- 1 -? ? ? 410073? Survey on Technologies of Biomimetic Underwater Vehicles SHEN Lincheng?XIE Haibin?HU Tianjiang?ZHANG Daibing (Biomimetics Survey; Swimming mode; Key techniques; ? ? ?1-3? ? ?1,3? ? ? ? ? ?4-8? 20 ? ?6,9-18? ? ?19-26? 20 ? 90 ? ? ?- 2 -?27-29? ? ? ? ? ? ? ?body and/or caudal fin? BCF? ?median and/or pair fin?MPF? ? ?4?BCF ?Anguiliform? ? ?Carangiform? ? ?(Thunnifrom)?Ostraciiform? MPF?MPF? ?Labriform?Tetraodontiform?Rajiform? ?Diodontiform? ?Amiiform? ?Gymnotiform?Balistiform?4?1? ? ? 15? MPF ? ?BCF ? BCF ?MPF ?4,31,32?BCF ? ?7? 20 ? 90 ? BCF ? ? ? ? ? ? BCF ?31,32? MPF ? ? ?33? ? ? ?8,28,29? ? ?MIT?RoboTuna? ?- 3 -? ? ? ? ?34? ? ? ? ? ? ? ? ?8,28,29? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ? ?8,28,29,35-37? ? ?2? ?(a)?MIT?RoboTuna(c)?(d)?(b)? Kato ?Blackbass?- 4 -? 1 ?RoboTuna?MIT?1994? ? ? 1.2 ? 2m/s? 91%?Pike?MIT?1995RoboTuna ? ?VCUUV ?Draper?1998RoboTuna ? 2.4? 136kg?3h? 10m? 1.2m/s?1Hz? 75o/s? ?Blackbass ?1996? ?1999? 1.75 ?1.2m/s? 35%?UPF-2001 ?SRI?2001.11? 0.97m? 0.97m/s?9.5Hz? ?1999.4? 0.8m?0.8Kg?2Hz ? 0.6m/s? 6 ? 6?SPC?2002.10? SPC ? 1.9m? 156kg? 2?6h?2Hz? 1.5m/s? 70?/s? 1 ?SPC?2002.12? SPC ? 0.8m? 10kg? 5?10h?1.5m?1.71Hz ? 0.6m/s? 70?/s? 1? ?2002? NACA0018 ? 2.4m? 0.62m? 329kg? 70kg? 10m?