The forth and the fifth section present a practically real - time maneuvering control strategy with a mcu ( 68hc908mr8 ) for the robotic fish that uses the two - link oscillating foil as a propulsor . one robotic fish ( oucefish - i ) is designed and accomplished 第四和第五部分利用mcu ( 68hc908mr8 )实现了对以上模型运动轨迹的实时操作控制，设计完成机器鱼模型( oucefish - ) ，使机器鱼能利用两关节摆动薄片作为推进器游动。
