1982- 199 1 Assistant Professor and Lecturer of Northeast Institute of Heavy Machinery (now Yanshan University);

199 1- 1995 Associate Professor of Yanshan University;

1995 professor and doctoral supervisor of Yanshan university;

1995- 1997 postdoctoral fellow, Simon Fraser University, Canada;

1997- 1999 professor, doctoral supervisor and director of the robot center of Yanshan university;

1999-2002 Vice President, Professor and Doctoral Supervisor of Hebei University of Technology;

2002-2004 President, Professor and Doctoral Supervisor of Hebei University of Technology;

2004-2009, School of Mechanical and Power Engineering, Shanghai Jiaotong University, professor, doctoral supervisor, vice president, director of the Institute of Major Equipment Design and Control Engineering;

2009- School of Mechanical and Power Engineering, Shanghai Jiaotong University, professor, doctoral supervisor, director of the State Key Laboratory of Mechanical Systems and Vibration (Shanghai Jiaotong University), director of the Institute of Major Equipment Design and Control Engineering.