北京航空航天大学自动化学院机械电子工程导师介绍：严亮

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导师详细信息

姓名：严亮

性别：男

出生年份：1972

职称：教授

院系：自动化科学与电气工程学院

首次聘任导师时间：2013

现聘任导师一级学科名称：机械工程

现聘任导师二级学科名称：机械电子工程

聘任在第二学科培养博士生鑫辉娱乐登录入口下载名称：无

聘任在自主设置学科培养博士生鑫辉娱乐登录入口下载名称：无

主要研究方向及特色：先进驱动：多自由度球电机、微纳电机、大功率直线驱动电机、电磁场技术与应用、高精密运动机构设计及其控制、现代制造装备驱动；机器人技术：仿生机器人技术、微型机器人、生物医疗机器人、机器人智能检测技术、智能模块化可重构机器人。

电子信箱：yanliang@buaa.edu.cn

办公电话：010-82339890

办公地点：新主楼E-1026

通信地址：无

个人简介：

教授、博导、教育部新世纪人才

学习经历

2002–2006年，工学博士学位，新加坡南洋理工大学及美国佐治亚理工学院联合培养；

1995–1998年，工学硕士学位，毕业于北京理工大学；

1991–1995年，工学学士学位，毕业于华北工学院。

工作经历

1998年–2002年在北京理工大学自动控制系任讲师，承担国家重大项目的研制，经费4000余万元；

2006年–2010年在新加坡南洋理工大学机器人研究中心担任研究员，主要从事机器人、传感器、特种电机及电磁技术的研究；

2010年进入北京航空航天大学工作至今。

研究领域

研究兴趣包括：仿生机器人技术、微型机器人、生物医疗机器人、机器人智能检测技术、智能模块化可重构机器人、多自由度球电机、直线电机、超微电机、电磁场技术、高精密运动机构设计及其控制、纳米装备制造。

主持科研项目14项，在研7项，含国家自然科学基金、民口“973”子课题、“863”机器人重大专项课题等项目。主参科研项目10项，在研2项。

学术与社会兼职

1. 国际电子与电器工程学会，高级会员(IEEE, Senior Member)；

2. 国际机器与机构学理论联合会，机器人与机械电子分会(IFToMM)，技术委员会委员；

3. 中国机械工程学会流体传动与控制分会青年工作委员会，委员；

4. IEEE Robotics and Automation Society会员、IEEE Magnetics Society会员、IEEE Industrial Electronics Society会员；

5. 2008 IEEE机器人、自动化与机械电子国际会议，出版主席 (Intel Conf. on Robotics, Automation and Mechatronics, Publication chair)；

6. 2008 IEEE控制论与智能系统国际会议，出版主席 (Intel Conference on Cybernetics and Intelligent Systems, Publication chair)；

7. 2009 IEEE/ASME先进机械电子国际会议，出版主席 (Intel Conference on Advanced Mechatronics, Publication chair)；

8. 2011流体传动与机械电子国际会议，出版主席 (Intel Conference on Fluid Power and Mechatronics, Publication chair)；

9. 2012 IEEE 工程与技术可持续性发展国际会议，国际顾问委员会委员(The 3rd IEEE Conference on Sustainable Utilization and Development in Engineering and Technology, International Advisory Committee)；

10. IEEE Transactions on Robotics, IEEE/ASME Transaction on Mechatronics, International Journal of Sensors and Actuators, International Journal of Measurements，International Journal of Mechatronics等重要国际期刊评委。

荣誉及奖励（可按重要程度排序）

教育部新世纪人才；

获部级科技进步奖两项；

获国际会议最佳候选论文奖2项；

获校级科技奖一等奖、二等奖共5项；

应邀做国际会议特邀报告2次。

科研成果（文章、专著等）

在IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Automation Science and Engineering等国际重要期刊及学术会议发表论文60余篇。发表Springer英文专著一部（该书为球电机领域第一本国际英文专著）。

部分论著列表：

1.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang and Kok-Meng Lee, “Design, modeling, and experiments of 3-DOF electromagnetic spherical actuators,” Springer Verlag Publishing Press, ISBN: 978-94-007-1645-2, DOI: 10.1007/978-94-007-1646-9, June 9, 2011.

2.Liang Yan, Tianyi Wang, Delong Liu, Juanjuan Peng, Zongxia Jiao, and Chin-Yin Chen, “Capsule Robot for Obesity Treatment with Wireless Powering and Communication”, IEEE Transactions on Industrial Electronics, in press, 2014. (SCI, Impact factor: 6.500)

3.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Analysis of Pole Configurations of Permanent Magnet Spherical Actuators,” IEEE/ASME Transactions on Mechatronics, vol. 15, no. 6, pp.986-989, December 2010. (SCI, Impact factor: 3.135).

4.Liang Yan, Hua Lan, Zongxia Jiao, Chin-Yin Chen, and I-Ming Chen, “Compact Piezoelectric Micromotor with a Single Bulk Lead Zirconate Titanate Stator”, Applied Physics Letters, vol. 102, no.3, 134106, 2013. (SCI, Impact factor: 3.844)

5.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Analysis of Pole Configurations of Permanent Magnet Spherical Actuators,” IEEE/ASME Transactions on Mechatronics, vol. 15, no. 6, pp.986-989, December 2010. (SCI, Impact factor: 3.135).

6.Liang Yan, Lei Zhang, Zongxia Jiao, Chin-Yin Chen, and I-Ming Chen, “Armature Reaction Field and Inductance of Coreless Moving-coil Tubular Linear Machine”, IEEE Trans. on Industrial Electronics, in press, 2014. (SCI, Impact factor: 6.5)

7.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Modeling and Iron-effect Analysis on Magnetic Field and Torque Output of Electromagnetic Spherical Actuators with Iron Stator,” IEEE/ASME Transactions on Mechatronics, vol. 17, no. 6, pp. 1080-1087, December 2012. (SCI, Impact factor: 3.135).

8.Liang Yan, Jie Hu, Nan Yao, Zongxia Jiao, I-Ming Chen, and Kok-Meng Lee, “Flux Field Formulation and Back-iron Analysis of Tubular Linear Machines”, IEEE Transactions on Magnetics, vol.48, no.10, pp. 2617-2626, October 2012. (SCI, Impact factor: 1.422)

9.Liang Yan, Lei Zhang, Tianyi Wang, Zongxia Jiao, Chin-Ying Chen, and I-Ming Chen, "Magnetic Field of Tubular Linear Machines with Dual Halbach Array," Progress In Electromagnetics Research-PIER, Vol. 136, 283-299, 2013. (SCI, Impact factor: 5.298)

10.Liang Yan, Lei Zhang, Zongxia Jiao, Hongjie Hu, Chin-Yin Chen, I-Ming Chen, “A Tubular Linear Machine with Dual Halbach Array”, Engineering Computations, vol. 31, no. 2, 2013. (SCI, Impact factor: 1.060)

11.Chee Kian Lim, I-Ming Chen, Liang Yan, Guilin Yang, Wei Lin and Kok-Meng Lee, “Electromechanical Modeling of a Permanent Magnet Spherical Actuator based on Magnetic Dipole Moment Principle,” IEEE Transactions on Industrial Electronics, Vol. 56, No. 5, pp. 1640 - 1648, May 2009. (SCI, Impact factor: 5.165).

12.Huisheng Liang, Zongxia Jiao, Liang Yan, Shuai Wu, Yang Li, Longfei Zhao, “Design and Analysis of a Tubular Linear Oscillating Motor for Directly-driven EHA Pump”, Sensors & Actuators: A. Physical, accepted,2013. (SCI, Impact factor: 2.084)

13.Shuai Wu, Zongxia Jiao, Liang Yan, Rui Zhang, Chin-Yin Chen, “Development of a Direct Drive Servo Valve with High Frequency Voice Coil Motor and Advanced Digital Controller” , IEEE/ASME Transactions on Mechatronics, in press, DOI: 10.1109/TMECH.2013.2264218, 2013. (SCI, Impact factor: 3.135)

14.Hua Lan, Liang Yan, Dingguo Xiao, Zongxia Jiao, and I-Ming Chen, “Surface-to-surface Calibration of Acoustic Emission Sensors,” Sensors and Actuators A: Physical, vol. 174, pp. 16–23, February 2012. (SCI, Impact factor: 2.084)

15.Jianyong Yao, Zongxia Jiao, Liang Yan, and Dawei Ma, “High Accuracy Tracking Control of Hydraulic Rotary Actuators with Modelling Uncertainties”, IEEE/ASME Transactions on Mechatronics, in press, DOI: 10.1109/TMECH.2013.2252360, 2013. (SCI, Impact factor: 3.135)

16.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Hybrid Torque Modeling of Spherical Actuators with Cylindrical-shaped Magnet Poles,” Mechatronics, Vol. 21, No. 1, pp. 85-91, February 2011. (SCI, Impact factor: 1.655).

17.Shuai Wu, Zongxia Jiao, Liang Yan, Juntao Yu, Chin-Yin Chen. “A Fault-tolerant Triple-redundant Voice Coil Motor for Direct Drive Valve: Design, Optimization and Experiment”, Chinese Journal of Aeronautics, vol. 26, no. 4, pp. 1071-1079, 2013. (SCI, Impact factor: 0.584).

18.Liang Yan, I-Ming Chen, Zhongwei Guo, Yan Lang and Yunhua Li, “A Three Degree-of-freedom Optical Orientation Measurement Method for Spherical Actuator Applications,” IEEE Transactions on Automation Science and Engineering, Vol. 8, No. 2, pp. 319-326, April 2011. (SCI, Impact factor: 2.138).

19.Rui Zhang, Long Lin, Qingshen Jing, Wenzhuo Wu, Yan Zhang, Zongxia Jiao, Liang Yan, Ray P.S. Han, and Zhong Lin Wang, “Nanogenerators as Active Sensor for Vortex Capture and Ambient Wind-Velocity Detection,” Energy & Environmental Science, vol. 5, pp. 8528- 8533, June 2012. (SCI, Impact factor: 11.7)

20.Weihai Chen, Liang Zhang, Liang Yan, Jingmeng Liu，“Design and control of a three degree-of-freedom permanent magnet spherical actuator”, Sensors and Actuators A: Physical, vol. 180, pp. 75-86, June 2012. (SCI, Impact factor: 2.084)

21.Liang Yan, I-Ming Chen, Song Huat Yeo, Yan Chen and Guilin Yang, “A High-Dexterity Low-Degree-of-Freedom Hybrid Manipulator Structure for Robotic Lion Dance”, International Journal Zhejiang University-Science A (Applied Physics and Engineering), Vol. 11, No. 4, pp. 240– 249, March, 2010. (SCI, Impact factor: 0.527).

22.Chee Kian Lim, I-Ming Chen, Liang Yan, and Zhiqiang Luo, “A novel approach for positional sensing of a spherical geometry”, Sensors and Actuators A: Physical, vol. 168, no. 2, pp. 328-334, August 2011. (SCI, Impact factor: 2.084).

23.Liang Yan, Zhewu Wu, Zongxia Jiao, Hongjie Hu, Chin-Yin Chen, I-Ming Chen, “Analytical and Numerical Investigation on the Magnetic Field of Novel PM Spherical Actuator with Outer Rotor”, IEEE International Symposium on Computer, Consumer and Control, Taichung, Taiwan, accepted, June 10-12, 2014. EI

24.Liang Yan, Fengqi Liang, Zongxia Jiao, Hongjie Hu, Chin-Yin Chen, I-Ming Chen, “Equivalent Energized Coil Model for Magnetic Field of PM Spherical Actuator”, IEEE International Symposium on Computer, Consumer and Control, Taichung, Taiwan, accepted, June 10-12, 2014. EI

25.Liang Yan, Juanjuan Peng, Zongxia Jiao, Yaoxing Shang, Nan Yao, Chin-Yin Chen and I-Ming Chen, “Magnetic Field Analysis of Rotary Machines with Double-Layered Halbach Array”, The 3rd IFToMM International Symposium on Robotics and Mechatronics, pp.22-26, Singapore, 2-4 October 2013. EI

26.Liang Yan, Fengqi Liang, Mei Yuan, Hongjie Hu, Chin-Yin Chen, I-Ming Chen, “Analysis of Novel Three-dimensional Pole Arrays for Electromagnetic Spherical Actuators”, 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, pp. 780-785, 9-12 July 2013. EI

27.Shuai Wu, Zongxia JIAO, Liang Yan, Yaoxing Shang, “A new rotary voice coil motor suitable for short angular strokes–design, modeling and optimization”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.792-797, July 9-12 2013. EI

28.Liang Yan, Lei Zhang, Zongxia Jiao, Hongjie Hu, Chin-Yin Chen and I-Ming Chen, “Force Formulation of Tubular Linear Machines with Dual Halbach Array”, the 22nd IEEE International Symposium on Industrial Electronics, Taipei, Taiwan, May 28-31, 2013. EI

29.Liang Yan, Lei Zhang, Nan Yao, Zongxia Jiao, I-Ming Chen and Chin-yin Chen, “Design and Analysis of Tubular Linear Machines with Dual Halbach Arrays”, the 2nd International Conference on Engineering and Technology Innovation, vol. 284-287, pp 667-671, 2013. EI

30.Liang Yan, Yingyi Hu, Hua Lan, Nan Yao, Zongxia Jiao, and I-Ming Chen, “A Novel Two Degree-of-freedom Ultrasonic Planar Motor Driven by Single Stator”, the IEEE 10th International Conference on Industrial Informatics, Beijing, China, pp. 550-553, July 25-27, 2012. EI

31.Liang Yan, Lei Zhang, Tianyi Wang, Yaoxing Shang, and Zongxia Jiao, “Back-iron Effect of Tubular Linear Motors with Dual Halbach Permanent Magnet Arrays”, the IEEE 10th International Conference on Industrial Informatics, Beijing, China, pp. 574-579, July 25-27, 2012. EI

32.Liang Yan, Hongjun Meng, Nan Yao, and Zongxia Jiao, “Magnetic Field Analysis of Electromagnetic Spherical Actuators with Multiple Radial Poles”, the IEEE 10th International Conference on Industrial Informatics, Beijing, China, pp. 675-677, July 25-27, 2012. EI

33.Lei Zhang, Liang Yan, Nan Yao, Tianyi Wang, Zongxia Jiao, and I-Ming Chen, “Force Formulation of a Three-phase Tubular Linear Machine with Dual Halbach Array”, the IEEE 10th International Conference on Industrial Informatics, Beijing, China, pp. 647-652, July 25-27, 2012. EI (Best Conference Student Paper)

34.Liang Yan, Jie Hu, Zongxia Jiao, Jian Shi, I-Ming Chen, Chee Kian Lim, Guilin Yang, “Parametric Analysis of Tubular Linear Machines,” in IEEE International Conference on Robotics, Automation and Mechatronics, Qingdao, China, pp.347-352, Sep. 17-19, 2011. EI

35.Liang Yan, Jie Hu, Zongxia Jiao, I-Ming Chen, Chee Kian Lim, Guilin Yang, “Magnetic Field Modeling of Linear Machines with Double-layered Halbach Arrays,” in International Conference on Fluid Power and Mechatronics, Beijing, China, pp. 908-913, August 17-20, 2011. EI

34.Liang Yan, Jie Hu, Zongxia Jiao, I-Ming Chen, Chee Kian Lim, “Flux Distribution and Back-iron Influence of Tubular Linear Motors,” in International Conference on Fluid Power and Mechatronics, pp. 902-907, Beijing, China, August 17-20, 2011. EI

35.Rui Zhang, Zongxia Jiao, Liang Yan, Shuai Wu, Huisheng Liang and Junlin Zheng, “Design and Numerical Simulation of A Continuable and Bidirectional Piezo-hydraulic Servo Pump,” in International Conference on Fluid Power and Mechatronics, Beijing, China, pp. 498-504, August 17-20, 2011. EI (Best Conference Paper Finalist)

36.Liang Zhang, Weihai Chen, Liang Yan, Jingmeng Liu, “Trajectory Planning and Current Control Optimization of Three Degree-of-Freedom Spherical Actuator,” in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, California, USA, p 744-749, September 25-30, 2011. EI

37.Liang Zhang, Liang Yan, Weihai Chen, Jingmeng Liu, “Current optimization of 3-DOF permanent magnet spherical motor,” in IEEE Conf. on Industrial Electronics and Applications, pp. 1111-1116, Jun. 2011. EI

38.Chee Kian Lim, I-Ming Chen, Liang Yan, Zhiqiang Luo, “A novel approach in instantaneous orientation sensing of spherical actuator”, in Proceedings of Asia International Symposium on Mechatronics, Singapore, 15-18, December 2010. EI

39.Rui Zhang, Zongxia Jiao, Liang Yan, “Design and Analysis of a Linear-voice-coil-motor Actuated Hydraulic Pump,” in 3rd International Conference on Computer and Electrical Engineering (ICCEE 2010), Chengdu, China. Vol. 4, pp. 469-474, Nov. 16-18, 2010. EI

40.Xia Dong, Kedian Wang, Guodong Wang, Liang Yan, I-Ming Chen, “Design and Study of a Highly Articulated Mini Lion-Dance Robot”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp.830-835, July 6-9, 2010, Montréal, Canada. EI

41.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Empirical Formulation of Torque Output for Spherical Actuators with Low-cost Rotor Poles,” in IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp.1625–1630, Singapore, July 14-17, 2009. EI

42.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Torque Modeling and Analysis of Spherical Actuators with Iron Stator,” in IEEE International Conference on Robotics and Automation, pp. 164-169, Kobe, Japan, May 12 - 17, 2009. EI

43.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “A Multi- degree-of-freedom Orientation Measurement Methodology with Laser Detection,” in IEEE/ ASME Conference on Advanced Intelligent Mechatronics, pp.487-492, Singapore, July 14-17, 2009. EI

44.Liang Yan, I-Ming Chen, Guilin Yang, Song Huat Yeo, Yan Chen and Chee Kian Lim, “Forward and Inverse Kinematics Analysis of a Humanoid Manipulator,” in IFToMM International Symposium on Robotics and Mechatronics, pp. 35-46, Hanoi, Vietnam, September 21–25, 2009.

45.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Design and analysis of a permanent magnet spherical actuator,” IEEE/ASME Transactions on Mechatronics, Vol. 13, No. 2, pp.239-248, April 2008. (SCI, Impact factor: 3.135)

46.Liang Yan, I-Ming Chen, Guilin Yang and Kok-Meng Lee, “Analytical and experimental investigation on the magnetic field and torque of a permanent magnet spherical actuator,” IEEE/ASME Transactions on Mechatronics, Vol. 11, No. 4, pp.409-419, August, 2006. (SCI, Impact factor: 3.135)

47.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Magnetic field analysis of spherical actuators with iron stator,” in IEEE International Conference on Robotics, Automation and Mechatronics, pp. 278-283, Cheng du, China, Sep., 2008. EI

48.Liang Yan, I-Ming Chen, Chee Kian Lim, “Kinematic Analysis of a Two Degree-of-freedom Parallel Manipulator,” in IEEE International Conference on Robotics, Automation and Mechatronics, pp. 1050-1055, Cheng Du, China, June 1-3, 2008. EI

49.Liang Yan, “Magnetic field and torque analysis of 3-DOF electromagnetic spherical actuators,” in International Symposium on Industrial Electronic, Mechatronics and Applications, Kaohsiung, Taiwan, November, 2007.

50.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Torque modeling of spherical actuators with double-layer poles,” in IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5447-5452, Beijing, China, Oct. 2006. EI

51.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Experimental investigation on the magnetic field of a permanent magnet spherical actuator,” in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 41–346, California, USA, July 2005. EI (Nominated as the regular paper of IEEE /ASME Trans. on Mechatronics).

52.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Design and analysis of a permanent magnet spherical actuator,” in IEEE/RSJ International Conference on Intelligent Robots and Systems,pp.2607–2612, Alberta, Canada, Aug. 2005. EI

53.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “Torque modeling of a spherical actuator based on Lorentz force law,” in IEEE International Conference on Robotics and Automation, Barcelona, Spain, pp. 3657–3662, April 2005. EI

54.Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin and Kok-Meng Lee, “A hybrid approach for magnetic field analysis,” in IEEE Conference on Robotics, Automation and Mecha- tronics, Singapore, pp. 530–535, December 2004. EI

55.Chee Kian Lim, I-Ming Chen, Liang Yan, Guilin Yang and Wei Lin, “Motion Generation Methodology of a Permanent Magnet Spherical Actuator,” in Proceedings of IEEE/ASME Conference on Advanced Intelligent Mechatronics, pp. 1377–1382, Singapore, July 14-17, 2009. EI

56.Chee Kian Lim, Liang Yan, I-Ming Chen, Guilin Yang and Wei Lin, “Magnetic Field Modeling of a Permanent Magnet Electromagnetic Spherical Actuator,” in 17th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy 2008), Tokyo, Japan, July 5-9, 2008.

57.Chee Kian Lim, I-Ming Chen, Liang Yan, Guilin Yang and Wei Lin, “Torque Modeling of a Permanent Magnet Spherical Actuator based on Magnetic Dipole Moment Principle,” in Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi’an, China, pp. 445-450, June 2-5, 2008. EI

58.Chee Kian Lim, Liang Yan, I-Ming Chen, Guilin Yang, Wei Lin and Kok-Meng Lee, “Design & Prototyping of a Novel Omni-Directional Wheel using Progressive Wave Method,” in Proceedings of IEEE Conference on Cybernetics & Intelligent Systems and Robotics, Automation & Mechatronics, Bangkok, Thailand, pp. 1-6, June 7-9, 2006. EI

59.Chee Kian Lim, Liang Yan, I-Ming Chen, Guilin Yang and Wei Lin and Kok-Meng Lee, “A novel approach in generating 3-dof motions,” in IEEE International Conference on Mechatronics and Automation, pp. 1485–1490, Ontario, Canada, 2005. EI

60.Chee Kian Lim, Liang Yan, I-Ming Chen, Guilin Yang, Wei Lin and Kok-Meng Lee, “Design & analysis of a new variable stator pole for a dc spherical actuator,” in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, California, USA, July 2005, pp. 347–352. EI

61.Chee Kian Lim, Liang Yan, I-Ming Chen, Guilin Yang and Wei Lin “Mechanical design & numerical electromagnetic analysis of a DC spherical actuator,” in Proceedings of IEEE Conf. on Robotics, Automation and Mechatronics, pp.536–541, Singapore, Dec. 2004. EI

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