Wen Shang’s research while affiliated with Suzhou University of Science and Technology and other places

Inspired by the astonishing ability of the fish, more and more researchers devote themselves to improving the performance of the underwater robotic propeller. In this paper, a novel design and a preliminary performance study of a lightweight robofish are presented. Firstly, the principle of the actuator by magnetomotive force is introduced. Secondly, the implementation of the biomimetic robofish is investigated. Finally, several expriments are conducted to explore the energy consumption of the magnetomoive force actuator and the affection of the kinematic parameters on the velocity. The experimental results reveal that the novel biomimetic robofish driven by magnetomotive force has a low energy consumption and shows good performance in swimming.

Inspired by the astonishing ability of the fish, more and more researchers devote themselves to improving the performance of the underwater robotic propeller. In this paper, a novel design and a preliminary performance study of a lightweight robofish are presented. Firstly, the principle of the actuator by magneto motive force is introduced. Secondly, the implementation of the biomimetic robofish is investigated. Finally, several experiments are conducted to explore the energy consumption of the magnetomoive force actuator and the affection of the kinematic parameters on the velocity. The experimental results reveal that the novel biomimetic robofish driven by magneto motive force has a low energy consumption and shows good performance in swimming.

In this paper, a modular design approach to the robotic fish was presented, and the swimming performance and the maneuverability of the robotic fish were investigated as well. Based on the modular design, a robotic fish employing a carangiform swimming form has been developed, which was capable of cruising, accelerating, sharp turning etc. To obtain the performance of the robotic fish, a series of experiments were conducted to study the cruising performance by observing the kinematics parameters including frequency, amplitude and wave length, and to study the maneuverability by observing the turning angle, the angular velocity and the angular acceleration during the sharp turning. The experimental results proved that the robotic fish had good kinematic performance in the swimming.

In this paper, a robotic fish based on modular design was presented, the maneuverability of the robotic fish were investigated by experiment using image processing technology. On the basis of the modular design, a robotic fish employing a carangiform swimming form has been developed, which was capable of cruising, accelerating, sharp turning etc. To obtain the maneuverability of the robotic fish, a series of experiments were conducted to observe the kinematic variables including the turning angle, the angular velocity and the angular acceleration during the sharp turning. The experimental results proved that the robotic fish had good maneuverability in the sharp turning.

This paper investigates the multirobot task allocation problem for a group of heterogeneous mobile robots while considering the resource constraints. The robots and tasks are characterized by resources as required by task execution. We propose to formulate this problem as a synchronization/simultaneity constrained set-partitioning mixed integer programming problem. The branch-and-bound approach is used to derive the optimal solution. Simulations for a small group of mobile robots demonstrate the effectiveness of the proposed approach.

DXF(Drawing Exchange File) in AutoCAD is very popular as a graphic file format. This paper presents a comprehensive analysis of DXF file and its application to 3D display of planar graphs, such as advertisement words, for the convenience of numerical control (NC) processing. Analyses of all kinds of graphic primitives in DXF files are studied. The 3D display technology based on OpenGL is presented. Three-dimensional display effects of different kinds of planar graphs are shown to demonstrate the effectiveness of the analysis and display method. This method has been successfully applied to decorative design, advertising, industrial design, CNC operation, etc., with a friendly and intuitive human-machine interaction.