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张世武

张世武 副教授 

硕士生导师

电话:0551-63600249

Email:swzhang@ustc.edu.cn

个人主页:http://staff.ustc.edu.cn/~swzhang



 

1997年获中国科学技术大学精密机械与精密仪器系机械电子专业学士学位;2003年获中国科学技术大学精密机械与精密仪器系精密仪器及机械专业博士学位;2004-2005年香港浸会大学计算机科学系博士后;2007年至今任中国科学技术大学精密机械与精密仪器系副教授。2012年任美国俄亥俄州立大学生物医学工程系访问学者。2016年任澳大利亚卧龙岗大学机械、材料与机电工程学院访问学者。现任中国科学技术大学精密机械与精密仪器系教学副主任,IEEE 仿生机器人中国分会Advisor,以及IEEE T. Mechatronics, IEEE T. SMC., IEEE T. IET.,J. Bionic Eng., Mechatronics等多个国际期刊审稿人。近年发表近百篇论文,其中80多篇被SCI/EI检索,拥有8项授权国家专利。主持十多项国家自然基金、中科院、863创新基金以及军口项目。研究方向为:仿生机器人、多模态医疗影像导航、多智能体系统。

 

地址

中国科学技术大学精密机械与精密仪器系

安徽省合肥市金寨路96号,邮编:230026

电话:0551-3600249

Email: swzhang@ustc.edu.cn

个人主页:http://staff.ustc.edu.cn/~swzhang

 

 

研究方向

1. 智能材料与仿生机械

主要研究新型仿生机器人及智能材料驱动的智能结构。研制了包括仿生机器鱼、可变形腿两栖机器人、SMA驱动子母型机器人、高性能越障机器人、复合移动机构机器人、相扑机器人、三维柔性仿生鱼鳍、高机动性两栖机器人、航空航天智能结构等新型或特种机器人系统。研究SMA非线性控制以及SMA驱动的智能结构,应用于仿生机器人驱动、智能变形飞行器变形以及航天元器件的触发中。研制的机器鱼具有良好的效率、机动性和稳定性;三维柔性鱼鳍鳍条可实现鱼鳍多种姿态;创新的两栖机器人变形腿设计使之同时具备陆地高性能越障、水中高效机动以及水陆交界过渡环境高通过性等功能。

2. 多模态医疗影像导航技术

主要研究多模态医疗影像技术例如超光谱成像、激光散斑成像、红外成像以及超声成像等不同模态影像技术,并应用于伤口和肿瘤组织的诊疗过程中,获取组织的血氧、血流灌注、炎症以及其它重要的参数。另外,通过多视技术,可获取组织的三维表面重要特征参数,实现功能参数和结构参数的结合,为伤口和肿瘤的治疗诊断提供重要参考。

 

 

Journal Paper

 

Robotics/Terradynamics/Smart Materials

 

1. Locomotion Performance of the Amphibious Robot on Various Terrains and Underwater with Flexible Flipper Legs, Bin Zhong, Youcheng Zhou, Xiaoxiang Li, Min Xu, Shiwu Zhang*. Journal of Bionic Engineering (In press)

2. A seat suspension with a rotary magnetorheological damper for heavy duty vehicles, Shuaishuai Sun, Donghong Ning, Jian Yang, Haiping Du, Shiwu Zhang, Weihua Li*. Smart Materials and Structures (In press)

3. Development of a bio-inspired transformable robotic fin. Yikun Yang, Yu Xia, Fenghua Qin, Min Xu, Weihua Li, Shiwu Zhang*. Bioinspiration & Biomimetics 11(5):056010, 2016

4. Theoretical and experimental study on a compliant flipper-leg during terrestrial locomotion. Tao Fang, Youcheng Zhou, Shikun Li, Min Xu, Haiyi Liang, Weihua Li, Shiwu Zhang*. Bioinspiration & Biomimetics 11(5):056005, 2016

5. A Highly Adaptive Magnetorheological Fluid Robotic Leg for Efficient Terrestrial Locomotion. Nan Jiang, Shuaishuai Sun, Yiming Ouyang, Min Xu, Weihua Li, Shiwu Zhang*. Smart Materials and Structures 25(9):095019, 2016

6. Design and Control of an Agile Robotic Fish with Integrative Biomimetic Mechanisms. Shiwu Zhang*, Yun Qian, Pan Liao, Fenghua Qin, and Jiming Yang. IEEE/ASME Transactions on Mechatronics. 21(4): 1846-1857, 2016

7. AmphiHex-I: Locomotory Performance in Amphibious Environments with Specially Designed Transformable Flipper-legs, Shiwu Zhang*, Youcheng Zhou, Min Xu, Xu Liang, Jiming Liu, and Jie Yang. IEEE/ASME Transactions on Mechatronics.21(3):1720-1731, 2016

8. Performance Study on a Novel Variable Area Robotic Fin, Bo Liu, Yikun Yang, Fenghua Qin, and Shiwu Zhang*. Mechatronics. Vo.32, P. 59–66, December 2015

9. A Hybrid Force Model to Estimate the Dynamics of Curved Legs in Granular Material. Lichao Xu, Shiwu Zhang*, Nan Jiang, Ronald X. Xu. Journal of Terramechanics. 59:59-70. 2015

10. Dynamic Characteristics of Planar Bending Actuator Embedded with Shape Memory Alloy. Yong Du, Bo Liu, Min Xu, Erbao Dong, Shiwu Zhang*, Jie Yang. Mechatronics. Vol.25 pp.18-26, 2015

11. Fluid-structure Interaction Study on the Performance of Flexible Articulated Caudal Fin. Bo Liu, Shiwu Zhang*, Fenghua Qin, Jie Yang, Advanced Robotics. vol. 28(24), 1665-1676, 2014

12. Design and Implementation of a Lightweight Bio-Inspired Pectoral Fin with Complex Motions. Shiwu Zhang*, Bo Liu, Qin Yan, Lei Wang, K.H. Low, and Jie Yang. IEEE/ASME Transactions on Mechatronics. Vol. 19(6), 1773-1785, 2014

13. Gait Study and Pattern Generation of a Starfish-Like Soft Robot with Flexible Rays Actuated by SMAs. Shixin Mao, Erbao Dong*, Hu Jin, Min Xu, Shiwu Zhang, Jie Yang, Kin Huat Low. Journal of Bionic Engineering, Vol. 11, 400-411, 2014

14. Initial Development of a Novel Amphibious Robot with Transformable Fin-leg Composite Propulsion Mechanisms. Shiwu Zhang*, Xu Liang, Lichao Xu, and Min Xu, Journal of Bionic Engineering, Vol. 10, 434–445, 2013

15. Three-Dimensional Kinematics Analysis of the Koi Carp Pectoral Fin by Digital Image Processing, Lei Wang, Min Xu, Bo Liu, K. H. Low, Jie Yang, and Shiwu Zhang*, Journal of Bionic Engineering. Vol. 10 (2): 210-221 2013

16. A Novel Implementation of a Flexible Robotic Fin Actuated by Shape Memory Alloy. Qin Yan, Lei Wang, Shiwu Zhang* and Jie Yang. Journal of Bionic Engineering. vol 9, no. 2. pp. 156-165, 2012

17. Parametric Research of Experiments on a Carangiform Robotic Fish, Qin Yan, Zhen Han, Shiwu Zhang, Jie Yang, Journal of Bionic Engineering, vol. 5(3): 95-101, 2008

18. Autonomy-oriented social networks modeling: discovering the dynamics of emergent structure and performance. Zhang Shiwu and Liu Jiming. International Journal of Pattern Recognition and Artificial Intelligence, v 21, n 4, 2007, p 611-638

19. Computational Research on Modular Undulating Fin for Biorobotic Underwater Propulsor, Zhang Yonghua, Jia Laibing, Zhang Shiwu, Yang Jie and Low Kinhuat. Journal of Bionic Engineering, v 4, n 1, March, 2007, p 25-32

 

Multimodal imaging/ Medical Device

 

20. Multiview hyperspectral topography of tissue structural and functional characteristics, Peng Liu, Jiwei Huang, Shiwu Zhang*, Ronald X Xu*. Journal of Biomedical Optics. 21(1), 016012, January 2016

21. Ultrasound mediated destruction of multifunctional microbubbles for image guided delivery of oxygen and drugs. Shufang ChangTing SiShiwu ZhangMark A MerrickDavid E CohnRonald X Xu*. Ultrason Sonochem. 2016 Jan 25; 28:31-8.

22. Multi-scale hyperspectral imaging of cervical neoplasia, Chaojian Wang, Wenli Zheng, Yanggao Bu, Shufang Chang, Shiwu Zhang*, and Ronald X. Xu* Archives of Gynecology and Obstetrics, Vol. 293(6):1309–1317, 2015

23. Microfabrication of polydimethylsiloxane phantoms to simulate tumor hypoxia and vascular anomaly. Qiang Wu, Wenqi Ren, Zelin Yu, Erbao Dong, Shiwu Zhang, and Ronald X. Xu*. Journal of Biomedical Optics 20(12), 121308 (December 2015)

24. Quasi-simultaneous multimodal imaging of cutaneous tissue oxygenation and perfusion, Wenqi Ren, Qi Gan, Qiang Wu, Shiwu Zhang*, and Ronald X. Xu*. Journal of Biomedical Optics  20(12), 121307, 2015.

25. Hyperspectral wide gap second derivative analysis for in vivo detection of cervical intraepithelial neoplasia. Wenli Zheng, Chaojian Wang, Shufang Chang, Shiwu Zhang*, and Ronald X. Xu*. Journal of Biomedical Optics 20(12):121303, 2015

26. Second derivative multispectral algorithm for quantitative assessment of cutaneous tissue oxygenation. Jiwei Huang, Shiwu Zhang, Surya Gnyawali, Chandan K. Sen, and Ronald X. Xu*, Journal of Biomedical Optics. 20(3), 036001 (March 2015)

27. Multimodal imaging of cutaneous wound tissue. Shiwu Zhang, Surya Gnyawali, Jiwei Huang, Wenqi Ren, Gayle Gordillo, Chandan K. Sen*, and Ronald Xu*, Journal of Biomedical Optics 20(1), 016016 (January 2015) 

28. Designing a Wearable Navigation System for Image-Guided Cancer Resection Surgery. Pengfei Shao, Houzhu Ding, Jinkun Wang, Peng Liu, Qiang Ling, Jiayu Chen, Junbin Xu, Shiwu Zhang, and Ronald Xu. Annals of Biomedical Engineering. Vol. 42(11):2228-37. 2014

 

Conference Paper:

 

29. Locomotion performance of AmpheHix-I on rough terrains with flexible flipper legs. Bin Zhong, Zelin Yu, Youcheng Zhou, Min Xu, Shiwu Zhang*. 18th Internal Conference on Climbing and Walking Robots (CLAWAR2015),pp. 526-534, 2015

30. Dynamical analysis of large deflection complaint leg during terrestrial locomotion. Tao Fang, Xudong Wang, Zhuo Chen, Min Xu, Shiwu Zhang*. 18th Internal Conference on Climbing and Walking Robots (CLAWAR2015), pp.518-525,2015

31. Experimental Study on the Flexible Straight Leg for Mobile Robots, Xudong Wang, Zhuo Chen, Tao Fang, Min Xu and Shiwu Zhang*. 18th Internal Conference on Climbing and Walking Robots (CLAWAR2015), pp. 494-501, 2015

32. Experimental Study on the Movement Performance of Elastic Legs in the Sand, Xudong Wang, Shiwu Zhang*, Min Xu, Jie Yang, Shixin Mao, IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 955-960, 2014

33. Gait planning and Gait transition of AmphiHex-I, Ziwen Kong, Xudong Wang, Youcheng Zhou, Min Xu, Shiwu Zhang*. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp. 66-71, 2014

34. A simultaneous multimodal imaging system for tissue functional parameters Wenqi RenZhiwu ZhangQiang WuShiwu Zhang*, Ronald Xu. Proc. SPIE 8937, Multimodal Biomedical Imaging IX, 893706, 2014

35. In vivo and in vitro hyperspectral imaging of cervical neoplasia. Chaojian Wang, Wenli Zheng, Yanggao Bu, Shufang Chang, Qingping Tong, Shiwu Zhang*, Ronald Xu. Proc. SPIE 8951, Optical Diagnostics and Sensing XIV: Toward Point-of-Care Diagnostics, 89510M, 2014

36. 3D topography of biologic tissue by multiview imaging and structured light illumination. Peng LiuShiwu ZhangRonald Xu*. Proc. SPIE 8935, Advanced Biomedical and Clinical Diagnostic Systems XII, 89350H, 2014

37. Image-guided plasma therapy of cutaneous wound.  Zhiwu ZhangWenqi Ren, Zelin Yu, Shiwu Zhang*, Ting Yue, Ronald Xu. Proc. SPIE 8935, Advanced Biomedical and Clinical Diagnostic Systems XII, 89350I, 2014

38. A goggle navigation system for cancer resection surgery. Junbin Xu, Pengfei Shao, Ting Yue, Shiwu Zhang, Houzhu Ding, Jinkun Wang, Ronald Xu*, Proc. SPIE 8935, Advanced Biomedical and Clinical Diagnostic Systems XII, 89350J. 2014

39. A study on the swimming performance and the maneuverability of a Robotic fish with modular design. Qin YanWen ShangQixin Zhu and Shiwu Zhang. IEEE-ROBIO 2013: 1013-1018

40. Experimental Study on Morphology and Kinematics of Mudskipper in Amphibious Environments. Lei Wang, Min Xu, Bo Liu, Shiwu Zhang*, Jie Yang. IEEE-ROBIO 2013. pp. 1095-1100

41. Interplay of Theory and Experiment in Analysis of the Advantage of the Novel Semi-elliptical Leg Moving on Loose Soil, Lichao Xu, Xu Liang, Min Xu, and Shiwu Zhang*,  IEEE International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 2013, pp.26-31

42. A Wave Energy Conversion Mechanism Applied in Robotic Fishes, Weijing Zhu, Xudong Wang, Min Xu, Jie Yang, Ting Si, and Shiwu Zhang*, IEEE International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 2013, pp.319-324

43. An Experimental Study on the Locomotion Performance of Elliptic-curve Leg in Muddy Terrain, Xiaoshuang Ren, Xu Liang, Ziwen Kong, Min Xu, Ronald Xu, and Shiwu Zhang*, IEEE International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 2013, pp.518-523

44. System Dynamics Modeling and Prototype Investigation of a New SMA-Electric Motor Hybrid Linear Actuator, Erbao Dong*, Min Xu, Shiwu Zhang, and Jie Yang, IEEE International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 2013, pp.367-372

45. Kinematics Study on Pectoral Fins of Koi Carp by Digital Image Processing, Lei Wang, Bo Liu, Min Xu, Jie Yang, Shiwu Zhang, IEEE International Conference on Robotics and Biomimetics, Guangzhou, China, 2012, pp.526-531

46. Multimodal imaging of ischemic wounds, Shiwu Zhang, Surya Gnyawali, Jiwei Huang, Gayle Gordillo, Chandan K. Sen, Ronald Xu. SPIE Photonics Asia, 2012.

47. Multiview hyperspectral topography of tissue structural and functional characteristics. Shiwu Zhang, Peng Liu, Jiwei Huang, Ronald Xu. SPIE Photonics Asia, 2012.

48. AmphiHex: a Novel Amphibious Robot with Robot with Transfromable Leg-flipper Composite Propulsion Mechanism. X. Liang, M. Xu, L. Xu, P. Liu, X. Ren, Z. Kong, J. Yang, and S. Zhang*. IEEE Int. Conf. Intelligent robots and Systems, pp.3667-3672. Portugal, 2012.

49. Fluid-Structure Interaction Study on a Flexible Robotic Pectoral Fin. B. Liu, M. Xu, L. Wang, J. Yang, and S. Zhang*, IEEE ICMA2012, pp. 220-225 Chengdu, China, 2012.

50. A novel soft robot with three locomotion modes. Y. Du, M. Xu, E. Dong, S. Zhang*, and J. Yang, IEEE Robio2011, Phuket, pp. 98-103, 2011.

51. Research on flexible honeycomb structure design for morphing aircraft. Haifeng Peng, Erbao Dong*, Shiwu Zhang, Jie Yang,  International Conference on Electronic and Mechanical Engineering and Information Technology (EMEIT),2011: 2271-2274

52. Experimental study and DEM analysis on rigid driving wheel's performance for off-road vehicles moving on loose soil. Runhuai Yang, Min Xu, Xu Liang, Shiwu Zhang, Yong Cheng, Hongcheng Xu, Jie Yang, IEEE ICMA2011, pp 142-147

53. Preliminary Research of a Novel Soft Robot with Three Locomotion Modes. Yong Du, Shiwu Zhang*, Min Xu, Erbao Dong, Jie Yang. IEEE ICMA2011, pp160-165 2011.8

54. Initial Implementation of Basic Actuated Unit of a Flexible Pectoral Fin Driven by SMA. Qin Yan, Shiwu Zhang* and Jie Yang, IEEE ICMA2010, pp. 899-904, 2010.8

55. Preliminary study of flexible Pectoral Fin Capable of 3D Motions Actuated by Shape Memory Alloy, Qin Yan, Wenguang Wu, Shiwu Zhang*, Min Xu, Jie Yang.  IEEE ROBIO 2009, p 1814-1819, 2009

56. Design and Experimental Research on an Undulatory Robotic Fin. Wenguang Wu, Qin Yan, Shiwu Zhang*, Younghua Zhang, Jie Yang.  IEEE ROBIO 2009, p 2440-2444, 2009

57. A General Growth Model for the Emergence of Power-law Distributions、Zhang shiwu and Liu Jiming. IEEE International Conference on Systems, Man and Cybernetics, p 4210-4213, 2009

58. Discovering the Dynamics in a Social Memory Network.  Gao, Lin; Liu, Jiming; Zhang, Shiwu; Yang, Jie, IEEE/WIC/ACM International Conference on web intelligence , pp. 200-203, 2008

59. Computational Study on Posture Control of Shape Memory Alloy Biomimetic Pectoral Fin. Zhang Shiwu, Zhang yonghua, Yang Jie, Low Kinhuat. EEE ICMA 2007, pp.497-502, 2007

60. Morphologic Optimal Design of Bionic Undulating Based on Computational Fluid Dynamics.  Zhang yonghua, Zhang Shiwu, Yang Jie, Low Kinhuat. IEEE ICMA 2007, pp.491-496, 2007

61. Design and initial testing of a single-motor-driven spatial pectoral fin mechanism, Low, K.H Prabu, S.; Yang, Jie; Zhang Shiwu and Zhang Yonghua. IEEE ICMA 2007, pp.503-508, 2007


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