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~今, 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

专利成果：

已授权国家发明专利30余项，国际PCT专利6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。

目前已经发表SCI期刊论文50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. 2506–2516, 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 Mechatronics. vol. 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. 6523–6534, 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. 2824–2834, 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: Systems, vol. 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 Technology, vol. 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. 1904–1911, 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. 4670–4680, 2021.

[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. 4782–4792, 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. 2674–2686, 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.

[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