讲座题目：The“Fantastic Voyage”of A Vibro-impact Capsule: From Non-smooth Dynamics to Lower Gastrointestinal Endoscopies

（碰振胶囊的“神奇旅程”：从非光滑动力学到下消化道内窥镜检查）

讲座时间：2023/8/24（星期四）10:00-11:30

讲座地点：西安交通大学创新港2-2072

讲座学者：刘 洋教授

邀请人： 曹军义教授

讲座人简介：

刘洋教授，2003年本科毕业于湖南大学自动控制专业，2005年硕士毕业于英国谢菲尔德控制系统专业，2010年博士毕业于英国斯坦福德郡大学。在2010年至2013年期间，刘教授在阿伯丁大学Marian Wiercigroch教授的应用动力学中心从事博士后研究工作。2013年，在罗伯特戈登大学工程系工作，任职讲师（博士生导师）。2016年，任职于埃克塞特大学工程系讲师（博士生导师），2019年升为高级讲师，2022年晋升为副教授，从事碰振系统的动力学与控制，胶囊内窥镜机器人和早期肠癌检测的研究。刘洋教授在系统建模、动力学分析、控制系统设计与优化及实验验证等方面具有良好的造诣，已取得多项研究基金，其中主持多项英国EPSRC科学基金，牛顿基金，英国皇家协会基金，和欧盟Horizon2020。刘教授已发表高质量文章90余篇，其中包括70余篇杂志论文和两项专利，是国际著名杂志《Nonlinear Dynamics》和《International Journal of Mechanical System Dynamics》的编委会成员，并为多次国际会议组委会成员。刘教授的研究成果曾经获得过Lab Science Bursary Award (英国肠胃病学年会), Young Delegates Award (国际机构学与机器科学联合会年会),以及Ali H. Nayfeh Prize (国际非线性动力学会议)等奖励。

讲座简介：

The rectilinear motion of a capsule can be generated using a periodically driven internal mass interacting with the main body of the capsule as a “hammer”, in the presence of external resistances. The entire capsule will be progressing at its maximum during the resonance of the “hammer”. The merit of such a system is its simplicity in mechanical design and control which does not require any external driving accessories, while allowing independent movements in a complex environment. Imagine for example, a controllable capsule moves inside a human gut by adopting this method. In this case, many complications and risks induced by external propellers or fins can be avoided. However, the vibro-impact capsule experiencing vibrations, frictions, and impacts, known as non-smooth system, exhibits a rich variety of different long-term behaviors co-existing for a given set of parameters, which is referred to as multistability or co-existing attractors. When the capsule moves in the gut, some particular attractor may dominate its dynamics, while the other co-existing attractors could fade away. This significant change in dynamics can bring great challenges in capsule control. In this talk, I will introduce how we addressed these challenges through this “fantastic voyage” from mathematical modelling, numerical analysis, control and optimization, experimental investigation, proof-of-concept validation to ex vivo testing. In particular, my talk will focus on the non-smooth dynamics of the system and how to conduct a fine tuning for its system and control parameters to obtain the best performance in terms of progression rate and force generation. Finally, both numerical and experimental results will be presented to show its feasibility in lower gastrointestinal endoscopies.