To avoid the swing of forebody of robotic fish with single tail-fin,a kind of robotic fish with double tail-fin was designed and was used in SWATH.

• 针对单尾鳍摆动存在的机器鱼的摇艏问题,设计出双尾鳍仿鱼推进器,并将其应用于小水线面双体船,制作了仿生双尾推进的实验平台,在水池中进行了双尾推进试验研究。