吴丹 - 清华大学 - 机械工程系

个人简介

教育背景 2003/09-2008/07, 清华大学，博士 1988/09-1990/07,清华大学，硕士 1983/09-1988/07,清华大学，学士工作履历 2013/12-至今, 清华大学机械工程系，教授 2012/12-2013/12, 清华大学机械工程系，副教授 1998/08-2012/12, 清华大学精密仪器与机械学系，副教授 1992/12-1998/08，清华大学精密仪器与机械学系，讲师 1990/08-1992/12，清华大学精密仪器与机械学系，助教奖励与荣誉 2010年清华大学教学成果二等奖：传承求实作风, 践行求真理念, 培育求新思维——机械工程及自动化专业生产实习探索与实践 2010年清华大学教学成果二等奖：机械大类培养模式下制造工程基础平台课的创建与实践 2009年北京市教学成果一等奖：机器人创新设计实践教学研究－探究课、SRT、科技竞赛相衔接的教学模式探索 2008年清华大学实验技术成果一等奖：MOS仿人足球机器人实践教学平台 1997年国家教委科技进步二等奖：基于大行程微位移机构的智能中凸变椭圆活塞数控车削系统 1996年国家教委科技进步二等奖：集成化智能化计算机辅助工艺设计系统

研究领域

面向工业应用需求，围绕机器人与自动化装备设计与优化、作业规划与控制、加工机理与工艺的核心问题开展深入研究，建立了航空叠层构件自动化制孔新工艺与新装备，创建了法矢测量、窝深精确控制的新方法，揭示了刀具磨损、叠层错孔、层间毛刺的产生机理与工艺控制方法，形成了从制孔基础研究---模拟件试切---产品生产的核心能力，解决了工程制造需求的关键技术难题。以人机安全高效协同作业为目标，系统地研究协作机器人的优化设计、力/位混合控制、视觉伺服、人机交互、自主学习的基础理论与关键技术，致力于解决复杂产品人机协同加工与装配的技术难题。

近期论文

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Yuxi Zhang, Dan Wu, Xingguo Ma, Ken Chen, Yan Guo. Countersink accuracy control of thin-wall CFRP/Al stack drilling based on micro peck strategy.The International Journal of Advanced Manufacturing Technology, 2019, https://doi.org/10.1007/s00170-018-3070-y. Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Impedance control of collaborative robots based on joint torque servo with active disturbance rejection，Industrial Robot-An International Journal, 2019, https://doi.org/10.1108/IR-06-2018-0130. Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Design of direct teaching behavior of collaborative robot based on force interaction. Journal of Intelligent & Robotic Systems, 2019, https://doi.org/10.1007/s10846-019-00986-3. Xiong Liang, Dan Wu. Tribological properties of carbon-fibre-reinforced plastic against tungsten carbide under dry condition. Tribology International, 2019, 134: 118-128. Yuxi Zhang, Dan Wu, Ken Chen. A theoretical model for predicting the CFRP drilling-countersinking thrust force of stacks, Composite Structures, 2019, 209: 337-348. Xiong Liang, Dan Wu, Yuhao Gao, Ken Chen. Investigation on the non-coaxiality in the drilling of carbon-fibre-reinforced plastic and aluminum stacks. International Journal of Machine Tools & Manufacture, 2018, 125: 1-10. Xinguo Ma, Dan Wu, Yuhao Gao, Xiong Liang, Shijian Huang, Yunfei Dong. An approach to countersink depth control in the drilling of thin-wall stacked structures with low stiffness. The International Journal of Advanced Manufacturing Technology, 2018, 95(1-4): 785-795. Yuhao Gao, Dan Wu, Xiong Liang, Xinguo Ma, Ken Chen. Evaluation and reduction of the non-coaxiality in stack drilling using the pre-installed fasteners. Journal of Manufacturing Processes, 2018, 34: 40-50. Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Learning-based variable compliance control for robotic assembly. Journal of Mechanisms and Robotics-Transactions of the ASME, 2018,10(6): 061008. Tianyu Ren, Yunfei Dong, Dan Wu, Ken Chen. Collision detection and identification for robot manipulators based on extended state observer. Control Engineering and Practice, 2018，79:144-153. Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen. An efficient robot payload identification method for industrial application，Industrial Robot-The International Journal of Robotics Research and Application, 2018, 45(4): 505-515. Yunfei Dong, Tianyu Ren, Dan Wu, Ken Chen. An accurate on-Line correction strategy for gravity compensation aiming at teaching by touch of collaborative robots. Proceedings of the ASME 2018 International Mechanical Engineering Congress and Exposition, IMECE 2018, Pittsburgh, USA. 张玉玺, 吴丹, 杨亚鹏, 马信国, 梁雄. 冷却润滑方式对CFRP/Al叠层钻孔质量及轴向力的影响. 清华大学学报(自然科学版)，2018, (4): 402-410. Yuhao Gao, Dan Wu, Yunfei Dong, Xinguo Ma, Ken Chen. The method of aiming towards the normal direction for robotic drilling. International Journal of Precision Engineering and Manufacture, 2017, 18(6): 787-794. 吴丹，黄诗剑，高雨浩，董云飞，马信国. 铝合金叠层板钻削层间毛刺高度预测模型. 2017, 57(6) :591-596. Tianyu Ren, Yunfei Dong, Dan Wu, Guolei Wang, Ken Chen Ken. Joint torque control of a collaborative robot based on active disturbance rejection with the consideration of actuator delay. Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition, IMECE2017. 南成根, 吴丹, 马信国, 陈恳. 碳纤维复合材料/钛合金叠层钻孔质量研究. 机械工程学报，2016, 52(11): 177-185.（荣获机械工程学报第二届高影响力论文奖）陈恳, 阮和平, 吴丹, 刘飞. 振动研磨过程中研磨参数的定量研究. 清华大学学报（自然科学版）, 2016, (3): 328-333. Yuhao Gao, Dan Wu, Chenggen Nan, Xinguo Ma, Yunfei Dong, Ken Chen. The interlayer gap and non-coaxiality in stack drilling. International Journal of Machine Tools & Manufacture, 2015, 99(12): 68-76. Yuhao Gao, Dan Wu, Chenggen Nan, Ken Chen. Normal direction measurement in robotic drilling and precision calculation. International Journal of Advanced Manufacturing Technology, 2015, 76(5-8):1311-1318. Fei Liu, Dan Wu, Xiaoyong Wu, Ken Chen. Analyses of the cell mechanical damage during microinjection. Softer Matter, 2015, 11(7): 1434-1442. 南成根, 吴丹, 马信国, 陈恳. CFRP/Al叠层钻孔粉状切屑对加工质量的影响. 清华大学学报. 2015, 55(3):279-284. Chenggen Nan, Dan Wu, Yuhao Gao, Ken Chen. Influence of Metal Chips on Drilling Quality of Carbon Fibre Reinforced Plastic and Titanium Stacks., Proceedings of the 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), Shenyang, China, 6-8 June, 2015, pp.1204-1209. (EI源) Xinguo Ma, Dan Wu, Chenggen Nan, Yuhao Gao. Quantitative Analysis and Improvement of Countersink Depth in Stack Drilling. Proceedings of the ASME 2015 International Mechanical Engineering Congress and Exposition, IMECE2015. Dan Wu, Ken Chen. Limit cycle analysis of active disturbance rejection control system with two nonlinearities. ISA Transactions，2014,53(4):947-954. Fei Liu, Dan Wu, Ken Chen. Ligands influence a carbon nanotube penetration through a lipid bilayer. Journal of Nanoparticle Research, 2014: 16:2692. Fei Liu, Dan Wu, Ken Chen. A zebrafish embryo behaves both as a “cortical shell– liquid core” structure and a homogeneous solid when experiencing mechanical forces. Microscopy and Microanalysis, 2014, 20(6):1841-1847. Yuhao Gao, Dan Wu, Chenggen Nan, Xinguo Ma, Ken Chen. Optimization design for normal direction measurement in robotic drilling. Proceedings of the ASME 2014 International Mechanical Engineering Congress & Exposition, IMECE2014. Dan Wu, Ken Chen. Frequency domain analysis of nonlinear active disturbance rejection control via the describing function method. IEEE Transactions on Industrial Electronics, 2013, 60(9): 3906-3914. Fei Liu, Dan Wu, Roger D. Kamm, Ken Chen. Analysis of nanoprobe penetration through a lipid bilayer. Biochimica et Biophysica Acta (BBA) - Biomembranes, 2013, 1828(8):1667-1673. Fei Liu, Dan Wu, Ken Chen. Mechanical behavior of cells in microinjection: A minimum potential energy study. Journal of the Mechanical Behavior of Biomedical Materials, 2013, 24: 1-8. Fei Liu, Dan Wu, Ken Chen. The Simplest Creeping Gait for a Quadruped Robot, Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science, 2013, 227(1):170-177. 吴丹，赵彤，陈恳. 快速刀具伺服系统自抗扰控制的研究与实践. 控制理论与应用. 2013,30(12): 1-9. 任书楠，吴丹，陈恳. 钻削碳纤维增强型复合材料的主切削刃轴向力. 清华大学学报（自然科学版）, 2013, 53(4): 487-492. Dan Wu, Libin Song, Ken Chen,Fei Liu. Modelling and hydrostatic analysis of contact printing microarrays by quill pins. International Journal of Mechanical Sciences, 2012, 54(1): 206-212. Dan Wu, Shunyan Zhou, Xiaodan Xie. Design and control of an electromagnetic fast tool servo with high bandwidth. IET Electric Power Applications, 2011, 5(2):217-223. Dan Wu, Ken Chen. Chatter suppression in fast tool servo-assisted turning by spindle speed variation. International Journal of Machine Tools & Manufacture, 2010, 50(12): 1038-1047. Dan Wu, Xiaodan Xie, Shunyan Zhou. Design of a normal stress electromagnetic fast linear actuator. IEEE Transactions on Magnetics, 2010, 46(4):1007-1014. Dan Wu, Ken Chen. Design and Analysis of Precision Active Disturbance Rejection Control for Noncircular Turning Process. IEEE Transactions on Industrial Electronics, 2009, 56(7): 2746-2753. Dan Wu, Tong Zhao, Ken Chen, Xiankui Wang. Application of active disturbance rejection control to variable spindle speed noncircular turning process. International Journal of Machine Tools& Manufacture, 2009, 49(5):419-423. Dan Wu, Ken Chen, Xiankui Wang. An investigation of practical application of variable spindle speed machining to noncircular turning process. International Journal of Advanced Manufacturing Technology, 2009, 44(11):1094-1105. Dan Wu, Ken Chen, Xiankui Wang. Tracking control and active disturbance rejection with application to noncircular machining. International Journal of Machine Tools&Manufacture. 2007, 47(15): 2207-2217.