354.

[58] Yuzhou Duan, Jie Ling*, Micky Rakotondrabe, and Yuchuan Zhu*. Achieving high-speed smooth motion for stick-slip piezoelectric motors with impact-enhanced driving mode. Smart Materials and Structures. 2025. 34(4): 045022

[57] 彭洪涛，凌杰*，朱玉川，李成刚. 基于J-A模型的压电双晶片执行器非线性建模及验证. 压电与声光. 2025, 47(1): 142-147.

[56] 凌杰*，张允执，陈龙，朱玉川．数字压电叠堆执行器：原理、建模与控制．中国机械工程. 2025, 36(2): 228-237.

🐲 2024（甲辰龙年）

[55] Yunzhi Zhang, Jie Ling*, and Yuchuan Zhu. Development and fault-tolerant control of a distributed piezoelectric stack actuator. Smart Materials and Structures. 2024, 33(9): 095003.

[54] Yuzhou Duan, Jie Ling*, and Yuchuan Zhu*. Modeling and admittance control of a piezoactuated needle insertion device for safe puncture of spinal membranes. Journal of Medical Devices. 2024, 18(3): 034501.

[53] Yuzhou Duan, Jie Ling*, Zhao Feng, Tingting Ye, Tairen Sun, and Yuchuan Zhu. A survey of needle steering approaches in minimally invasive surgery. Annals of Biomedical Engineering. 2024, 52: 1492–1517.

[52] Yuzhou Duan, Jie Ling*, Zhao Feng, Daojin Yao, Yuchuan Zhu. Development of a base-actuated three-rhombus configured remote center of motion mechanism for lumbar puncture. Journal of Mechanisms and Robotics. 2024. 16(5): 054503.

[51] Jie Ling*, Hongtao Peng, Yuzhou Duan, and Micky Rakotondrabe. Reducing backward motion of stick-slip piezoelectric actuators using dual driving feet designed by asymmetric stiffness principle. Mechanism and Machine Theory. 2024, 203:105810.

[50] Tingting Ye, Zhao Feng, Jie Ling, Yangmin Li*. A novel W-shaped flexure-guided mechanism for high-frequency piezo-actuated micromanipulations. IEEE/ASME Transactions on Mechatronics. 2024. Doi: 10.1109/TMECH.2024.3476332. (Early Access)

[49] Dongdong Zheng, Yangkun Zhang, Jie Ling, Haoyong Yu*, and Xuemei Ren. Composite learning based adaptive terminal sliding mode control for nonlinear systems with experimental validation. IEEE Transactions on Industrial Electronics. 2025. 72(8): 8197-8207.

[48] Xiaoming Chen, Yuchuan Zhu*, Jie Ling, and Mingming Zhang. Characteristic investigation of digital control four quadrant electro-hydrostatic actuator with separated hydraulic motor. Review of Scientific Instruments. 2024.95:095002.

[47] Mingming Zhang, Yuchuan Zhu*, Linfei Li, and Jie Ling. Dynamic modeling of a cantilever reed valve considering squeeze flow with experimental validation. Physics of Fluids. 2024. 36(6): 067131.

[46] Yanwen Wang, Yuchuan Zhu*, Long Chen, Jie Ling, and Mingming Zhang. Development and testing of a discrete coil magnetostrictive actuator. Smart Materials and Structures. 2024, 33(9): 095001.

[45] 王玉文，朱玉川*，凌杰，陈晓明，张洺铭. 滑阀式压电高速开关阀特性研究. 航空动力学报. 2024. 39(11): 20220426.

[44] Yitong Li, Tingting Ye, Jie Ling, Xiaohui Xiao, and Zhao Feng*. A novel F-shaped linear guiding mechanism based compliant positioning stage with restricted parasitic motion. Precision Engineering. 2024. 88:674-685.

[43] Mingming Zhang, Yuchuan Zhu*, Shenghong Ge, and Jie Ling. Development of a large flow electro-hydrostatic actuator equipped with four magnetostrictive-actuated pumps. Review of Scientific Instruments. 2024. 95(1): 95, 015005.

[42] Zhicheng Song, Linkang Wang, Jie Ling, Lingyu Wang, Jinjun Duan, Yaoyao Wang*, and Bai Chen. Time-delay control scheme with adaptive fixed-time convergent super-twisting fractional-order nonsingular terminal sliding mode for piezoelectric displacement amplifier. ISA Transactions. 2024. 146:99-113.

🐰 2023（癸卯兔年）

[41] Long Chen, Yuchuan Zhu*, Jie Ling, and Mingming Zhang. Temperature dependence modeling and experimental evaluation of a multidimensional discrete magnetostrictive actuator. Applied Thermal Engineering. 2023. 230(Part B): 120736.

[40] Jie Ling*, Zhao Feng, Long Chen, Yuchuan Zhu, Yongping Pan. Neural network-based iterative learning control of a piezo-driven nanopositioning stage. Precision Engineering. 2023, 81:112-123.

[39] Jie Ling, Long Chen, Mingming Zhang, and Yuchuan Zhu*. Development of a dual-mode electro-hydrostatic actuator with serial-parallel hybrid configured piezoelectric pumps. Smart Materials and Structures. 2023, 32(2): 025011.

[38] 陈晓明，朱玉川*，凌杰，郑述峰，王玉文. 旋转惯性液压变换器的能效特性研究. 北京航空航天大学学报. 2023,49(08):1982-1990.

[37] 郑述峰，朱玉川*，凌杰，刘昶，林文. 轴向双压电叠堆执行器并联控制实验研究. 北京航空航天大学学报. 2023,49(06):1460-1470.

🐯 2022（壬寅虎年）

[36] Zhao Feng, Wenyu Liang*, Jie Ling, Xiaohui Xiao*, Kok Kiong Tan, and Tong Heng Lee. Precision force tracking control of a surgical device interacting with a deformable object. IEEE/ASME Transactions on Mechatronics. 2022. 27(6): 5327-5338.

[35] Lingkang Meng, Yuchuan Zhu*, Jie Ling, Jianjun Ding, Zhichuang Chen, and Xiaoming Chen. Research on mathematical modeling of the servo valve torque motor considering the variation of working air-gaps leakage flux. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022. 236(11): 09544062211064971.

[34] Xiaoming Chen, Yuchuan Zhu*, Travis Wiens, Doug Bitner, Jie Ling. Characteristic investigation of a flow-dependent inertia hydraulic converter driven by an equivalent fast switching valve. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022. 236(7): 3354-3374.

[33] Zhao Feng, Wenyu Liang*, Jie Ling, Xiaohui Xiao*, Kok Kiong Tan, and Tong Heng Lee. Adaptive robust impedance control for an ear surgical device with soft interaction. IEEE/ASME Transactions on Mechatronics. 2022, 27(3): 1784-1795.

[32] Jie Ling*, Long Chen, Zhao Feng, and Yuchuan Zhu. Development and test of a high speed pusher-type inchworm piezoelectric actuator with asymmetric driving and clamping configuration. Mechanism and Machine Theory. 2022, 176: 104997.

[31] Jie Ling*, Tingting Ye, Zhao Feng, Yuchuan Zhu, Yangmin Li, Xiaohui Xiao. A survey on synthesis of compliant constant force/torque mechanisms. Mechanism and Machine Theory. 2022, 176: 104970.

[30] Long Chen, Yuchuan Zhu*, Jie Ling*, Mingming Zhang. Development and characteristic investigation of a multi-dimensional discrete magnetostrictive actuator. IEEE/ASME Transactions on Mechatronics. 2022, 27(4): 2071-2079.

[29] Long Chen, Yuchuan Zhu*, Jie Ling* and Zhao Feng. Theoretical modeling and experimental evaluation of amagnetostrictive actuator with radial-nested stacked configuration. Nonlinear Dynamics. 2022, 109: 1277-1293.

[28] Zhao Feng, Min Ming, Jie Ling*, Xiaohui Xiao, Zhixin Yang, and Feng Wan*. Fractional delay filter based repetitive control for precision tracking: design and application to a piezoelectric nanopositioning stage. Mechanical Systems and Signal Processing. 2022. 164: 108249.

🐮 2021（辛丑牛年）

[27] Long Chen, Yuchuan Zhu*, Jie Ling* and Zhao Feng. Development and test of a two-dimensional stacked terfenol-d actuator with high bandwidth and large stroke. IEEE/ASME Transactions on Mechatronics. 2021. 26(4), 1951-1959.

[26] Yingting Ye, Jie Ling*, Xi Kang, Zhao Feng, and Xiaohui Xiao. A novel two-stage constant force compliant microgripper. Journal of Mechanical Design. 2021. 143(5), 053302.

[25] Jie Ling, Zhao Feng, Xi Kang, and Xiaohui Xiao*. Bandwidth enhancement in damping control for piezoelectric nanopositioning stages with load uncertainty: Design and implementation. Journal of Vibration and Control. 2021. 27(11-12):1382-1394.

[24] Cancheng Qiu, Jie Ling*, Yangkun Zhang, Min Ming, Zhao Feng and Xiaohui Xiao. A novel cooperative compensation method to compensate for return stroke of stick-slip piezoelectric actuators. Mechanism and Machine Theory. 2021, 159: 104254.

[23] Min Ming, Wenyu Liang, Zhao Feng, Jie Ling, Abdullah Al Mamun, and Xiaohui Xiao*. PID-type sliding mode-based adaptive motion control of a 2-dof piezoelectric ultrasonic motor driven stage. Mechatronics. 2021. 76:102543.

🐭 2020（庚子鼠年）

[22] Like Cao, Jie Ling, Xiaohui Xiao*. Study on the influence of image noise on monocular feature-based visual SLAM based on FFDNet. Sensors. 2020. 20: 4922.

[21] Zhao Feng, Wenyu Liang*, Jie Ling, Xiaohui Xiao*, Kok Kiong Tan, and Tong Heng Lee. Integral terminal sliding-mode-based adaptive integral backstepping control for precision motion of a piezoelectric ultrasonic motor, Mechanical Systems and Signal Processing. 2020. 144: 106856.

[20] Like Cao, Jie Ling, and Xiaohui Xiao*. The WHU rolling shutter visual-inertial dataset. IEEE Access. 2020. 8(1): 50771-50779.

[19] Min Ming, Zhao Feng, Jie Ling, and Xiaohui Xiao*. Disturbance observer-based model prediction control with real-time modified reference for a piezo-actuated nanopositioning stage. Transactions of the Institute of Measurement and Control. 2020. 42(4): 813-822.

[18] Jie Ling*, Zhao Feng, Dongdong Zheng, Jun Yang, Haoyong Yu*, and Xiaohui Xiao. Robust adaptive motion tracking of piezoelectric actuated stages using online neural-network-based sliding mode control. Mechanical Systems and Signal Processing. 2020. 150: 107235.

[17] Zhao Feng, Jie Ling*, Min Ming, Wenyu Liang, Kok Kiong Tan and Xiaohui Xiao*. Signal-transformation-based repetitive control of spiral trajectory for piezoelectric nanopositioning stages. IEEE/ASME Transactions on Mechatronics. 2020. 25(3): 1634-1645.

[16] Jie Ling, Zhao Feng, Min Ming, Zhao Guo, and Xiaohui Xiao*. Signal transformed internal model control for non-raster scanning of piezo-actuated nanopositioning stages. International Journal of Control, Automation and Systems. 2020. 18(8): 1915–1925.

[15] Jie Ling, Micky Rakotondrabe, Zhao Feng, Min Ming and Xiaohui Xiao*. A robust resonant controller for high-speed scanning of nanopositioners: Design and implementation. IEEE Transactions on Control Systems Technology. 2020, 28(3): 1116-1123.

🐷 2019 （己亥猪年）and before

[14] Zhao Feng, Jie Ling, Min Ming, and Xiaohui Xiao*. Integrated modified repetitive control with disturbance observer of piezoelectric nanopositioning stages for high-speed and precision motion. Journal of Dynamic Systems Measurement and Control-Transactions of the ASME. 2019, 141(8): 081006-081006-10.

[13] Xiao Gao, Jie Ling, Xiaohui Xiao*, and Miao Li*. Learning force-relevant skills from human demonstration. Complexity. 2019, 2019: 5262859-5262859-11.

[12] Zhao Guo, Jiantao Sun, Jie Ling, Yongping Pan*, Tairen Sun, and Xiaohui Xiao, Robust trajectory tracking control for variable stiffness actuators with model perturbations. Frontiers in Neurorobotics. 2019. 13: 35. doi: 10.3389/fnbot.2019.00035.

[11] Jie Ling, Zhao Feng, Min Ming, and Xiaohui Xiao*. Model reference adaptive damping control for a nanopositioning stage with load uncertainties. Review of Scientific Instruments. 2019, 90(4): 045101.

[10] Zhao Feng, Jie Ling, Min Ming, and Xiaohui Xiao*. A model-data integrated iterative learning controller for flexible tracking with application to a piezo nanopositioner. Transactions of the Institute of Measurement and Control. 2018, 40(10):3201-3210.

[9] 冯朝,凌杰,明敏,肖晓晖*. 融合迭代学习与干扰观测器的压电微动平台精密运动控制. 机器人. 2018, 40(6): 825-834.

[8] Min Ming, Zhao Feng, Jie Ling, and Xiaohui Xiao*. Hysteresis modeling and feedforward compensation of piezoelectric nanopositioning stage with a modified Bouc-Wen model. Micro & Nano Letters. 2018, 13(8): 1170-1174.

[7] Min Ming, Jie Ling, Zhao Feng, and Xiaohui Xiao*. A model prediction control design for inverse multiplicative structure based feedforward hysteresis compensation of a piezo nanopositioning stage. International Journal of Precision Engineering and Manufacturing. 2018, 19(11): 1699-1708.

[6] Jie Ling, Zhao Feng, Daojin Yao, and Xiaohui Xiao*. Non-linear contour tracking using feedback PID and feedforward position domain cross-coupled iterative learning control. Transactions of the Institute of Measurement and Control. 2018, 40(6): 1970-1982.

[5] Jie Ling, Zhao Feng, Min Ming, and Xiaohui Xiao*. Damping controller design for nanopositioners: a hybrid reference model matching and virtual reference feedback tuning approach. International Journal of Precision Engineering and Manufacturing. 2018, 19(1): 13-22.

[4] Jie Ling, Zhao Feng, Daojin Yao, and Xiaohui Xiao*. Precision contour tracking using feedback-feedforward integrated control for a 2-DOF manipulation system. International Journal of Robotics & Automation. 2018, 33(3): 276-283.

[3] Zhao Feng, Jie Ling, Min Ming, and Xiaohui Xiao*. High-bandwidth and flexible tracking control for precision motion with application to a piezo nanopositioner. Review of Scientific Instruments. 2017, 88(8): 085107.

[2] Zhao Feng, Jie Ling, Min Ming, and Xiaohui Xiao*. Data-based double-feedforward controller design for a coupled parallel piezo nanopositioning stage. Proceedings of the Institution of Mechanical Engineers, Part I - Journal of Systems and Control Engineering. 2017, 231(10): 881-892.

[1] 凌杰, 明敏, 冯朝, 肖晓晖*. 多轴运动系统非线性轮廓重复跟踪的主从交叉耦合迭代学习控制. 自动化学报. 2017, 43(12): 2127-2140.

📑 Conference Papers / 会议论文

[26] Zuoqing Yu, Yuzhou Duan, Lei Zhang, and Jie Ling*. A patient-mounted spherical scissor-like remote center of motion mechanism for robotic-assisted lumbar puncture. 17th International Conference on Intelligent Robotics and Applications (ICIRA 2024). 31st Jul.~ 2nd Aug, Xi’an, China, 2024.

[25] Yunzhi Zhang, Micky Rakotondrabe, Zhao Feng, Yuchuan Zhu, and Jie Ling*. Position servo control strategy for a hydraulic valve-controlled cylinder with a digital piezo-actuator. The American Control Conference (ACC 2024). July 8-12, Toronto, Canada. 2024.

[24] Wenbo Jia, Zijia Zhao, Wenzhuo Huang, Yangyang Li, Jie Ling, Bai Chen, Yayi Shen*. Snake-inspired swarm robot design for distributed underwater search and rescue. The 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023). Dec. 4-9, Samui, Thailand. 2023.

[23] Yuzhou Duan, Hongtao Peng, Yuchuan Zhu, Yayi Shen, Jie Ling*. Inertial piezoelectric actuation of a needle insertion device for minimally invasive surgery. The 2023 IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO 2023). Dec. 4-9, Samui, Thailand. 2023. (Best Conference Paper Finalist)

[22] Long Chen, Yuchuan Zhu*, Jie Ling. Development and characteristic analysis of a double spool nested fuel valve. The 9th International Conference on Fluid Power and Mechatronics. Aug. 18-21, Lanzhou, China. 2023.

[21] Mingming Zhang, Yuchuan Zhu*, Jie Ling, and Xin Jiang. Position servo control for dual piezoelectric pumps-based electro-hydrostatic actuator with active rectification valve. The 9th International Conference on Fluid Power and Mechatronics. Aug. 18-21, Lanzhou, China. 2023. (Best Paper, First Prize)

[20] Yitong Li, Tingting Ye, Jie Ling, Xiaohui Xiao, Zhao Feng*. Design, optimization and analysis of a novel compliant guiding mechanism for piezo-driven vibration microinjection. 2023 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2023). Jul. 8-10, Sanya, China, 2023. (Best Student Paper Finalist)

[19] Zhicheng Song, Ziyu Liao, Linkang Wang, Hongtao Wu*, Jie Ling. A novel fractional-order adaptive gain fixed-time convergent super-twisting-algorithm. 2023 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2023). Jul. 8-10, Sanya, China, 2023.

[18] Yunzhi Zhang, Jie Ling*, Zhao Feng, Yuchuan Zhu. A Comparison of Hysteresis Models with the Hammerstein Structure for Piezoelectric Actuators. 2023 IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2023). Jul. 8-10, Sanya, China, 2023.

[17] Yuzhou Duan, Yunzhi Zhang, Yayi Shen, Jie Ling*, and Yuchuan Zhu. A three-rhombus configured remote center of motion mechanism for robot-assisted surgery. 37th Youth Academic Annual Conference of Chinese Association of Automation (YAC). May 27-29, Beijing, China, 2022.

[16] Yuzhou Duan, Yunzhi Zhang, Jie Ling*, Zhao Feng, and Yuchuan Zhu. A hub-type compliant piezo drill for cell microinjection. 7th IEEE International Conference on Advanced Robotics and Mechatronics (ARM’22). July 9-11, Guilin, China, 2022.

[15] Zhao Feng, Jie Ling*, Yayi Shen. Discrete-time integral terminal sliding mode based repetitive control for periodic motion tracking. IEEE 11th Data Driven Control and Learning Systems Conference (DDCLS’22). May 13-15, Emeishan, China, 2022.

[14] Dongdong Zheng, Jie Ling, Xuemei Ren*. Closed-loop distributed data-driven modeling and control for islanded microgrids. The 33rd Chinese Control and Decision Conference (CCDC 2021). May 22-24, Kunming, China, 2021. (Poster)

[13] Zhao Feng, Jie Ling*, Feng Wan, Zhixin Yang. Iterative learning enhanced integral terminal sliding mode control for precision motion systems. IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS’21). May 14-16, Suzhou, China, 2021.

[12] Min Ming, Wenyu Liang, Jie Ling, Zhao Feng, Abdullah Al Mamun, and Xiaohui Xiao*. Composite integral sliding mode control with neural network based friction compensation for a piezoelectric ultrasonic motor. The 46th Annual Conference of the IEEE Industrial Electronics Society (IECON 2020). Oct 18-21, Singapore, 2020.

[11] Yingting Ye, Jie Ling, Tianhang Yao, and Xiaohui Xiao*. Design of a 2-DOF Constant Force Compliant Microgripper for Optical Switch Assembly. The 46th Annual Conference of the IEEE Industrial Electronics Society (IECON 2020). Oct 18-21, Singapore, 2020.

[10] Jie Ling, Tingting Ye, Zhao Feng, Min Ming, and Xiaohui Xiao*. Damping controller design for triangular scanning of a third-order nanopositioning stage. International Conference on Control, Automation and Systems (ICCAS 2019). Oct 15-18, ICC Jeju, Korea, 2019.

[9] Min Ming, Zhao Feng, Jie Ling, and Xiaohui Xiao*. Disturbance observer-based model prediction control for a 2-DOF nanopositioning stage. IEEE 45th Annual Conference of the Industrial Electronics Society (IECON 2019). Oct. 14-17, Lisbon, Portugal, 2019.

[8] Zhao Feng, Jie Ling, Min Ming, and Xiaohui Xiao*. Model-assisted extended state observer based repetitive control for high precision tracking of piezoelectric nanopositioning stages. 38th Chinese Control Conference (CCC 2019), Jul. 27-30, Guangzhou, China, 2019.

[7] Jie Ling, Zhao Feng, Zhao Guo, and Xiaohui Xiao*. Integrating damping control with iterative learning control for fast and precise scanning of nanopositioners: a TITO design. IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2018), Jul. 18-20, Singapore, 2018. (Best Student Paper Finalist)

[6] Zhao Guo, Jiantao Sun, Jie Ling, Tairen Sun, Yongping Pan and Xiaohui Xiao*. Robust control of a serial variable stiffness actuator based on nonlinear disturbance observer (NDOB). IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2018), Jul. 18-20, Singapore, 2018.

[5] Jie Ling, Zhao Feng, Daojin Yao, and Xiaohui Xiao*. A position domain iteration learning control for contour tracking with application to a multi-axis motion testbed. American Control Conference (ACC 2016), Jul. 6-8, Boston, MA, USA, 2016.

[4] Jie Ling, Zhao Feng, Min Ming, and Xiaohui Xiao*. Combined model-free decoupling control and double resonant control in parallel nanopositioning stages for fast and precise raster scanning. International Conference on Intelligent Robotics and Applications (ICIRA 2016). Aug. 22-26, Hachioji, Tokyo, Japan, 2016. (Best Student Paper Award)

[3] Feng, Zhao, Jie Ling, Min Ming, and Xiaohui Xiao*. Data-driven feedforward decoupling filter design for parallel nanopositioning stages. International Conference on Intelligent Robotics and Applications (ICIAR 2016). Aug. 22-26, Hachioji, Tokyo, Japan, 2016.

[2] Jie Ling, Zhao Feng, and Xiaohui Xiao*. A position domain cross-coupled iteration learning control for contour tracking in multi-axis precision motion control systems. International Conference on Intelligent Robotics and Applications (ICIRA 2015). Aug. 24-27, Portsmouth, UK, 2015.

[1] Jie Ling, and Xiaohui Xiao*. Rapid and precise control of a micro-manipulation stage combining H∞ with ILC algorithm. The 2013 World Congress on Advances in Nano, Biomechanics, Robotics, and Energy Research, Aug. 25-28, Seoul, South Korea, 2013.

📘 Books & Chapters / 专著章节

Xiaohui Xiao, Jie Ling, Zhao Feng. High-speed Scanning Motion Control of Piezoelectric Nanopositioning Systems. Monography in preparation.

🛠️ Invention Patents / 发明专利

[7] 凌杰，段榆洲，朱玉川，张洺铭，王彦文，张允执. 一种机液混合传动的微创手术机器人及控制方法. 发明专利. 授权号 ZL 202210299540.9.

[6] 凌杰，陈龙，朱玉川，张洺铭，段榆洲. 一种二进制编码的数字式自感应压电叠堆装置及工作方法. 发明专利. 授权号 ZL 202210167766.3.

[5] 凌杰, 田佳淳, 朱玉川, 段榆洲, 张允执, 张梦昊. 一种压电驱动细胞显微注射装置及其自适应柔顺控制方法. 发明专利. 授权号ZL 202111393114.3.

[4] 陈龙，朱玉川，凌杰，刘昶. 一种高频大位移多维离散磁致伸缩执行器及控制方法. 发明专利. 授权号 ZL 202110643046.5.

[3] 凌杰，谷悦，朱玉川，陈龙，郑述峰，张洺铭. 一种变刚度调谐的压电俘能器. 发明专利. 授权号 ZL 202011550006.8.

[2] 凌杰, 肖晓晖, 邱灿程，冯朝，明敏，叶婷婷. 一种实现双向驱动的粘滑式压电驱动器及控制方法. 发明专利. 授权号 ZL 202010547153.3.

[1] 凌杰，肖晓晖，叶婷婷，冯朝，明敏，邱灿程. 一种连续两行程两级常力输出微夹钳及控制方法. 发明专利. 授权号 ZL 202010563464.9.

🧰 Utility Model Patents / 实用新型专利

[1] 段榆洲，曹振强，曾香云，周顺，凌杰，朱玉川. 一种基于对称双平行四杆构型的眼科手术机器人. 实用新型专利. 专利号 ZL 2023 2 3466648.1

💻 Software Copyright / 软件著作权

[4] 凌杰，玉作庆，段榆洲，朱玉川. 支气管镜机器人操作系统v1.0. 软件著作权. 登记号 2024SR1894429.

[3] 朱玉川，陈龙，凌杰. 多维离散磁致伸缩执行器运动控制软件. 软件著作权. 登记号 2023SR0731857.

[2] 凌杰，张允执，张梦昊，段榆洲，朱玉川，陈龙，郑述峰. 细胞穿刺过程力学分析系统. 软件著作权. 登记号 2022SR0037290.

[1] 凌杰，王彦文，段榆洲，张允执，朱玉川. 机器人辅助穿刺麻醉过程力/位在线分析及位姿实时显示系统. 软件著作权. 登记号 2022SR0561439.

📚 Thesis, Dissertation and Report / 学位论文

👨‍🏫 Supervised Master Thesis / 指导硕士学位论文