SONG Shuang
G311, HIT Campus of University Town of Shenzhen, Shenzhen, China (518055)
Dr. Shuang SONG is an Assistant Professor at School of Mechanical Engineering and Automation. He received his master and doctor degree from University of Chinese Academy of Science at 2010 and 2013, respectively.

His main researches focus on the Design and Sensing of the Minimally Invasive Surgery Robots, including the wireless capsule robot, the wire-driven flexible robot, the concentric tube robot, the magnetic driven microrobot, and so on. He has published 70 journal and conference papers, with a total citation of 667 accoding to google scholar, and h-index is 13. He has published 30 SCI-indexed journal paper in IEEE Transactions on Magnetics, IEEE Sensors Journal, IEEE Transactions on Biomedical Engineering, IEEE Transactions on Control Systems Technology, Medical & Biological Engineering & Computing, Mechatronics, and so on. He has been a committee member and published chair for several IEEE International Conference.
2013-2015||Research Fellow, National University of Singapore##2015-||Assistant Professor, HITSZ
NCEPU, Bachelor
University of Chinese Academy of Sciences, Master
University of Chinese Academy of Sciences, Ph.D.
Research Fellow, National University of Singapore
Assistant Professor, HITSZ
Publication Chair
IEEE ICIA 2012,2014,2015, CCECE 2015
IEEE Transactions on Biomedical Engineering;
IEEE Sensors Journal;
International Journal of Medical Robotics and Computer Assisted Surgery;
International Journal of Robotics and Automation;
Best Paper Award in CCECE2015
Journal Paper


[32] S. Song, C. Zhang, L. Liu, M. Meng, Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments, Int J CARS, 2018

[31] L. Kuang, L. Lou, S. Song, Design and Fabrication of a Novel Force Sensor for Robot Grippers, IEEE Sensors Journal, 2018

[30] Y. Zeng, H. Yu, H. Dai, S. Song*, M. Lin, B. Sun, W. Jiang, M. Meng, An Improved Calibration Method for a Rotating 2D LIDAR System, Sensors, 2018

[29] H. Dai, S. Song*, X. Zeng, S. Su, M. Lin, M. Meng, 6-D Electromagnetic Tracking Approach Using Uniaxial Transmitting Coil and Tri-Axial Magneto-Resistive Sensor, IEEE Sensors Journal, 2018


[28] S. Song, Q. Xiao, W. Liu, M. Meng, An Improved 6D Pose Detection Method Based on
Opposing-Magnet Pair System and Constraint Multiple Magnets Tracking Algorithm. IEEE Sensors Journal, 2017

[27] Q. Xiao, S. Song*, M. Meng. A Novel 6-D Pose Detection Method Using Opposing-Magnet Pair System. IEEE Sensors Journal, 2017

[26] S. Song, X. Qiu, J. Wang, M. Meng. Design and Optimization Strategy of Sensor Array Layout for Magnetic Localization System. IEEE Sensors Journal, 2017

[25] C. Shi, X. Luo, P. Qi, T. Li, S. Song, Z. Najdovski, T. Fukuda, H. Ren. Shape Sensing Techniques for Continuum Robots in Minimally Invasive Surgery: A Survey. IEEE Transactions on Biomedical Engineering, 2017

[24] Y. Chen, W. Xu, Z. Li, S. Song, C.M. Lim, Y. Wang, H. Ren. Safety-Enhanced Motion Planning for Flexible Surgical Manipulator Using Neural Dynamic. IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2017.


[23] S. Song, X. Qiu, J. Wang, M. Meng. Real-time Tracking and Navigation for Magnetically Manipulated Untethered Robot. IEEE ACCESS, 2016.

[22] S. Song, C. Hu and M. Meng. Multiple Objects Positioning and Identification Method Based on Magnetic Localization System. IEEE Transactions on Magnetics, 2016.

[21] L. Wu, S. Song, K. Wu, C. Lim and H. Ren. Development of a compact continuum tubular robotic system for nasopharyngeal biopsy. Medical & Biological Engineering & Computing, 2016

[20] C. Hu, Y. Ren, X. You, W. Yang, S. Song*, S. Xiang, X. He, Z. Zhang and M. Meng. Locating Intra-Body Capsule Object by Three-Magnet Sensing System. IEEE Sensors Journal, 16(13):5167-5176, July 2016

[19] Y. Sun, S. Song, X. Liang, H. Ren. A Miniature Soft Robotic Manipulator Based on Novel Fabrication Methods. IEEE Robotics and Automation Letters, 1(2):617-623, July, 2016


[18] S. Song, Z. Li, Max Meng, H. Yu, H. Ren. Real-Time Shape Estimation for Wire-Driven Flexible Robots With Multiple Bending Sections Based on Quadratic Bézier Curves. IEEE Sensors Jounrnal, 15(11):6326-6334, Nov 2015

[17] S. Song, Z. Li, H. Ren and H. Yu. Shape Reconstruction for Wire-Driven Flexible Robots Based on Bézier Curve and Electromagnetic Positioning. Mechatronics. 29:28-35, Aug 2015.

[16] S. Song, H. Ren and H. Yu. Electromagnetic Positioning for Tip Tracking and Shape Sensing of Flexible Robots. IEEE Sensors Journal, 15(8):4565-4575, 2015


[15] S. Song, H. Ren and H. Yu. An Improved Magnetic Tracking Method using Rotating Uniaxial Coil with Sparse Points and Closed Form Analytic Solution. IEEE Sensors Journal, 14(10): 3585-3592, 2014

[14] S. Song, B. Li, W. Qiao, C. Hu, H. Ren, H. Yu, Q. Zhang, Max Meng and G. Xu. 6-D Magnetic Localization and Orientation Method for an Annular Magnet Based on a Closed-Form Analytical Model. IEEE Transactions on Magnetics. 2014, 50(9)

[13] S. Song, W. Qiao, B. Li, C. Hu, H. Ren and Max Meng. An Efficient Magnetic Tracking Method Using Uniaxial Sensing Coil. IEEE Transactions on Magnetics,  2014. 50(1)


[12] S. Song, C. Hu, B. Li, X.Li and Max Meng. An Electromagnetic Localization and Orientation Method Based on Rotating Magnetic Dipole. IEEE Transactions on Magnetics, 49(3):1274-1277, 2013.

[11] C. Hu, W. Qu, Z. Zhang, Z. Feng, S. Song and Meng, M.Q.-H. Recovering Amplitudes and Phases From Saturated Multifrequency Sinusoid Signals. IEEE Sensors Journal, 13(11):4569-4575, 2013

[10] H. Ren, W. Liu and S. Song. Towards occlusion-resistant surgical instrument tracking. Bone and Joint Journal Orthopaedic Proceedings Supplement, 95-B(SUPP 28):52, 2013.

=============================Before 2012============================

[9] C. Hu, S. Song, X. Wang, Meng, M.Q.-H. and B. Li. A Novel Positioning and Orientation System Based on Three-Axis Magnetic Coils. IEEE Transactions on Magnetics, 48(7):2211-2219, 2012

[8] W. Yang, Y. Li, C. Hu and S. Song. A real-time tracking method for the rectangular magnet based on parallel Levenberg-Marquardt algorithm. International Journal of Applied Electromagnetics and Mechanics, 37(4):241-251, 2011.

[7] W. Yang, C. Hu, M. Li, Meng M.Q.-H. and S. Song. A New Tracking System for Three Magnetic Objectives.  IEEE Transactions on Magnetics, 46(12):4023-4029, 2010.

[6] C. Hu, M. Li, S. Song, W. Yang, R. Zhang and Meng, M.Q.-H. A Cubic 3-Axis Magnetic Sensor Array for Wirelessly Tracking Magnet Position and Orientation. IEEE Sensors Journal, 10(5):903-913, 2010.

[5] W. Yang, C. Hu, Meng, M.Q.-H., S. Song and H. Dai. A Six-Dimensional Magnetic Localization Algorithm for a Rectangular Magnet Objective Based on a Particle Swarm Optimizer. IEEE Transactions on Magnetics, 45(8):3092-3099, 2009.

[4] S. Song, C. Hu, B. Li, X. Li, W. Qiao and Max Meng. Electromagnetic Localization and Orientation Method and System. Journal of Integration Technology, 2(2):8-15, 2013.

[3] C. Hu, S. Song, W. Yang, Max Meng, B. Li, D. Zeng, X. Li and H. Zhu. On the Magnetic Localization Techniques for Position and Orientation of the Capsule Endoscope. Journal of Integration Technology, 1(1):105-113,2012.

[2] W. Liu, C. Hu, B. Li, S. Song and Max Meng. Multi-view Optical Tracking System. Journal of Integration Technology, 2(1):35-41, 2012.

[1] X. Shi, C. Hu, W. Xiang, S. Song and X. Wang. An Electromagnetic Locating Method for Orthopaedic Surgery Robot. Chinese Journal of Sensors and Actuators, 24(11):1569-1573, 2011. 

J. Wang, Y. Lu, C. Zhang, S. Song*, M. Meng, Pilot Study on Shape Sensing for Continum Tubular Robot with Multi-Magnet Tracking Algorithm, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2017

S. Song, X. Qiu, M. Meng, An Improved 6D Pose Detection Method Based on Multiple Magnets Tracking, IEEE Sensors, 2017

X. Zeng, S. Song*, J. Wang, H. Dai, S. Su, An Analytic Algorithm Based Position and Orientation Detection Using A Tri-axial Magnetoresistive Sensor, IEEE Sensors, 2017

C. Zhang, Y. Lu, X. Qiu, S. Song*, L. Liu, M. Meng. Preliminary Study on Magnetic Tracking based Navigation for Wire-Driven Flexible Robot. IROS2017

S. Song, S. Song*, M. Meng, Electromagnetic Actuation System Using Stationary Six-pair Coils for Three-dimensional Wireless Locomotive Microrobot, International Conference on Information and Automation (ICIA), 2017