Assoc. Prof. Guoyuan Li

Guoyuan Li


  • 09/2009-07/2013 Department of Informatics, Faculty of Mathematics, Informatics and Natural Science, University of Hamburg, Germany. Major: Computer science, Ph.D.
  • 09/2006-07/2009 Department of Computer Science, Chongqing University, Chongqing, China. Major: Computer software and theory, M.S.
  • 09/2002-07/2006 Department of Computer Science, Chongqing University, Chongqing, China. Major: Computer science and technology, B.S.

Research interests

My research interests mainly lie in optimization & artificial intelligence. More specifically,

  • In robotics: bio-inspired robots, Central Pattern Generators for gait generation, Adaptive locomotion control.
  • In ship maneuvering: modeling and simulation of ship maneuvering, dynamic positioning, ship path planning, ship motion prediction.
  • In human-machine interaction: visual focus analysis.

Recent publications


  1. Guoyuan Li, Peter Verdru, Wei Li and Houxiang Zhang: A screw-less solution for snake-like robot assembly and sensor integration, in 2017 International Conference on Advanced Mechatronic Systems, Xiamen, China, pp. 139-144, December 6-9, 2017. [PDF]
  2. Guoyuan Li, Rodrigo Urbina and Houxiang Zhang: Concept design and simulation of a water proofing modular robot for amphibious locomotion, in 2017 International Conference on Advanced Mechatronic Systems, Xiamen, China, pp. 145-150, December 6-9, 2017. [PDF]
  3. Yushan Pan, Guoyuan Li, Thiago Gabriel Monteiro, Hans Petter Hildre and Steinar Nistad: Assessment of relations between communications and visual focus in dynamic positioning operations, in 2017 International Technology Enhanced Assessment Conference, Barcelona, Spain, October 5-6,  2017.
  4. Bikram Kawan, Hao Wang, Guoyuan Li and Khim Chhantyal: Data-driven modeling of ship motion prediction based on support vector regression, in Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58), Reykjavik, Iceland, pp. 350-354, September 25-27, 2017.
  5. Zheng Yang, Junyu Lai and Guoyuan Li: Cryptanalysis of a generic one-round key exchange protocol with strong security, IET Information Security, pp. 71-78, 2018.
  6. Yushan Pan, Guoyuan Li, Steinar Nistad and Hans Petter Hildre: Toward optimization of maritime training on communications: a pilot study, in 10th International Conference on ICT, Society and Human Beings, Lisbon, Portugal, pp. 51-57, July 20-22, 2017.
  7. Guoyuan Li, Eirik Homlong, Bjørn Aase Dimmen and Houxiang Zhang: Integration of visual focus into marine operation simulator for behavior observation and analysis, in OCEANS MTS/IEEE 2017, Aberdeen, 2017. [PDF]
  8. Guoyuan Li and Houxiang Zhang: A bézier curve based ship trajectory optimization for close-range maritime operations, in Proceedings of the ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, 2017. [PDF]
  9. Xu Cheng, Guoyuan Li, Shenyong Chen, Chen Diao, Mengna Liu and Houxiang Zhang: Simplifying neural network based model for ship motion prediction: a comparative study of sensitivity analysis, in Proceedings of the ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering, 2017.
  10. Guoyuan Li, Bikram Kawan, Hao Wang and Houxiang Zhang: Neural-network-based modeling and analysis for time series prediction of ship motion, Ship Technology Research, vol. 64, no. 1, pp. 30-39, 2017. [PDF]


  1. Wei Li, Guoyuan Li, Houxiang Zhang, Hans Petter Hildre: A real-time SAR extended object simulator based on FPGA, in 2016 IEEE 13th International Conference on Signal Processing Proceedings, Chengdu, China, pp. 1498-1503, 2016.
  2. Guoyuan Li, Yuxiang Deng, Ottar L. Osen, Shusheng Bi and Houxiang Zhang: A bio-inspired swimming robot for marine aquaculture applications: from concept-design to simulation, in OCEANS MTS/IEEE 2016, Shanghai. [PDF]
  3. Guoyuan Li, Pedersen Birger Skogeng, Yuxiang Deng, Lars Ivar Hatledal and Houxiang Zhang: Towards a virtual prototyping framework for ship maneuvering in offshore operations, in OCEANS MTS/IEEE 2016, Shanghai. [PDF]
  4. Guoyuan Li, Bikram Kawan, Hao Wang, Arne Styve, Ottar L. Osen and Houxiang Zhang: Analysis and modeling of sensor data for ship motion prediction, in OCEANS MTS/IEEE 2016, Shanghai. [PDF]
  5. Hao Wang, Sindre Fossen, Fang Han, Ibrahim A. Hameed and Guoyuan Li: Towards data-driven identification and analysis of propeller ventilation, in OCEANS MTS/IEEE 2016, Shanghai.
  6. Hao Wang, Xu Zhuge, Girts Strazdins, Zheng Wei, Guoyuan Li and Houxiang Zhang: Data integration and visualisation for demanding marine operations, in OCEANS MTS/IEEE 2016, Shanghai.
  7. Guoyuan Li, Wei Li, Hans Petter Hildre and Houxiang Zhang: Online learning control of surface vessels for fine trajectory tracking, Journal of Marine Science and Technology, vol. 21, no. 2, pp. 251-260, 2016. [PDF]


  1. Hao Wang, Ottar Osen, Guoyuan Li, Wei Li, Hong-Ning Dai and Wei Zeng: Big Data and Industrial Internet of Things for the Maritime Industry in Northwestern Norway, 2015 IEEE Region 10 Conference (TENCON 2015), Macau, pp. 1-5, IEEE Press, Nov. 2015.
  2. Guoyuan Li, Wei Li, Houxiang Zhang and Jianwei Zhang: Integration of sensory feedback into CPG model for locomotion control of caterpillar-like robot, Proceeding of 2015 IEEE International Conference on Industrial Technology, Seville, Spain, pp. 303-308, March 17-19, 2015. [PDF]
  3. Guoyuan Li, Wei Li, Karl Henning Halse, Hans Petter Hildre and Houxiang Zhang: Hierarchical control of marine vehicles for autonomous maneuvering in offshore operations, Ship Technology Research, vol. 62, no. 2, pp. 72-80, 2015. [PDF]
  4. Guoyuan Li, Wei Li, Jianwei Zhang and Houxiang Zhang: Analysis and design of asymmetric oscillation for caterpillar-like locomotion, Journal of Bionic Engineering, vol. 12, no. 2, pp. 190-203, 2015. [PDF]
  5. Meteb M. Altaf, Eball H. Ahmad, Wei Li, Houxiang Zhang, Guoyuan Li and Changshun Yuan: An ultra-high-speed FPGA based digital correlation processor, IEICE Electronics Express, vol. 12, no. 8, pp. 1-7, 2015.
  6. Jian Chen, Guoyuan Li, Jianwei Zhang, and Junzhi Yu: Caterpillar-like climbing method incorporating a dual-mode optimal controller, IEEE Transactions on Automation Science and Engineering, vol.12, no.4, pp.1492-1503, 2015.


  1. Guoyuan Li, Houxiang Zhang, Jianwei Zhang and Robin T. Bye: Development of Adaptive Locomotion of a Caterpillar-like Robot Based on a Sensory Feedback CPG Model, Advanced Robotics, vol.28, no.6, pp.389–401, 2014. [PDF]
  2. Guoyuan Li, Houxiang Zhang, Jianwei Zhang and Hans Petter Hildre: An approach for adaptive limbless locomotion using a CPG-based reflex mechanism, Journal of Bionic Engineering, vol.11, No.3, pp.389–399, 2014. [PDF]
  3. Guoyuan Li, Houxiang Zhang, Wei Li, Hans Petter Hildre and Jianwei Zhang: Design of neural circuit for sidewinding of snake-like robots (Best paper in Information), Proceeding of 2014 IEEE International Conference on Information and Automation (ICIA2014), Hailar, China, pp.333–338, July 26-29th, 2014. [PDF]


  1. Guoyuan Li, Hierarchical control of limbless locomotion using bio-inspired CPG model, Ph.D. dissertation, University of Hamburg, 2013.


  1. Dennis Krupke, Guoyuan Li, Jianwei Zhang, Houxiang Zhang and Hans Petter Hildre: Flexible Modular Robotic Simulation Environment for Research and Education, Proceedings of the 28th European Conference on Modelling and Simulation (ECMS2012), Koblenz, Germany, May 29th – June 1st, 2012.


  1. Guoyuan Li, Houxiang Zhang, Fernando Herrero-Carron, Hans Petter Hildre and Jianwei Zhang: A novel mechanism for caterpillar-like locomotion using asymmetric oscillation, Proceeding of 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2011), Budapest, Hungary, pp.164-169, July 3-7th, 2011. [PDF]


  1. Houxiang Zhang, Gionata Salvietti, Wei Wang, Guoyuan Li, Junzhi Yu, Jianwei Zhang: Efficient kinematic solution to a multi-robot with serial and parallel mechanisms, Proceeding of 2010 IEEE International Conference on Intelligent Robots and Systems (IROS2010), Taipei, Taiwan, pp. 6101 – 6106, October 18-22th, 2010.

Project experience

2017-present DeepTek Pre-project

This pre-project is supported by the Offshore Simulation Centre (OSC) AS. It aims to investigate a hybrid control mode of a rig for dynamic positioning (DP) applications. The rig is moored with four wires anchored in the seabed and employed with six thrusters, both of which can compensate environmental effects. In most of the time, only the mooring system is responsible for DP applications. Unless the limitations of the mooring system such as the limited winch force reach, the thruster system will be in charge of the task to eliminate environmental disturbances. In the project, I am responsible for developing the hybrid control system and verify it in the OSC commercial simulator.

2015-present Integrated Marine Operation Simulator Facilities for Risk Assessment Including Human Factors (IMPROVE)

The main project goal is to develop methods and tools for marine operation simulator to help understand human operator’s working situation with greater accuracy, and therefore a more reliable evaluation of fatigue and awareness assessment during a demanding marine operation could be made. There are three working packages in the project, including (1) simulation facilities integration, (2) integrating marine operation training program, and (3) risk assessment. I am working for working package (1), focusing on integrating multiple sensors into the simulation, such as eye tracker, heart rate sensor, body temperature sensors, oxygen level sensors and blood pressure sensors.

2016-2017 RFFMIDT: An approach toward optimal control of ship manoeuvring in offshore operations

I am the project leader of the project. It is a RFF Midt-Norge project, which aims to develop a new control scheme that will provide operators with a good understanding and prediction of the ship’s maneuvering behavior together with an iterative optimization method in order to accomplish safe and efficient maneuvering during demanding operations. We have utilized neural-network-based learning module for ship status prediction, together with an optimizer on the control system for ship maneuvering in demanding operations. We have achieved good result and published 1 journal paper and 2 conference papers for this project. See project information at:

2014-2015 MS GUNNERUS project for fine ship maneuvering

This project aims to develop an adaptive neural-network-based controller for fine maneuvering of surface vessels applying on offshore applications. I am the project leader who not only theoretically analyzed and designed the controller but also carried out related experiments on the CyberShip II ship model. Without any prior knowledge of the vessel, the controller can approximate the unknown nonlinear dynamics of the vessel taking advantage of online learning ability. The results show the effectiveness of the controller for providing good transient and steady state performance in fine maneuvering.

2009-2013 Biologically Inspired Modular Climbing Caterpillar Robot Using Passive Adhesion (BICCA)

The BICCA project is to develop an integrated mini-scaled modular climbing caterpillar robot featuring (1) full locomotion capabilities in a 3D environment; (2) a novel reliable low-frequency vibrating passive adhesion. In this project, I mainly took efforts on the first part. I have developed a hierarchical control architecture taking advantages of a new designed CPG model. Based on this CPG model, a control system has been realized in achieving limbless gait generation, reflex responses, as well as adaptive limbless locomotion.

2009-2013 Cross-Modal Interaction in Natural and Artificial Cognitive Systems (CINACS)

The CINACS project focuses on the topics of cross-modal interactions and integration. Its novelty is the integration of biological and engineering/robotics approaches, allowing for the creation of complementary knowledge in those fields. As an associate PhD student in this project, I have participated in several activities, such as the summer school, the technical colloquium and the journal club.

2008-2009 ARM7-Based PLC Design

This project mainly focuses on the design of PLC CPU module. We developed the PLC CPU module based on ARM7. My primary task is analyzing some common PLC programming language environment, such as Siemens Step 7, Open PLC, etc., and designing the Instruction List environment complying with IEC 61131-3 standard.

2007-2009 Embedded Network Traffic Management System

This project aims to develop an embedded network traffic management system, which can be used for traffic recognizing, classifying and shaping at an accessing network point. My responsibility is designing and implementing the traffic controlling and shaping module.

2006-2007 Rack-mounted Fiber Converter Network Management System

This project is to design and implement a new type network-manageable Optical & Electronic media converter. The fiber converter is a telecommunication device based on ARM7+ uClinux. My job is to design a command line interface, so that the fiber converter can manage not only the local devices, but also remote devices.


Telefon: 0047-70161325

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