基本信息

吴正兴  博士、研究员、博导
中国科学院自动化研究所
国家优青、北京市科技新星、中科院青促会人才


电子邮件: zhengxing.wu@ia.ac.cn
通信地址: 北京市海淀区中关村东路95号智能化大厦
邮政编码: 100190


研究领域

仿生机器人,水下机器人,水下环境感知与建模

每年招收博士/硕士研究生1-2名,欢迎具有自动控制、机器人、计算机、机电一体化等相关专业的考生报考,联系邮箱zhengxing.wu@ia.ac.cn。

常年招聘相关专业的实习生,有兴趣者可随时邮箱联系。

工作经历

工作简历:

2021.04~今, 中国科学院自动化研究所, 研究员
2015.07~2021.04, 中国科学院自动化研究所, 助理研究员、副研究员


社会兼职:

2019.07.31~中国自动化学会青年工作委员会, 委员
2017.12.01~今, 中国自动化学会智能自动化专业委员会, 委员

2016.09.09~今, 中国人工智能学会智能服务专业委员会, 委员

教授课程

仿生机器人技术

专利与奖励

专利成果:

已授权国家发明专利20余项,国际PCT专利3项。部分专利成果为:

[1] 吴正兴,喻俊志,杜晟,黄雨培,谭民,仿生机器金枪鱼,专利号:ZL 202110462144.9.

[2] 吴正兴,李海鹏,邓赛,范俊峰,周超,谭民,水下机器人仿鱼推进机构,专利号:ZL 202010448447.0.

[3] 吴正兴,喻俊志,孟岩,陈星宇,王建,仿生机器蝠鲼,专利号:ZL 201910599388.4.

[4] 吴正兴,喻俊志,王天柱,刘金存,谭民,微型水下鳍面攻角传感器,专利号:ZL 201710107611.X.

[5] 吴正兴,喻俊志,鲁岳,陈星宇,解耦度量的单阶段小样本目标检测方法,专利号:ZL 202110199642.9.

[6] 喻俊志,吴正兴,王健,谭民,仿生滑翔机器海豚的滑翔深度控制方法、系统、装置,专利号:ZL 201911189693.2.

[7] 喻俊志,吴正兴,王健,张鹏飞,谭民,仿生滑翔机器海豚平面路径跟踪方法及系统,专利号:ZL 202010731204.8.

[8] 喻俊志,吴正兴,苏宗帅,袁俊,谭民,一种滑翔机器海豚,专利号:ZL 201410743748.0.

[9] 喻俊志,吴正兴,陈迪,一种水空两栖跨介质仿生机器飞鱼,专利号:ZL 201910617884.8.

[10] 喻俊志,吴正兴,刘金存,阳翔,一种面向水质监测的仿生机器海豚,专利号:ZL 201610121609.3.

[11] 喻俊志,吴正兴,陈世峰,谭民,一种仿鲹科机器鱼倒游运动的控制方法,专利号:ZL 201210262605.9. 

[12] 喻俊志,吴正兴,杜晟金枪鱼机器人,专利号:ZL 201810709150.8.

[13] Zhengxing Wu, Junzhi Yu, Shuaizheng Yan, Jian Wang, and Min Tan, Motion control method and system for biomimetic robotic fish based on adversarial structured control, US17069868.

[14]  Zhengxing Wu, Junzhi Yu, Yan Meng, Xingyu Chen, and Jian Wang, Biomimetic robotic manta ray, US17278335.

[15] Junzhi Yu, Zhengxing Wu, Jian Wang, Shuaizheng Yan, and Min Tan, Gliding depth control method system and device for biomimetic gliding robotic dolphin, US10935986.

 

奖励信息:

[1] 2013 年,获国际会议IEEE ROBIO Best Paper in Biomimetics(最佳仿生论文,第一作者);

[2] 2015 年,获中国科学院院长奖;

[3] 2015 年,获中国科学院北京分院科技成果转化二等奖;

[4] 2015 年,获国际会议CLAWAR Innovation Award(第一作者);

[5] 2016 年,指导学生获国际会议IEEE ROBIO Best Student Paper Award(最佳学生论文,通讯作者);

[6] 2017 年,指导学生获国际会议IEEE CYBER Best Conference Paper Award(最佳会议论文,通讯作者);

[7] 2018 年,指导学生获国际会议IEEE RCAR Best Conference Paper Award(最佳会议论文,通讯作者);

[8] 2018 年,指导学生获国际会议IEEE USYS Best Paper Award(最佳论文,通讯作者);

[9] 2019 年,指导学生获国际会议IEEE ROBIO Best Paper in Biomimetics(最佳仿生论文,通讯作者);

[10] 2019 年,入选中国科学院青促会;

[11] 2019 年,获中国自动化学会技术发明一等奖、科普奖;

[12] 2020 年,指导学生获国际会议IEEE RCAR Best Paper in Robotics(最佳机器人论文,通讯作者);

[13] 2020 年,入选北京市科技新星。

出版信息

目前已经发表SCI期刊论文40余篇,其中,IEEE汇刊30余篇。部分期刊论文如下:

[1] Zhengxing Wu, Junzhi Yu, Jun Yuan, Min Tan, and Suwen Qi, “Gliding motion regulation of a robotic dolphin based on a controllable fluke,” IEEE Transactions on Industrial Electronics, vol. 67, no. 4, pp. 2945-2953, 2020.

[2] Zhengxing Wu, Junzhi Yu, Jun Yuan, and Min Tan, “Towards a gliding robotic dolphin: design, modelling and experiments,” IEEE-ASME Transactions on Mechatronics, vol. 24, no.1, pp. 260-270, 2019.

[3] Zhengxing Wu, Jincun Liu, Junzhi Yu, and Hao Fang, “Development of a novel robotic dolphin and its application to water quality monitoring,” IEEE-ASME Transactions on Mechatronics, vol. 22, no. 5, pp. 2130–2140, 2017. 

[4] Shuaizheng Yan, Zhengxing Wu, Jian Wang, Min Tan, and Junzhi Yu,Efficient cooperative structured control for a multi-joint biomimetic robotic fish,IEEE-ASME Transactions on Mechatronics, vol. 26, no. 5, pp. 25062516, 2021.

[5] Junzhi Yu, Jincun Liu, Zhengxing Wu, and Hao Fang, “Depth control of a bioinspired robotic dolphin based on sliding mode fuzzy control method,” IEEE Transactions on Industrial Electronics, vol. 65, no. 3, pp. 2429–2438, 2018.

[6] Junzhi Yu, Zhengxing Wu, Zongshuai Su, Tianzhu Wang, and Suwen Qi, “Motion control strategies for a repetitive leaping robotic dolphin,” IEEE-ASME Transactions on Mechatronicsvol. 24, no. 3, pp. 913–923, 2019.

[7] Junzhi Yu, Zhengxing Wu, Ming Wang, and Min Tan, “CPG network optimization for a biomimetic robotic fish via PSO,” IEEE Transactions on Neural Networks and Learning Systems. vol. 27, no. 9, pp. 1962–1968, 2016.

[8] Junzhi Yu, Zhengxing Wu, Xiang Yang, Yueqi Yang and Pengfei Zhang, “Underwater target tracking control of an untethered robotic fish with a camera stabilizer,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 10, pp. 65236534, 2020. 

[9] Jun Yuan, Zhengxing Wu, Junzhi Yu, and Min Tan, “Sliding mode observer based heading control for a gliding robotic dolphin”, IEEE Transactions on Industrial Electronics, vol. 64, no. 8, pp. 6815–6824, 2017. 

[10] Jian Wang, Zhengxing Wu, Min Tan, and Junzhi Yu, “3-D path planning with multiple motions for a gliding robotic dolphin,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 5, pp. 2904–2915, 2021.

[11] Huijie Dong, Zhengxing Wu, Di Chen, Min Tan, and Junzhi Yu,“Development of a whale-shark-inspired gliding robotic fish with high maneuverability,IEEE-ASME Transactions on Mechatronics, vol. 25, no. 6, pp. 28242834, 2020.

[12] Jian Wang, Zhengxing Wu, Min Tan, and Junzhi Yu, “Model predictive control-based depth control in gliding motion of a gliding robotic dolphin,” IEEE Transactions on Systems, Man, and Cybernetics: Systemsvol. 51, no. 9, pp. 5466–5477, 2021.

[13] Jian Wang, Zhengxing Wu, Shuaizhen Yan, Min Tan, and Junzhi Yu, “Real-Time path planning and following of a gliding robotic dolphin within a hierarchical framework,” IEEE Transactions on Vehicular Technologyvol. 70, no. 4, pp. 3243–3255, 2021.

[14] Peifei Zhang, Zhengxing Wu, Huijie Dong, Min Tan, and Junzhi Yu, “Reaction-wheel-based roll stabilization for a robotic fish using neural network sliding mode control,” IEEE-ASME Transactions on Mechatronics, vol. 25, no. 4, pp. 19041911, 2020.

[15] Sheng Du, Zhengxing Wu, Jian Wang, and Junzhi Yu, “Design and control of a two-motor-actuated tuna-inspired robot system,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 8, pp. 467046802021.

[16] Jincun Liu, Zhengxing Wu, Junzhi Yu, and Zhibin Xue, “Cooperative target tracking in aquatic environment using dual robotic dolphins,” IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 51, no. 8, pp. 47824792, 2021.

[17] Changlin Qiu, Zhengxing Wu, Shihan Kong, and Junzhi Yu, “An underwater micro cable-driven pan-tilt binocular vision system with spherical refraction calibration,” IEEE Transactions on Instrumentation and Measurement, vol. 70, no. 5010813, 2021.

[18] Xingyu Chen, Junzhi Yu, and Zhengxing Wu, “Temporally identity-aware SSD with attentional LSTM,” IEEE Transactions on Cybernetics, vol. 50, no. 6, pp. 26742686, 2020.

[19] Junzhi Yu, Zongshuai Su, Zhengxing Wu, and Min Tan, “Development of a fast-swimming dolphin robotic capable of leaping,” IEEE-ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2307–2316, 2016.

[20] Junzhi Yu, Jun Yuan, Zhengxing Wu, and Min Tan, “Data-driven dynamic modeling for a swimming robotic fish,” IEEE Transactions on Industrial Electronics, vol. 63, no. 9, pp. 5632–5640, 2016.

科研活动

[1] 水下智能仿生机器人,国家自然科学基金优秀青年基金项目,主持,2021.01-2023.12

[2] 仿蝠鲼机器人水下视觉环境感知与智能跟踪控制,国家自然科学基金面上项目,主持,2020.01-2023.12

[3] 水下机器人近底精细目标检测与避障控制共性技术及验证,科技部重点研发计划,课题负责人,2019.12-2022.11

[4] 混合推进仿生机器鱼的优化设计与智能控制国家自然科学基金青年科学基金项目主持2017.01-2019.12

[5] 面向水下目标探测的仿生机器人关键技术研究,北京市科技新星计划项目,主持,2020.09-2023.08

[6] 仿生机器鱼智能控制中科院青促会会员人才计划主持2019.01-2022.12

[7] 室内挑战性环境下机器人视觉定位导航理论及应用,国家自然科学基金重点项目子项,主持,2019.01-2023.12

[8] 面向仿生机器海豚的水下环境感知与智能跟踪控制北京市自然科学基金面上项目主持2019.01-2021.12

[9] 面向高速推进的仿生机器海豚优化设计与控制北京市自然科学基金青年基金项目主持2016.01-2017.12

[10] 基于强化学习的机器海豚滑翔运动优化控制研究复杂系统管理与控制国家重点实验室青年基金,主持2016.03-2018.02