( 1 ) an approximate theoretical model was proposed with partial consideration of compressibility . it is used to compute the mass flow and is suitable for the microchannels with a large ratio of depth to width . the applicability of the new model and the model usually used is provided 主要工作如下： （ 1 ）提出了一种便于工程应用的，适合于深宽比较大的，部分考虑压缩性的，微管道内质量流量的近似理论模型，给出了该近似理论模型和常用近似理论模型的适用范围。
For example , it can enter human body to inspect inner organ , deliver drug to assigned spot and operate local body surgery . supported by the nation nature science foundation of mechanism , structure and control study on swimming micro robot in liquid ( item no . 69885002 ) and guangdong province science foundation of research on swimming micro robot in liquid ( item no . 980402 ) and guangdong province education department foundation of research on micro pipe robot driven by liquid self energy ( item no . 010043 ) , this dissertation mainly study on the designing and manufacturing of swimming micro robot and its swimming performance , building up and analysing the dynamic model , natant problem of swimming micro robot and controlling the swimming velo city 本论文得到国家自然科学基金项目“泳动微机器人的机理、机构和控制” (项目资助号： 69885002 ) 、广东省自然科学基金项目“液体中泳动微机器人的研究” (项目资助号： 980402 )和广东省教育厅基金项目“基于流体自身能量的微管道机器人研究” (项目资助号： 010043 )等的资助，主要对在液体中运动微机器人的国内外研究现状、水生生物推进机理及其对泳动微机器人研究的借鉴和启发作用、泳动微机器人的设计与制作、微机器人动力学模型的建立与分析、微机器人的自主浮游与泳动速度控制等方面进行了大量的理论与实验研究。
It is believed that it can bring the important inspiration for the future medical micro robot which can be embedded into inner organ of human for inspection , drug spot deliverance and local body surgery . supported by supported by the nation nature science foundation of mechanism , structure and control study on swimming micro robot in liquid ( item no . 69885002 ) and guangdong province science foundation of research on swimming micro robot in liquid ( item no . 980402 ) and guangdong province education department foundation of research on micro pipe robot driven by liquid self energy ( item no . 010043 ) , this dissertation mainly deals with much theoretical and , including research situation and the main issue of micro mobile robot in liquid , fish propulsion mechanism , design and locomotion mechanism , and flagellum - like propulsion swimming micro robot in low reynolds number viscous liquid 本论文得到国家自然科学基金项目“泳动微机器人的机理、机构和控制” (项目资助号： 69885002 ) 、广东省自然科学基金项目“液体中泳动微机器人的研究” (项目资助号： 980402 )和广东省教育厅基金项目“基于流体自身能量的微管道机器人研究” (项目资助号： 010043 )的资助，主要对液体中微机器人的国内外研究现状和主要研究问题、鱼类推进机理、液体中微机器人的设计与运动机理、低雷诺数粘性液体中仿鞭毛推进微机器人研究等方面进行了大量的理论与实验研究。
Better agreements between computation results and experimental data were found using the models . ( 4 ) two phenomena in straight - convergent - divergent - straight microchannels were identified , which are different from the macroflow through experimental studies . one is that the first appearing sonic point position in microchannels is not near throat cross - section （ 4 ）对等直收缩扩张等直微管道中气体流动的实验研究发现两个特异现象：其一为微管道内最早出现声速点的位置不一定在喉部附近，其二为微管道中的临界压比与常规值有很大差别。
( 2 ) the characteristic of intelligent control - fuzzy neural network control system is expatiated , and illustrated the necessity ( 3 ) based on the moving environment and the moving features of the robot , the dynamics stability of the micro robot moving is analyzed ( 2 )阐述了智能控制?模糊神经网络控制系统的特点，并阐明了神经网络?模糊推理融合控制的必要性。 ( 3 )分析了电磁式微管道机器人的移动原理，并根据微管道机器人的运动特点及其运行环境，分析了其运动的动力学稳定性。
On this chip , uric acid was injected into the enzymatic reactor in which the uricase had already been immobilized by sol - gel , produced h2o2 was carried through the microchannel by the carrier flow ( air ) to the microreactor in which the luminol and hrp had already immobilized by sol - gel , then produced a cl signal 微流控芯片是以分析化学为基础，以微机电加工为依托，以微管道网络为结构特征，以生命科学为主要应用对象，集成采样、稀释、加试剂、反应、分离、检测于一微芯片上的分析测试系统。
