Various aspects include a robot including a chassis, a rear section, and a forward propulsion auger. The chassis may include a forward section; a first drive motor positioned within the forward section; a rear section; and a maneuvering gimbal. The forward propulsion auger may be positioned on a leading end of the forward section and coupled to the first drive motor. The forward propulsion auger may include at least one fluid nozzle configured to eject a fluid therefrom for fluidizing at least a portion of a viscous mixture. The forward section and the rear section may be configured to be selectively pivoted relative to one another about the pivot axis of the maneuvering gimbal. Also, the forward propulsion auger may be configured to be rotated by the first drive motor relative to the forward section about a rotational axis normal to the pivot axis of the maneuvering gimbal.

A hull is for a vessel and includes an elongated body rotatably connected to the vessel and a first end portion and a second end portion. The longitudinal axis of the elongated body substantially coincides with the longitudinal axis of the vessel and the elongated body is formed with a helical shape at least in a portion. The helical portion of the elongated body is provided with a star-shaped cross section.

A hull is for a vessel and includes an elongated body rotatably connected to the vessel and a first end portion and a second end portion. The longitudinal axis of the elongated body substantially coincides with the longitudinal axis of the vessel and the elongated body is formed with a helical shape at least in a portion. The helical portion of the elongated body is provided with a star-shaped cross section.

A robotic fish comprises one or more torque reaction engines and a fish body, wherein the torque reaction engine cyclically oscillates and causes a wave to propagate across the fish body, including through a flexible wing, accelerating thrust fluid and propelling the robotic fish.

A robotic fish comprises one or more torque reaction engines and a fish body, wherein the torque reaction engine cyclically oscillates and causes a wave to propagate across the fish body, including through a flexible wing, accelerating thrust fluid and propelling the robotic fish.

An apparatus for collecting floating marine debris comprises a frame, a debris collection container in communication with a rear opening of the frame, a pair of helicoidal screws mounted to the frame in a symmetrical V-arrangement that tapers inwardly from a front opening of the frame to the rear opening, and at least one prime mover rotationally coupled to the pair of helicoidal screws. The prime mover is operable to rotate the helicoidal screws in opposite directions at the same angular velocity in water to move the apparatus forward through the water, such that floating marine debris enters the apparatus through the front opening, passes through the rear opening and is collected in the debris collection container.

An apparatus for collecting floating marine debris comprises a frame, a debris collection container in communication with a rear opening of the frame, a pair of helicoidal screws mounted to the frame in a symmetrical V-arrangement that tapers inwardly from a front opening of the frame to the rear opening, and at least one prime mover rotationally coupled to the pair of helicoidal screws. The prime mover is operable to rotate the helicoidal screws in opposite directions at the same angular velocity in water to move the apparatus forward through the water, such that floating marine debris enters the apparatus through the front opening, passes through the rear opening and is collected in the debris collection container.

Various aspects include a robot including a chassis, a rear section, and a forward propulsion auger. The chassis may include a forward section; a first drive motor positioned within the forward section; a rear section; and a maneuvering gimbal. The forward propulsion auger may be positioned on a leading end of the forward section and coupled to the first drive motor. The forward propulsion auger may include at least one fluid nozzle configured to eject a fluid therefrom for fluidizing at least a portion of a viscous mixture. The forward section and the rear section may be configured to be selectively pivoted relative to one another about the pivot axis of the maneuvering gimbal. Also, the forward propulsion auger may be configured to be rotated by the first drive motor relative to the forward section about a rotational axis normal to the pivot axis of the maneuvering gimbal.

Various aspects include a robot including a chassis, a rear section, and a forward propulsion auger. The chassis may include a forward section; a first drive motor positioned within the forward section; a rear section; and a maneuvering gimbal. The forward propulsion auger may be positioned on a leading end of the forward section and coupled to the first drive motor. The forward propulsion auger may include at least one fluid nozzle configured to eject a fluid therefrom for fluidizing at least a portion of a viscous mixture. The forward section and the rear section may be configured to be selectively pivoted relative to one another about the pivot axis of the maneuvering gimbal. Also, the forward propulsion auger may be configured to be rotated by the first drive motor relative to the forward section about a rotational axis normal to the pivot axis of the maneuvering gimbal.

The present invention provides a hetero-stiffness robotic device with a central body portion having a head end and a tail end. A rigid rotatable head propeller extends from the head end while a flexible rotatable tail propeller extends from the tail end. A head motor positioned in the central body portion rotates the rigid rotatable head propeller and a tail motor positioned in the central body portion rotates the flexible rotatable tail propeller. A controller independently controls a rotational speed of the head motor and the tail motor. The head and tail propellers may have helical shapes. The hetero-stiffness propulsion gives the robotic device a high level of environmental adaptivity over a wide range of viscosities. The device demonstrates advantages in linearity, straightness, bi-directional locomotion ability, and efficiency, which provides a critical competence for moving in low Reynolds number environments.