水下仿生机器人，机器人智能控制，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。

2024年在国科大交叉学院尚有1~2个竞争性直博名额（2025年入学）。感兴趣的同学可尽快联系！

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：

[1] 中国自动化学会青年工作委员会委员
[2] 中国自动化学会智能自动化专业委员会委员
[3] 中国自动化学会机器人专业专委会委员
[4] 中国人工智能学会智能服务专业委员会委员
[5] 中国指挥与控制学会青年工作委员会委员
[6] Cyborg and Bionic Systems、Journal of Bionic Engineering、Bionic Intelligent Robotics、机器人等期刊青年编委

专利成果：

已授权国家发明专利40余项，国际PCT专利6项。部分专利成果为：

[1]   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.
[2]   吴正兴，喻俊志，孟岩，陈星宇，王健，仿生机器蝠鲼，专利号：ZL 201910599388.4.
[3]   吴正兴，喻俊志，闫帅铮，王健，谭民，基于对抗结构化控制的仿生机器鱼运动控制方法、系统，专利号：ZL 201911199839.1.
[4]   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.
[5]   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.
[6]   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.
[7]   吴正兴，喻俊志，武志亨，鲁岳，谭民，基于像素级自监督训练的水下图像合成方法，专利号：ZL 202110424896.6.
[8]   吴正兴，王健，李思捷，闫帅铮，谭民，仿生鱼路径控制方法、装置及仿生鱼，专利号：ZL 202210442624.3.
[9]   吴正兴，喻俊志，闫帅铮，王健，黄雨培，谭民，水下探索策略模型的训练方法及仿生机器鱼水下探索方法，专利号：ZL 202210043511.6.
[10] 吴正兴，闫帅铮，王健，仝茹，喻俊志，谭民，水下航行器主动增稳控制方法及装置，专利号：ZL 202310938219.5.
[11] 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, US10962976B1.
[12] Junzhi Yu, Zhengxing Wu, Jian Wang, Shuaizheng Yan, and Min Tan, Gliding depth control method system and device for biomimetic
       gliding robotic dolphin, US10935986B1.
[13] Zhengxing Wu, Junzhi Yu, Yan Meng, Xingyu Chen, and Jian Wang, Biomimetic robotic manta ray, US11161578B2.
[14] Zhengxing Wu, Junzhi Yu, Yue Lu, and Xingyu Chen, Single-stage small-sample-object detection method based on decoupled metric.
       US11205098B1.
[15] Junzhi Yu, Zhengxing Wu, Di Chen, and Min Tan, Water-air amphibious cross-medium bio-robotic flying fish, US 11208186B2.

奖励荣誉：

[1] IEEE CYBER Best Conference Paper Award（2017）
[2] IEEE ROBIO Best Paper in Biomimetics（2019）
[3] 中国科学院青促会（2019）
[4] 中国自动化学会技术发明一等奖（2019）
[5] IEEE RCAR Best Paper in Robotics（2020）
[6] 北京市科技新星（2020）
[7] 国家基金委优青（2020）
[8] 中国自动化学会自然科学一等奖（2021）
[9] 首届中国科学院青年五四奖章（2022）
[10] 中国科学院技术支撑人才（2022）
[11] IEEE Senior Member（2022）
[12] 中国科学院特聘研究骨干（2022）
[13] 中国科学院青促会优秀会员（2023）
[14] IEEE Robotics and Automation Letters Best Paper Award Honorable Mentions（2023）
[15] 北京市基金委杰青（2024）

目前已经发表SCI期刊论文80余篇，其中，IEEE汇刊50余篇。近两年期刊论文如下：

[1]   Zhengxing Wu, Lianyi Yu, Jian Wang, Shijie Dai, Min Tan, and Junzhi Yu, “Hitch-Hiking motion of multiple bionic robotic remoras with enhanced multimodal locomotion,” IEEE-ASME Trans. Mechatronics, 10.1109/TMECH.2024.3418954, 2024.
[2]   Sijie Li, Zhengxing Wu, Jian Wang, Changlin Qiu, Min Tan, and Junzhi Yu, “Robust depth and heading control system for a novel robotic dolphin with multiple control surfaces,” IEEE Trans. Automation Science and Engineering, DOI: 10.1109/TASE.2024.3380394, 2024.
[3]   Sijie Li, Zhengxing Wu, Jian Wang, Yukai Feng, Min Tan, and Junzhi Yu, “Towards efficient intermittent-propulsion mode of a novel bioinspired underwater vehicle,” IEEE Trans. Intelligent Vehicles, DOI: 10.1109/TIV.2024.3412801, 2024.
[4]   Yupei Huang, Peng Li, Shuaizheng Yan, Min Tan, and Junzhi Yu, and Zhengxing Wu, “Self-localization of a biomimetic robotic shark using tightly coupled visual-acoustic fusion,” IEEE Trans. Industrial Electronics, DOI: 10.1109/TIE.2024.3352147, 2024.
[5]   Ru Tong, Zhengxing Wu, Sijie Li, Di Chen, Jian Wang, Min Tan, and Junzhi Yu, “Design and modeling of an integral molding flexible tail for robotic fish,” IEEE/ASME Trans. Mechatronics, DOI: 10.1109/TMECH.2024.3408036, 2024.
[6]   Shaoxuan Ma, Jian Wang, Yupei Huang, Yan Meng, Min Tan, Junzhi Yu, and Zhengxing Wu, “Tightly coupled monocular-inertial-pressure sensor fusion for underwater localization of a biomimetic robotic manta,” IEEE Trans. Instrumentation and Measurement, DOI: 10.1109/TIM.2024.3420371, 2024.
[7]   Qian Jiang, Tiezhu Qiao, Jian Wang, Zhengxing Wu, Huijie Dong, and Junzhi Yu, “Hybrid-driven motion planning for a bionic underwater vehicle with gliding ability,” IEEE Trans. Vehicular Technology, DOI: 10.1109/TVT.2024.3411569, 2024.
[8]   Zhiheng Wu, Zhengxing Wu, Xingyu Chen, Yue Lu, and Junzhi Yu, “Self-supervised underwater image generation for underwater domain pre-training,” IEEE Trans. Instrumentation and Measurement, vol. 73, 5012714, 2024.
[9]   Jian Wang, Zhengxing Wu, Yang Zhang, Shihan Kong, Min Tan, and Junzhi Yu, “Integrated tracking control of an underwater bionic robot based on multimodal motions,” IEEE Trans. Systems, Man, and Cybernetics: Systems, vol. 54, no. 3, pp. 1599-1610, 2024.
[10] Pengfei Zhang, Zhengxing Wu, Di Chen, Min Tan, and Junzhi Yu, “Autonomous dynamic hitch-hiking control of a bionic robotic remora,” IEEE Trans. Industrial Electronics, vol. 7, no. 3, pp. 2893-2902, 2024.
[11] Changlin Qiu, Zhengxing Wu, Jian Wang, Min Tan, and Junzhi Yu, “Autonomous recovery control of biomimetic robotic fish based on multi-sensory system,” IEEE Robotics and Automation Letters, vol. 9, no.2, 1420-1427, 2024.
[12] Yang Zhang, Zhengxing Wu, Jian Wang, Sijie Li, Min Tan, “Fault-tolerant heading control for a bionic gliding robotic dolphin with flipper faults,” Ocean Engineering, vol. 300, 117485, 2024.
[13]  Yue Lu, Xingyu Chen, Zhengxing Wu, Min Tan, and Junzhi Yu, “Binary similarity few-shot object detection with modeling of hard negative samples,” IEEE Trans. Multimedia, vol. 26, pp. 4805-4818, 2023.
[14] Changlin Qiu, Zhengxing Wu, Jian Wang, Min Tan, and Junzhi Yu, “Locating dipole source using self-propelled robotic fish with artificial lateral line system,” IEEE Trans. Automation Science and Engineering, DOI: 10.1109/TASE.2023.3309905, 2023.
[15] Yan Meng, Zhengxing Wu, Di Chen, Pengfei Zhang, Min Tan, and Junzhi Yu, “Development and 3-D path-following control of an agile robotic manta with flexible pectoral fins,” IEEE Trans. Cybernetics, DOI: 10.1109/TCYB.2023.3252589, 2023.
[16] Shuaizheng Yan, Jian Wang, Zhengxing Wu, Min Tan, and Junzhi Yu, “Autonomous vision-based navigation and stability augmentation control of a biomimetic robotic hammerhead shark,” IEEE Trans. Automation Science and Engineering, DOI: 10.1109/TASE.2023.3278740, 2023.
[17] Shijie Dai, Zhengxing Wu, Sijie Li, Jian Wang, Min Tan, and Junzhi Yu, “Model-based event-triggered dynamic pursuing and surrounding control for a multi-robotic fish system,” IEEE Robotics and Automation Letters, vol. 8, no. 6, pp. 3788-3795, 2023.
[18] Di Chen, Zhengxing Wu, Huijie Dong, Yan Meng, and Junzhi Yu, “Platform development and gliding optimization of a robotic flying fish with morphing pectoral fins,” Bioinspiration & Biomimetics, vol. 18, 036010, 2023.
[19] Yan Meng, Zhengxing Wu, Yating Li, Di Chen, Min Tan, and Junzhi Yu, “Vision-based underwater target following control of an agile robotic manta with flexible pectoral fins,” IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 2277-2284, 2023.
[20] Changlin Qiu, Zhengxing Wu, Jian Wang, Min Tan, and Junzhi Yu, “Multiagent-reinforcement-learning-based stable path tracking control for a bionic robotic fish with reaction wheel,” IEEE Trans. Industrial Electronics, vol. 70, no. 12, pp. 12670-12679, 2023.
[21] Sijie Li, Zhengxing Wu, Shijie Dai, Jian Wang, Min Tan, and Junzhi Yu, “Tight-space maneuvering of a hybrid-driven robotic fish using backstepping-based adaptive control,” IEEE-ASME Trans. Mechatronics, DOI: 10.1109/TMECH.2023.3338879, 2023.
[22] Shuaizheng Yan, Zhengxing Wu, Jian Wang, Min Tan, and Junzhi Yu, “Towards unusual rolled swimming motion of a bioinspired robotic hammerhead shark under negative buoyancy,” IEEE-ASME Trans. Mechatronics, vol. 29, no. 3, pp. 2253-2265, 2023.
[23] Shuaizheng Yan, Xingyu Chen, Zhengxing Wu, Jian Wang, Yue Lu, Min Tan, and Junzhi Yu, “HybrUR: a hybrid physical-neural solution for unsupervised underwater image restoration,” IEEE Trans. Image Processing, vol. 32, pp. 5004-5016, 2023.
[24] Shijie Dai, Zhengxing Wu, Pengfei Zhang, Min Tan, and Junzhi Yu, “Distributed formation control for a multi-robotic fish system with model-based event-triggered communication mechanism,” IEEE Trans. Industrial Electronics, vol. 70, no. 11, pp. 11433-11442, 2023.

[1] 仿䲟鱼机器人水下自主吸附控制研究，国家自然科学基金委面上项目，主持，2024.01-2027.12
[2] 水下仿生机器人逃逸行为认知控制方法，北京市自然科学基金杰出青年基金项目，主持，2024.07-2027.06
[3] 子母式水下仿生机器人集群系统设计与作业规划，中国科学院青促会优秀会员，主持，2024.01-2026.12
[4] 面向仿生机器海豚的柔性推进优化、环境感知与定位方法研究，北京市自然科学基金奖励项目，主持，2023.01-2025.12
[5] 水下机器人系统协同作业，国家任务，主持，2024.01-2025.12
[6] 水下仿生机器人类脑智能控制方法研究，北京市科技新星交叉合作课题项目，主持，2023.10-2024.10
[7] 水下智能仿生机器人，中国科学院特聘研究岗位，主持，2023.01-2027.12
[8] 高机动长航程仿企鹅新概念无人平台设计与滑扑一体控制技术，装发快速扶持项目，主持，2022.09-2023.08
[9] 水下仿生滑翔机器海豚系统设计与智能控制，中国科学院技术支撑人才项目，主持，2022.01-2024.12
[10] 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
[11] 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
[12] 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
[13] 基于小样本的水下目标在线学习与识别，科技部重点研发计划课题，主持，2019.12-2022.11
[14] 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课题，主持，2019.01-2023.12
[15] 水下仿生机器人，中科院青促会会员人才项目，主持，2019.01-2022.12
[16] 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
[17] 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
[18] 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