                           ˿µϣ2015731գ

15.07.28-30ûи
15.07.31, FMĿӽѧ8ﲡΪʲô
15.07.31, ƵĿFMר65:֡ʦϷ
15.07.31, ߿ץѧҵɼģ˭ܣ
15.07.31, ˡѧѧԺῡ־һͶ١
15.07.31, ߡڹҽƴѧзоȫְPIܹڡ
15.07.31, ϴѧ齭ѧ߸λ걨ʸ
15.07.31, ת°о鷽
15.07.31, ʯоľ㡶ҵʦ
15.07.31, Laozhao1976ҲйҽȺ塷
15.07.31, غϼ532015.07.21-25

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ڶƾѧѧԺα۸ĸ߼2014ѧĩҵɼ
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1 Junzhi Yu and Long Wang,  "Design Framework and 3-D Motion
Control for Biomimetic Robot Fish", Proceedings of the 2005 IEEE
International Symposium on Intelligent Control, Cyprus, June 27-29,
2005,  pp. 1435-1440.

2 Junzhi Yu, Long Wang, and Min Tan, "A Framework for Biomimetic
Robot Fishs Design and Its Realization", 2005 American Control
Conference, Portland, OR, USA,  June 8-10, 2005, pp.1593-1598.

ƪ¸߶ƣƶȴﵽ90%ϡ

ժҪ֣1"This paper is concerned with the design and
motion control of a radio-controlled, multi-link and
free-swimming biomimetic robot fish based on an improved
kinematic propulsive model. The performance of the robot fish
is determined by the fishs both morphological parameters and
kinematic parameters. By ichthyologic theories of propulsion,
a framework taking into consideration of both mechatronic
constraints in physical realization and feasibility of control
methods is presented, where multiple linked robot fish
propelled by a flexible posterior body and an oscillating tail fin
can be easily developed. The motion control of robot fish is
decomposed into speed control, orientation control and
submerging/ascending control. The speed of the swimming fish
can be adjusted by changing oscillating frequency, oscillating
amplitude and the length of oscillatory part, respectively, and
its orientation is tuned by different joints deflections. The
up-down motion is realized by a pectoral mechanism. Our
robot fish prototypes verify that the presented scheme is
effective in design and implementation."


2ժҪ"This paper deals with the design and 3-D motion control
of a radio-controlled, multi-link and free-swimming biomimetic robot
fish based on an improved kinematic propulsive model. The performance
of the robot fish is
determined by the fishs both morphological parameters and
kinematic parameters. By ichthyologic theories of propulsion,
a design framework taking into consideration of both
mechatronic constraints in physical realization and feasibility
of control methods is presented, where multiple linked robot
fish propelled by a flexible posterior body and an oscillating
tail fin can be easily developed. The 3-D motion control of
robot fish is decomposed into speed control, orientation control
and submerging/ascending control. The speed of the swimming
fish can be adjusted by changing oscillating frequency,
oscillating amplitude and the length of oscillatory part,
respectively, and its orientation is tuned by different joints
deflections. The up-down motion is realized by a pectoral
mechanism. The experimental results on designed prototypes
verify that the presented scheme is effective in design and
implementation."

˸ӱ任˼Ĵʣͱһ¶ʡˡ
ݸ߶ơоԱΪ˶෢һƪҲϴǸ
ޡǺǣпԺԶ̷ȫǴ󿧡󰡡

ѧѧԺڡʿʦѧߣǡͰǧ
Ź̡Ҽѡҽܳѧ𡢹ҽί˲Żձ
ѧ˻ߡܲýԺʿĺѡ˰ϧиһͶ
۵㣡

̷йѧԺ˼ƻһίܳߣ 
Ͱǧ˲Ź̹ҼѡйѧԺѧҽ14ίȺ
壬Ҳ׼Ժʿ


3Junzhi Yu, Lizhong Liu, and Long Wang, "Dynamic Modeling and
Experimental Validation of Biomimetic Robotic Fish", Proceedings of
the 2006 American Control Conference Minneapolis, Minnesota, USA, June
14-16, 2006, pp. 4129-4134.

4Lizhong Liu, Junzhi Yu, and Long Wang, "Dynamic Modeling of
Three-Dimensional Swimming for Biomimetic Robotic Fish", Proceedings
of the 2006 IEEE/RSJ
International Conference on Intelligent Robots and Systems October 9 -
15, 2006, Beijing, China, pp. 3916--3921.

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ᵽresearch associateFor now, my University of 
Chicago research associates Haidong Gu, MD, Grace Zhou and Te Du and I 
are designing mutant test viruses that will act as Trojan viruses 
aimed at elucidating the neurons defense mechanism, Roizman 
says.ҳעʱ2009ꡣ

ĻǲǿƲ⣬ٴܹڣֹ2009֥꣬Ӹ
ѧӦûֻresearch assocateǴǰģ2004Ѿ
associate professorˣ

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鼮¡΢лࡣ΢ңøˡ
ҵĺܶͬѧݿҳҲһСӡͬѧȺ
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۲ҵˡ

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źвȻ塢Ǹʵǰһ˿Ĵηսʿ

ҽӴµķӣҲдǸĶš׺ʮķӣ
ϵıʷ絶ķӿƷǿңʵȫһ¡ںܶ˿޷
⣬ȴΪ󲿷˲ϽΡ䡱̾
ŵġ塱Ϸζġ塱ȵȣƺҲܹԭ
ɫʣȴʵ࣬Ǹ͹۵
ۡ



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һһ㣬ҸǣǸðơ
ڡǵֻ档

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˵Լǡ֧ۡʵ൱飬ǲƲԼ
һֱǷǳ侲ɫʰˡʵҿԼ
̶ţֺοҪԼɫأ˽УĪ
Լжϣȷʵ൱Ҫ˵˸ɫʾͻƫ
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ҵʦ̸ҳԺ֪ʶϲ
ϣԵѣǲһĹ£

ӵġҵ硷Ĳʵǩһֱ䱦
еĲʵǩǣɽ޿ˡ

˷ǲľ飿ⷽӣܶӣ
е飬ʵеǻۣϿе
еϽ

пһȥһ顶ҵ硷

(XYS20150731)

˿(www.xys.org)(xys8.dxiong.com)(xys.ebookdiy.com)

ҲйҽȺ

ߣLaozhao1976

	ˮƽȵĻйҽȺ壬ڼ˵
ǱȽϲģڵ·桢ҽ·棬ҲǱȽϲġ
			

ΪȻ

˵ҩгҩҽһǺҽҩгҩҽһ
Ǻҽйҽˮƽپųǲϸġջؿۡд
ҽֻΪְơΪйҽҸоõı׼йҽҽ
ӢۣҽжҽԴҽ쾭壩ҲΪйҽ
Ⱥڼְҵ·ˮƽҲйиҵˮ
ƽ

(XYS20150731)

˿(www.xys.org)(xys8.dxiong.com)(xys.ebookdiy.com)

غϼ532015.07.21-25


@fangshimin
TWEETS
4,665
FOLLOWING
25
FOLLOWERS
66.1K

 ?@fangshimin  Jul 21 
ԺũҵίԱͨһ飬ֹתʳƷǿƱʶҲֹ
תԪȥˡ

 ?@fangshimin  Jul 21 
ףѧ԰Ļ󷽺ֻ죬Ȼ᲻
컹˸˵ɫ㲻أɣ˭׼ 
https://pbs.twimg.com/media/CKa_AxYUsAAR-EY.jpg
https://pbs.twimg.com/media/CKa_AxbUkAAFaJE.jpg

 ?@fangshimin  Jul 21 
ӡķۡĵڡ 
https://pbs.twimg.com/media/CKbG35LUYAAZONy.jpg

 ?@fangshimin  Jul 21 
ҽβȻƷȻҽΪôʲôҽΪҩ
㣿ѱƷҩͲ㣿ͿԲܳʹѹҽƭô࣬ƭײƭ 
https://pbs.twimg.com/media/CKcFFwVVEAEGrFh.jpg

 ?@fangshimin  Jul 21 
ƵĿFMר64:β𣿣Ȩ
ˣڽ
http://api.kaolafm.com/api/v3.1/play/shareurl?audioid=1000001701702&sharesource=1485 

 ?@rlzyllsh  Jul 21 
@fangshimin ѧ԰Щ˱ҶЩܣϷ̬


 ?@fangshimin  Jul 21 
ɳ̫ࡣ@rlzyllsh: ѧ԰Щ˱ҶЩ
ܣϷ̬

 ?@fangshimin  Jul 21 
ǰʱ͸þòԡ 
https://pbs.twimg.com/media/CKcVguIUMAM3rRv.jpg

 ?@fangshimin  Jul 21 
ЩھȻҶԿѧ԰иоݵΪ͵åо
ǰشָʲô 
https://pbs.twimg.com/media/CKcdJ9rUEAQnplq.jpg

 ?@fangshimin  Jul 21 
һҹ֮䣬ǶΪӢǿôһҲɫҲͦġ 
https://pbs.twimg.com/media/CKck9zbUEAETwU1.jpg

 ?@fangshimin  Jul 21 
90롾ǰ۶ȲҰ˳𣿡Ұ֮ûб߲ˣΪ
Ǿࡢóԣ˵ıܸܿܺкĳɷ֡
Ȳݣ۶кһֶкĳɷֽܶ
ϸ˲շ֢
http://mp.weixin.qq.com/s?__biz=MzAxNzIxMjM0NQ==&mid=213037776&idx=2&sn=c7340d34cecf9cf690711d915ddb7782#rd 

 ?@fangshimin  Jul 21 
ʱɵģСй¶˺Ļֻ֧ǵ߼ߡǸ
ֵ֧ľͲصǸˡ 
https://pbs.twimg.com/media/CKevvXWUcAAPpc0.jpg

 ?@fangshimin  Jul 21 
Щһ߼ʳϿɭ֣һ߾żƬҶӷ˵ǲҶȻ
ͷˣشߡиûأôӢ
أ㿴أǲҶأϴ
ء 
https://pbs.twimg.com/media/CKe3j0eUAAAahR_.jpg

 ?@fangshimin  Jul 21 
רҵֵȻпżУⲻĹؼĹؼǣһ
ԭƳרҵյĳ¨ӺȻ֮Լȫ˳һ֣
רҵȫ壬ж裬ÿһоǻС 
https://pbs.twimg.com/media/CKe_HPVUkAE-ckh.jpg

 ?@fangshimin  Jul 21 
¸ٵͽܻǻὲģѧ԰˾ǰ˵Ĵ󲿷ڱ
յĶ󣬲㹻Ŀѧˮ׼գΪӢ
幤ˡķۡٲȻ˿մͱը¡
ѧ԰ͷӵĹϵ
http://card.weibo.com/article/h5/s#cid=1001603867065168583775&from=1053093010&wm=3333_2001 

δԭ ?@WeiyuanOttawa  Jul 21 
@fangshimin ؼǼʵȱյȴ뱻Ϊ
ҡϷָһδϻȥԽܡڶαָ
Ϊˡָǻôңβܽˣ
ֻܺϷˡ

 ?@fangshimin  Jul 21 View translation
Ϊպ͵幤һ򵥡@WeiyuanOttawa: ؼǼʵȱ
յȴ뱻ΪҡϷָһδϻȥ
ԽܡڶαָеΪˡָǻô
ңβܽˣֻܺϷˡ

δԭ ?@WeiyuanOttawa  Jul 21 
@fangshimin ⼸˺ʹԪǣһǵĿѧȴԪ΢
õ㣬ĻǿԶƼ׵ģԪǽҲ̲ᡣڶ
ԽһԪһҲܽܡǣһӹ
ϣǶԴϷ̬ȾͺʹԪˡ

 ?@fangshimin  Jul 21 
ȴԪǿ@WeiyuanOttawa: ǵĿѧȴԪ΢õ㣬
ĻǿԶƼ׵ģԪǽҲ̲ᡣڶǿԽ
һԪһҲܽܡǣһӹ
ϣǶԴϷ̬ȾͺʹԪˡ

δԭ ?@WeiyuanOttawa  Jul 22 
@fangshimin ÿ϶ķҪ϶ñķñϴλ @̽
 ָܹ̳Ĺϡˡ
Ҿ̬Ѿѵˣֵ

 ?@fangshimin  Jul 22 
ҲԭʲųϵģһҲԭߵľϴ
@WeiyuanOttawa: ÿ϶ķҪ϶ñķñϴλ @
̽ ָܹ̳Ĺϡ
ˡҾ̬Ѿѵˣֵ

 ?@shycw66  Jul 22 
@fangshimin @WeiyuanOttawa Ǵ̽ıĲզأô򵥵Ӣ
ڷоݵľ£ȻҪԭȷϣǶԷز
ΣǷۣӦȥλ˲Ŷ

 ?@fangshimin  Jul 23 
ͱˣʲôۣΪбӢûС
@shycw66:  Ǵ̽ıĲզأô򵥵Ӣڷ
оݵľ£ȻҪԭȷϣǶԷزΣǷۣ
Ӧȥλ˲Ŷ

 ?@fangshimin  Jul 21 
ֳҲֻǷڸֶ֮䡣ϣ³սʹ׳¨Ҳ
⣬մˡ 
https://pbs.twimg.com/media/CKfOT97UEAADG_E.jpg

 ?@fangshimin  Jul 21 
ΪֻҪҽͦͦת򣬾ͱԼпѧˡʵǱ
ҪǳҪѧڷġе˻ΪĳЩԭ
˸١ԼܹҽĺȦӡ涯ȵȣҽ
ͦתϵ˼άʽҽۡתûʲô

 ?@fangshimin  Jul 21 
ҳFMĿӽѧ7ô£
http://weibo.com/p/10151501_100271494 

 ?@fangshimin  Jul 21 
90ƵѪк棿
http://mp.weixin.qq.com/s?__biz=MzAxNzIxMjM0NQ==&mid=213053997&idx=1&sn=d406f3f020291e980ad645c01f256938#rd 

˱˯ ?@houxiuzhou  Jul 21 
@fangshimin ٿ˵ƢഢѪ
200mL,http://www.baike.com/wiki/%E8%84%BE 
˵ƢഢѪΪ20%Ӧ800mLңĸԣо800mLǲ
̫

 ?@fangshimin  Jul 22 
200Ƣഢĺϸ@houxiuzhou: ٿ˵ƢഢѪ
200mL,http://www.baike.com/wiki/%E8%84%BE 
˵ƢഢѪΪ20%Ӧ800mLңĸԣо800mLǲ
̫

 ?@fangshimin  Jul 21 
תָתԴ򣬺ͻ¡ 
https://pbs.twimg.com/media/CKf8jWXUAAAylwo.jpg

 ?@fangshimin  Jul 22 
˭ڷ극ݳʦɵģ 
https://pbs.twimg.com/media/CKhef6MUAAAAC28.jpg

 ?@fangshimin  Jul 22 
תָתԴͻɾ༭Ŵ̼ͳŴ޸ģ
ڹҲ׳ת򣬵ͻͻ䶼¡ӽձֲ
Ŵ̼Ŵ޸ģȻһģı˻

ɽµ ?@shanxiaderen  Jul 22 
@fangshimin ӽϸ

 ?@fangshimin  Jul 22 
ͨӽɶ̶ǡϸںϼӽϸ̡
@shanxiaderen: ӽϸ

 ?@fangshimin  Jul 22 
ѧ԰ʣµľͶЩȱѧʶաӽܵ
̡ǲָ̡ǾȷŴָ̡÷
ѧŴĸ졣 
https://pbs.twimg.com/media/CKkE-vLUEAARzk7.jpg

 ?@fangshimin  Jul 22 
ѧ԰ַƪƷڵֹ˵ѧ
ëǮϵ 
https://pbs.twimg.com/media/CKkfzhWUwAAa2sa.jpg

 ?@fangshimin  Jul 22 
һԳ֣ѧ԰̨ԳתˣһԶ 
https://pbs.twimg.com/media/CKkqaJBWwAAy1E0.jpg

߸ ?@BobjamsZ  Jul 22 
ϷˣҪͰ?? @fangshimin

 ?@fangshimin  Jul 23 
ձרίԱרҲٰʲôģ@BobjamsZ: Ϸˣ
ҪͰ??

 ?@fangshimin  Jul 23 
һ˷ھԶΪҵˡǸררǹʱ
ְȨԼģձʽƸĿרʲôϵ 
https://pbs.twimg.com/media/CKl18arUAAApSTh.jpg

 ?@fangshimin  Jul 23 
90߼ 
https://pbs.twimg.com/media/CKmLkNSVAAAI25L.jpg
https://pbs.twimg.com/media/CKmLkTHUMAAbmDw.jpg

ɽµ ?@shanxiaderen  Jul 23 
@fangshimin ǸЦֺļСûϧˣֱиŮΰ

 ?@fangshimin  Jul 23 
߾Ǽʹ@shanxiaderen: ǸЦֺļСûϧˣ
ֱиŮΰ

 ?@fangshimin  Jul 23 
վ 
https://pbs.twimg.com/media/CKmT-6GVEAgSIhG.jpg

 ?@fangshimin  Jul 23 
ӣڹձרίԱʽϵķ
http://mp.weixin.qq.com/s?__biz=MjM5NTI3Nzc2Mw==&mid=224071231&idx=1&sn=36f51d34cf9c09e645c1e489fef849db#rd 

 ?@fangshimin  Jul 23 
FMӽѧ9:Ч
http://fm.qzone.qq.com/luobo/radio?_wv=1&showid=rd003sUuGI1vIQbV&aid=rd001USq1949X1mp&from=groupmessage&isappinstalled=1 

 ?@fangshimin  Jul 23 
æµһ졣¼4۽μ90߼ᣬ¼
7˾׻ɤӶˡ 
https://pbs.twimg.com/media/CKpjcw6VEAAsGCo.jpg

 ?@fangshimin  Jul 23 
ҳFMĿӽѧ88ﲡΪʲô
http://weibo.com/p/10151501_100272932 

 ?@fangshimin  Jul 23 
ٷڲҷʱҲᵽȥٷýÿգ
ʲôìܣѧ԰ʣµľֲ߼˼ά̨ӣ
ˮƽܱ˵Ŀնѣͼձˣ 
https://pbs.twimg.com/media/CKp7sVzUwAAXMrS.jpg

 ?@fangshimin  Jul 23 
ѧ԰СڡҰѧζûѧãȻҲ
ѧաųĿܡĸǴߡûѧѧ
룬ѧЦʲô˶Ҫտյ֣ѵôˮ 
https://pbs.twimg.com/media/CKqDMl-UcAE_V-4.jpg

 ?@fangshimin  Jul 23 
ڰСȵ߻ʯ12000ǰǴ
ġ
https://www.newscientist.com/article/dn27949-four-legged-fossil-holds-secret-of-snakes-slithering-origins/  
https://pbs.twimg.com/media/CKqQr_aUAAE5Aqz.jpg

 ?@fangshimin  Jul 24 
Щ˻ԽԽԼ£߶߶治ûмΡ 
https://pbs.twimg.com/media/CKq6i7AUYAAM80p.jpg

 ?@fangshimin  Jul 24 
ĸСȵ߻ʯſȥߡ 
https://pbs.twimg.com/media/CKrVHXYUsAE-yeG.jpg

 ?@fangshimin  Jul 24 
̫ɽˡ˭ 
https://pbs.twimg.com/media/CKrlPrHUcAAw7P7.jpg

 ?@fangshimin  Jul 24 
źټ

 ?@fangshimin  Jul 24 
װΪ֪һһŴж
ͳƣΪĳءҪ˵ܶǴģ
Ҳ˵ֻ˵ܶйͬȡ 
https://pbs.twimg.com/media/CKsUbyWUYAA-yy4.jpg

(XYS20150731)

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