Special section on biomimetics of movement

Movement in biology is an essential aspect of survival for many organisms, animals and plants. Implementing movement efficiently to meet specific needs is a key attribute of natural living systems, and can provide ideas for man-made developments. If we had to find a subtitle able to essentially convey the aim of this special section, it could read as follows: 'taking inspiration from nature for new materials, actuators, structures and controls for systems that move'. Our world is characterized by a huge variety of technical, engineering systems that move. They surround us in countless products that integrate actuators for different kinds of purposes. Basically, any kind of mechatronic system, such as those used for consumer products, machines, vehicles, industrial systems, robots, etc, is based on one or more devices that move, according to different implementations and motion ranges, often in response to external and internal stimuli. Despite this, technical solutions to develop systems that move do not evolve very quickly as they rely on traditional and well consolidated actuation technologies, which are implemented according to known architectures and with established materials. This fact limits our capability to overcome challenges related to the needs continuously raised by new fields of application, either at small or at large scales. Biomimetics-based approaches may provide innovative thinking and technologies in the field, taking inspiration from nature for smart and effective solutions. In an effort to disseminate current advances in this field, this special section collects some papers that cover different topics. A brief synopsis of the content of each contribution is presented below. The first paper, by Lienhard et al [1], deals with bioinspiration for the realization of structural parts in systems that passively move. It presents a bioinspired hingeless flapping mechanism, considered as a solution to the kinematics of deployable systems for architectural structures. The approach relies on structural elasticity to replace the need for local hinges. To this end, the authors have used fibre-reinforced polymers combining high tensile strength with low bending stiffness. The solution favours lower structural complexity as well as higher design versatility. Bioinspiration from the elastic kinetics of plants is a central pillar of the paper, which highlights the interrelation of form, actuation and kinematics in those natural systems. The second paper, by Nakata et al [2], deals with bioinspired systems that actively move, and, more specifically, fly. The paper is about the aerodynamics of a bio-inspired flexible flapping-wing micro air vehicle conceived to fly in a Reynolds number regime used by most natural flyers, including insects, bats and birds. The paper presents a study of the flexible wing aerodynamics of the flapping vehicle by combining an in-house computational fluid dynamic model with wind tunnel experiments. In particular, the developed model is shown to be able to predict unsteady aerodynamics in terms of vortex and wake structures and their relationship with aerodynamic force generation. Simulations are validated by wind tunnel experiments, confirming the effectiveness of the adopted design solutions, as well as the importance of wing flexibility in designing small flapping-wing vehicles. The third paper, by Annunziata et al [3], deals with bioinspired control strategies for systems that move. In particular, the paper describes approaches to increase the stiffness variability in multi-muscle driven joints. Different strategies for simultaneous control of torque and stiffness in a hinge joint actuated by two antagonistic muscle pairs are presented. The proposed strategies combine torque and stiffness control by co-activation with approaches based on activation overflow and inverse modelling. Extensive simulations are performed and described to assess the control efficacy. In the fourth paper, Merker et al [4] present a study on stable walking with asymmetric legs. The authors are concerned with the need to clarify to what extent differences in the leg function of contralateral limbs can be tolerated during walking or running. A bipedal spring-mass model simulating walking with compliant legs is used to show that even remarkable differences between contralateral legs can not only be tolerated, but may also introduce advantages to the robustness of the system dynamics. This study might contribute to shedding light on the stability of asymmetric leg walking, including the potential benefits of asymmetry, with possible implications for design of prosthetic or orthotic systems. The last two papers of this special section deal with active bioinspired systems driven by new actuators made of smart materials. In particular, the paper authored by Rossi et al [5] presents an underwater fish-like robot based on bending structures driven by shape memory alloys. These kinds of actuators are used to bend the backbone of the fish, which in turn causes a change in the curvature of the fish body. The paper describes the mechanisms by which standard swimming patterns can be reproduced with the proposed design, and show characterizations in terms of the actuation speed and position accuracy of prototype systems. The last paper, by Carpi et al [6], presents an overview on ionic- and electronic-type electromechanically active polymer actuators as artificial muscles for bioinspired applications. The electrical responsiveness and numerous functional and structural properties that these materials and actuators have in common with natural muscles are shown to be the key motivation by which they are studied as artificial muscles for a huge variety of possible uses. The authors describe the fundamental aspects of relevant technologies and emphasize how after several years of basic research, electromechanically active polymer actuators are today facing their important initial transition from academia into commercialization. In conclusion, we hope that the selection of papers in this special section might help to provide readers with a balanced overview, through examples on the relevant fundamental aspects, materials, actuators, structures, controls and on their effective integration, in order to develop approaches which will be successful in 'taking inspiration from nature for systems that move'. References [1] Lienhard J, Schleicher S, Poppinga S, Masselter T, Milwich M, Speck T and Knippers J 2011 Flectofin: a hingeless flapping mechanism inspired by nature Bioinsp. Biomim. 6 045001 [2] Nakata T, Liu H, Tanaka Y, Nishihashi N, Wang X and Sato A 2011 Aerodynamics of a bio-inspired flexible flapping-wing micro air vehicle Bioinsp. Biomim. 6 045002 [3] Annunziata S, Paskarbeit J and Schneider A 2011 Novel bioinspired control approaches to increase the stiffness variability in multi-muscle driven joints Bioinsp. Biomim. 6 045003 [4] Merker A, Rummel J and Seyfarth A 2011 Stable walking with asymmetric legs Bioinsp. Biomim. 6 045004 [5] Rossi C, Colorado J, Coral W and Barrientos A 2011 Bending continuous structures with SMAs: a novel robotic fish design Bioinsp. Biomim. 6 045005 [6] Carpi F, Kornbluh R, Sommer-Larsen P and Alici G 2011 Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications? Bioinsp. Biomim. 6 045006.     

鱼类通过鱼道内水流速度障碍能力的评估方法

鱼类通过鱼道内水流速度障碍能力的量化对鱼道设计有重要理论和实际价值,其基础是鱼类游泳能力的测定.首先对鱼类游泳能力的研究方法进行了概述总结,指出了鱼类游泳能力经典测试方法存在测定流场与自然情况相差较大的不足;分析了关键要素如鱼类行为特征、生理耗能规律及水力特性对鱼类通过水流速度障碍能力的影响;提出了分析鱼类游泳行为和能力与特征流场的关系,探讨鱼类通过水流障碍行为规律和生理疲劳恢复特征,通过研究仿自然流态下的鱼类自由游泳行为、水力计算及生理耗能的关系,构建多因素鱼类游泳能力关系式,定量评价鱼类通过鱼道内水流速度障碍的发展方向.     

Better Endurance and Load Capacity: An Improved Design of Manta Ray Robot (RoMan-II)

An improved design of a biomimetic underwater vehicle (RoMan-II) inspired by manta ray is presented in this paper. The design of the prototype and the swimming motion control are discussed. Instead of using rigid multiple degree-of-freedom linkages as fin rays in the first version, six flexible fin rays are adopted to drive two sided fins which generate thrust through flapping motions. Furthermore, in order to save the energy for a long distance cruising, a bio-inspired gliding motion is incorporated onto the motion control of the improved prototype. With a closed-loop buoyancy control system, the vehicle can perform gliding locomotion in water, which reduces the overall energy consumption. The vehicle can also perform pivot turning and backward locomotion without turning its body. It can achieve an average velocity of one body length per second. The vehicle is able to carry various sensors or communication equipments, as the payload capacity is about 4 kg. Initial testing shows that the operation time of the buoyancy body is estimated to about 6 hours for free swimming and 90 hours for a pure gliding. The flapping frequency, flapping amplitude, and the number of waves performed across the fin's chord and wave directions can be independently tuned through the proposed control scheme. In general, the present prototype provides a useful platform to study the ray-like swimming motion in a single or combination mode of flapping, undulation and gliding.     

基于视频跟踪的竖缝式鱼道内鱼类运动行为分析

竖缝式鱼道过鱼对象运动行为与鱼道池室内水力条件是否相适应是进行鱼道设计的关键。研究通过视频跟踪法对竖缝式鱼道中目标鱼的运动轨迹进行实时跟踪, 获取鱼的运动加速度、运动速度, 并和人工手动跟踪的鱼类运动轨迹进行对比, 证明基于视频跟踪法的鱼类运动分析程序既能较好的应用于竖缝式鱼道中, 获取鱼类运动行为, 又可减少大量的人工操作, 有助于为竖缝式鱼道设计提供重要基础数据。     

A multiscale investigation of mechanical properties of bio-inspired scaffolds

Abstract

Finding a structural design which allows the scaffold to have a high porosity and large pore size while retaining high strength is essential. Here, a bio-inspired scaffold is designed based on the observed geometrical pattern of the apatite atomic crystal structure, and mechanical properties are compared with other common scaffold geometries. The bio-inspired scaffold design is proven superior using a multiscale computational approach, which combines density functional theory and finite element analysis to predict the stress reaction and substitution effects on the scaffolds. This study provides insight into better scaffold design using bio-inspired structures and the effect of substitutions.     

Computational hydrodynamics of animal swimming: boundary element method and three-dimensional vortex wake structure.

The slender body theory, lifting surface theories, and more recently panel methods and Navier-Stokes solvers have been used to study the hydrodynamics of fish swimming. This paper presents progress on swimming hydrodynamics using a boundary integral equation method (or boundary element method) based on potential flow model. The unsteady three-dimensional BEM code 3DynaFS that we developed and used is able to model realistic body geometries, arbitrary movements, and resulting wake evolution. Pressure distribution over the body surface, vorticity in the wake, and the velocity field around the body can be computed. The structure and dynamic behavior of the vortex wakes generated by the swimming body are responsible for the underlying fluid dynamic mechanisms to realize the high-efficiency propulsion and high-agility maneuvering. Three-dimensional vortex wake structures are not well known, although two-dimensional structures termed 'reverse Karman Vortex Street' have been observed and studied. In this paper, simulations about a swimming saithe (Pollachius virens) using our BEM code have demonstrated that undulatory swimming reduces three-dimensional effects due to substantially weakened tail tip vortex, resulting in a reverse Karman Vortex Street as the major flow pattern in the three-dimensional wake of an undulating swimming fish.     

Training mechanical engineering students to utilize biological inspiration during product development

The use of bio-inspiration for the development of new products and devices requires new educational tools for students consisting of appropriate design and manufacturing technologies, as well as curriculum. At the University of Maryland, new educational tools have been developed that introduce bio-inspired product realization to undergraduate mechanical engineering students. These tools include the development of a bio-inspired design repository, a concurrent fabrication and assembly manufacturing technology, a series of undergraduate curriculum modules and a new senior elective in the bio-inspired robotics area. This paper first presents an overview of the two new design and manufacturing technologies that enable students to realize bio-inspired products, and describes how these technologies are integrated into the undergraduate educational experience. Then, the undergraduate curriculum modules are presented, which provide students with the fundamental design and manufacturing principles needed to support bio-inspired product and device development. Finally, an elective bio-inspired robotics project course is present, which provides undergraduates with the opportunity to demonstrate the application of the knowledge acquired through the curriculum modules in their senior year using the new design and manufacturing technologies.     

The Importance of Body Stiffness in Undulatory Propulsion

During steady swimming in fish, the dynamic form taken by theaxial undulatory wave may depend on the bending stiffness ofthe body. Previous studies have suggested the hypothesis thatfish use their muscles to modulate body stiffness. In orderto expand the theoretical and experimental tools available fortesting this hypothesis, we explored the relationship betweenbody stiffness, muscle activity, and undulatory waveform inthe mechanical context of dynamically bending beams. We proposethat fish minimize the mechanical cost of bending by increasingtheir body stiffness, which would allow them to tune their body'snatural frequency to match the tailbeat frequency at a givenswimming speed. A review of the literature reveals that theform of the undulatory wave, as measured by propulsive wavelength,is highly variable within species, a result which calls intoquestion the use of propulsive wavelength as a species-specificindicator of swimming mode. At the same time, the smallest wavelengthwithin a species is inversely proportional to the number ofvertebrae across taxa (r² = 0.21). In order to determine ifintact fish bodies are capable of increasing bending stiffness,we introduce a method for stimulating muscle in the body ofa dead fish while it is being cyclically bent at physiologicalfrequencies. The bending moment (N m) and angular displacement(radians) are measured during dynamic bending with and withoutmuscle stimulation. Initial results from these whole body workloops demonstrate that largemouth bass possess the capabilityto increase body stiffness by using their muscles to generatenegative mechanical work.     

A Three-Dimensional Kinematics Analysis of a Koi Carp Pectoral Fin by Digital Image Processing

Pectoral fins fascinate researchers for their important role in fish maneuvers. By possessing a complicated flexible structure with several fin rays made by a thin film, the fin exhibits a three-dimensional (3D) motion. The complex 3D fin kinematics makes it challenging to study the performance of pectoral fin. Nevertheless, a detailed study on the 3D motion pattern of pectoral fins is necessary to the design and control of a bio-inspired fin rays. Therefore, a highspeed photography system is introduced in this paper to study the 3D motion of a Koi Carp by analyzing the two views of its pectoral fin simultaneously. The key motions of the pectoral fins are first captured in both hovering and retreating. Next, the 3D configuration of the pectoral fins is reconstructed by digital image processing, in which the movement of fin rays during fish retreating and hovering is obtained. Furthermore, the method of Singular Value Decomposition (SVD) is adopted to extract the basic motion patterns of pectoral fins from extensive image sequences, i.e. expansion, bending, cupping, and undulation. It is believed that the movement of the fin rays and the basic patterns of the pectoral fins obtained in the present work can provide a good foundation for the development and control of bionic flexible pectoral fins for underwater propeller.     

The role of mechanical resonance in the neural control of swimming in fishes

The bodies of many fishes are flexible, elastic structures; if you bend them, they spring back. Therefore, they should have a resonant frequency: a bending frequency at which the output amplitude is maximized for a particular input. Previous groups have hypothesized that swimming at this resonant frequency could maximize efficiency, and that a neural circuit called the central pattern generator might be able to entrain to a mechanical resonance. However, fishes swim in water, which may potentially damp out many resonant effects. Additionally, their bodies are elongated, which means that bending can occur in complicated ways along the length of the body. We review previous studies of the mechanical properties of fish bodies, and then present new data that demonstrate complex bending properties of elongated fish bodies. Resonant peaks in amplitude exist, but there may be many of them depending on the body wavelength. Additionally, they may not correspond to the maximum swimming speed. Next, we describe experiments using a closed-loop preparation of the lamprey, in which a preparation of the spinal cord is linked to a real-time simulation of the muscle and body properties, allowing us to examine resonance entrainment as we vary the simulated resonant frequency. We find that resonance entrainment does occur, but is rare. Gain had a significant, though weak, effect, and a nonlinear muscle model produced resonance entrainment more often than a linear filter. We speculate that resonance may not be a critical effect for efficient swimming in elongate, anguilliform swimmers, though it may be more important for stiffer carangiform and thunniform fishes.     

仿生纳米材料的设计与未来

自然合成了大量结构复杂、性能优越的有机、无机或有机无机杂化材料。这些材料与常规材料相比有着特殊的物理性质,从而造就了生物体各种奇异的功能。随着纳米技术的发展,研究发现许多生物体的特殊能力都与纳米技术息息相关。自然是一个先进的合成工厂,不断制造出具有各种奇异功能的生物体。而这些功能的实现,往往要依靠基本物质单元在微尺度上的有序或无序组装。对这些材料的探索和研究,为人们在微尺度上的仿生开辟了新的道路。本文针对仿生纳米材料的研究近况,展望此类材料的设计与未来发展趋势。     

Self-healing polymer composites: mimicking nature to enhance performance

Autonomic self-healing materials, where initiation of repair is integral to the material, are being developed for engineering applications. This bio-inspired concept offers the designer an ability to incorporate secondary functional materials capable of counteracting service degradation whilst still achieving the primary, usually structural, requirement. Most materials in nature are themselves self-healing composite materials. This paper reviews the various self-healing technologies currently being developed for fibre reinforced polymeric composite materials, most of which are bioinspired, inspired by observation of nature. The most recent self-healing work has attempted to mimic natural healing through the study of mammalian blood clotting and the design of vascular networks found in biological systems. A perspective on current and future self-healing approaches using this biomimetic technique is offered. The intention is to stimulate debate outside the engineering community and reinforce the importance of a multidisciplinary approach in this exciting field.     

Computational methods for the analysis of swimming biomechanics

A series of computer programs is presented which enables the analysis of fish body shape and mass distributions, spine positions, spine curvatures and coordinates for the centre of mass. Data are derived from silhouette outlines of swimming fish, white muscle strains during swimming, white muscle force-time development functions for body bending cycles, muscle force and power production along the whole fish body and hydrodynamic efficiencies for fast-start swimming behaviours.     

Experimental Studies and Dynamics Modeling Analysis of the Swimming and Diving of Whirligig Beetles (Coleoptera: Gyrinidae)

Whirligig beetles (Coleoptera, Gyrinidae) can fly through the air, swiftly swim on the surface of water, and quickly dive across the air-water interface. The propulsive efficiency of the species is believed to be one of the highest measured for a thrust generating apparatus within the animal kingdom. The goals of this research were to understand the distinctive biological mechanisms that allow the beetles to swim and dive, while searching for potential bio-inspired robotics applications. Through static and dynamic measurements obtained using a combination of microscopy and high-speed imaging, parameters associated with the morphology and beating kinematics of the whirligig beetle''s legs in swimming and diving were obtained. Using data obtained from these experiments, dynamics models of both swimming and diving were developed. Through analysis of simulations conducted using these models it was possible to determine several key principles associated with the swimming and diving processes. First, we determined that curved swimming trajectories were more energy efficient than linear trajectories, which explains why they are more often observed in nature. Second, we concluded that the hind legs were able to propel the beetle farther than the middle legs, and also that the hind legs were able to generate a larger angular velocity than the middle legs. However, analysis of circular swimming trajectories showed that the middle legs were important in maintaining stable trajectories, and thus were necessary for steering. Finally, we discovered that in order for the beetle to transition from swimming to diving, the legs must change the plane in which they beat, which provides the force required to alter the tilt angle of the body necessary to break the surface tension of water. We have further examined how the principles learned from this study may be applied to the design of bio-inspired swimming/diving robots.     

Predicting long bone loading from cross-sectional geometry

Long bone loading histories are commonly evaluated using a beam model by calculating cross-sectional second moments of areas (SMAs). Without in vivo strain data, SMA analyses commonly make two explicit or implicit assumptions. First, while it has long been known that axial compression superimposed on bending shifts neutral axes away from cross-sectional area centroids, most analyses assume that cross-sectional properties calculated through the area centroid approximate cross-sectional strength. Second, the orientation of maximum bending rigidity is often assumed to reflect the orientation of peak or habitual bending forces the bone experiences. These assumptions are tested in sheep in which rosette strain gauges mounted at three locations around the tibia and metatarsal midshafts measured in vivo strains during treadmill running at 1.5 m/sec. Calculated normal strain distributions confirm that the neutral axis of bending does not run through the midshaft centroid. In these animals, orientations of the principal centroidal axes around which maximum SMAs (Imax) are calculated are not in the same planes in which the bones experienced bending. Cross-sectional properties calculated using centroidal axes have substantial differences in magnitude (up to 55%) but high correlations in pattern compared to cross-sectional properties calculated around experimentally determined neutral axes. Thus interindividual comparisons of cross-sectional properties calculated from centroidal axes may be useful in terms of pattern, but are subject to high errors in terms of absolute values. In addition, cross-sectional properties do not necessarily provide reliable data on the orientations of loads to which bones are subjected.     

Use of a self-propelled,fish-shaped,computer model to study the effects of shape and tail-beat frequency on torque and velocity in salmon-shaped fish

The relationship between fish shape, swimming ability and energy consumption during swimming in fish is complex and not well understood. In this paper, we show how a self-propelled 3-D fish model can be used to examine the effect of controlled changes in some shape parameters. Parameters of the model fish are modified and the resulting fish activated for short swimming episodes during which swimming velocity, torque and energy expenditure are calculated in the computer environment. The effect of shape was determined for two different fish shapes swimming at three different tail-beat frequencies (1.43, 0.94 and 0.64?Hz). The simulation results indicate that fish model one (based on a salmon) has stronger swimming ability than fish model two (a modified salmon fish shape) even though energy expenditure of fish shape two is greater than that of fish shape one. In the same fish types, the fish-swimming velocity and energy expenditure are proportional to tail-beat frequency. This model has the potential to be useful, particularly for predicting fish behavior in fish swim ways and the tail-water of energy turbines.     

Swimming Performance Assessment in Fishes

Swimming performance tests of fish have been integral to studies of muscle energetics, swimming mechanics, gas exchange, cardiac physiology, disease, pollution, hypoxia and temperature. This paper describes a flexible protocol to assess fish swimming performance using equipment in which water velocity can be controlled. The protocol involves one to several stepped increases in flow speed that are intended to cause fish to fatigue. Step speeds and their duration can be set to capture swimming abilities of different physiological and ecological relevance. Most frequently step size is set to determine critical swimming velocity (U_crit), which is intended to capture maximum sustained swimming ability. Traditionally this test has consisted of approximately ten steps each of 20 min duration. However, steps of shorter duration (e.g. 1 min) are increasingly being utilized to capture acceleration ability or burst swimming performance. Regardless of step size, swimming tests can be repeated over time to gauge individual variation and recovery ability. Endpoints related to swimming such as measures of metabolic rate, fin use, ventilation rate, and of behavior, such as the distance between schooling fish, are often included before, during and after swimming tests. Given the diversity of fish species, the number of unexplored research questions, and the importance of many species to global ecology and economic health, studies of fish swimming performance will remain popular and invaluable for the foreseeable future.     

Design and Implementation of Paired Pectoral Fins Locomotion of Labriform Fish Applied to a Fish Robot

In present,there are increasing interests in the research on mechanical and control system of underwater vehicles.Theseongoing research efforts are motivated by more pervasive applications of such vehicles including seabed oil and gas explorations,scientific deep ocean surveys,military purposes,ecological and water environmental studies,and also entertainments.However,the performance of underwater vehicles with screw type propellers is not prospective in terms of its efficiency andmaneuverability.The main weaknesses of this kind of propellers are the production of vortices and sudden generation of thrustforces which make the control of the position and motion difficult.On the other hand,fishes and other aquatic animals are efficient swimmers,posses high maneuverability,are able to followtrajectories,can efficiently stabilize themselves in currents and surges,create less wakes than currently used underwater vehicle,and also have a noiseless propulsion.The fish’s locomotion mechanism is mainly controlled by its caudal fin and paired pectoralfins.They are classified into Body and/or Caudal Fin(BCF)and Median and/or paired Pectoral Fins(MPF).The study of highlyefficient swimming mechanisms of fish can inspire a better underwater vehicles thruster design and its mechanism.There are few studies on underwater vehicles or fish robots using paired pectoral fins as thruster.The work presented in thispaper represents a contribution in this area covering study,design and implementation of locomotion mechanisms of pairedpectoral fins in a fish robot.The performance and viability of the biomimetic method for underwater vehicles are highlightedthrough in-water experiment of a robotic fish.     

鲢幼鱼通过水流速度障碍的模拟

鱼类能否通过水流速度障碍直接影响过鱼设施的过鱼效果。利用计算机技术,综合水力因素、鱼类行为、地理特征及环境因子,展开鱼类通过水流速度障碍的模拟,有助于过鱼设施的优化设计。以国外涵洞式鱼道模拟软件Fish Xing为切入点,结合主要模块和关键因子,对我国特有鱼类鲢幼鱼进行模拟,得到鲢通过不同水流速度障碍的成功率;对比鲢在物理模型中的游泳表现,从模型主要模块和影响鱼类游泳表现的关键因子角度,分析影响鱼类通过水流速度障碍模拟的因素。结果表明,Fish Xing软件不能精确模拟鲢通过水流速度障碍的表现。分析表明,该软件在地理要素、管道特征和水力信息等参数方面具备独特的优势,但对我国鱼类有一定局限性,主要体现在鱼类的生物学信息如鱼类游泳特征等方面存在不足;进行鱼过障碍的模拟需要深入研究目标鱼类的生理特征、游泳能力及其与水力环境因子的响应关系。     

基于Matlab的鱼类游泳动力学分析

鱼类游泳动力学分析研究对解决鱼道等工程应用中水力学设计方面的关键问题有着重要的意义,利用计算机技术对鱼类游泳动力学进行分析有助于研究目标鱼类的生理特性、游泳能力及其与水力环境因子的响应关系。基于MATLAB软件对我国特有鱼类鲢幼鱼进行游泳动力学分析,借助鲢幼鱼游泳时的摆尾行为,得到不同水流速度下鲢幼鱼的摆尾频率、摆尾幅度、游泳速度和加速度;对比人工计数和手动跟踪分析方法,从实际操作复杂程度和实验数据准确性的角度,分析各数据采集方法的优劣性。结果表明基于Matlab软件采用跟踪鱼的身体中线的思路能更高效的获取大量的运动参数,比如摆尾频率、摆尾幅度、游泳速度和加速度等指标。文章介绍了一种基于Matlab开发的鱼类游泳动力学分析方法,有助于为以后鱼类游泳动力学研究提供依据。