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

作     者：Lei Wang Min Xu Bo Liu Kin Huat Low Jie Yang Shiwu Zhang 

作者机构：Department of Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei Anhui 230026 P. R. China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore 639798 Singapore 

出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)

年 卷 期：2013年第10卷第2期

页      面：210-221页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0836[工学-生物工程] 0702[理学-物理学] 

基　　金：Acknowledgments This research is financially supported by National Natural Science Foundation of China (50975270) and the Fundamental Research Funds for the Central Universities (WK2090090002). The presented work is arisen from the collaboration between the two teams in USTC and NTU (Singapore) on bio-inspired robotics 

主　　题：highspeed photography Singular Value Decomposition (SVD) three-dimensional kinematics digital image proc-essing 

摘      要：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 ofa bio-inspired fin rays. Therefore, a highspeed photography system is introduced in this paper to study the 3D motion ofa 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 recon- structed by digital image processing, in which the movement of fin rays during fish retreating and hovering is obtained. Fur- thermore, 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.