A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust. A fluke, fin, or wing comprises an angle of attack mechanism, wherein the angle of attack mechanism may use power from the fluke, fin, or wing to adjust an angle of attack of the fluke, fin, or wing relative to a surrounding thrust fluid.

A watercraft comprises a motor, an inertial mass, and a fin. The motor oscillates the inertial mass about an axis, producing a torque reaction on and oscillation of the motor. Oscillation of the motor is communicated to the fin, producing thrust. A fluke, fin, or wing comprises an angle of attack mechanism, wherein the angle of attack mechanism may use power from the fluke, fin, or wing to adjust an angle of attack of the fluke, fin, or wing relative to a surrounding thrust fluid.

A bionic underwater robot for achieving a variety of motions is disclosed. The bionic underwater robot includes a head and one or more tail structures. Each of the one or more tail structures includes one or more joint structures. Each of the one or more joint structures includes a connection plate, and a modular assembly, comprising an upper servo motor, a lower servo motor, and a bevel gear mechanism, is motorized for performing various movement motions of the joint structure. The bevel gear mechanism is integrally formed by an intermediate bevel gear, a first bevel gear, and a second bevel gear. The upper servo motor drives the first bevel gear from a first side of the modular assembly, while the lower servo motor drives the second bevel gear from a second side.

A bionic underwater robot for achieving a variety of motions is disclosed. The bionic underwater robot includes a head and one or more tail structures. Each of the one or more tail structures includes one or more joint structures. Each of the one or more joint structures includes a connection plate, and a modular assembly, comprising an upper servo motor, a lower servo motor, and a bevel gear mechanism, is motorized for performing various movement motions of the joint structure. The bevel gear mechanism is integrally formed by an intermediate bevel gear, a first bevel gear, and a second bevel gear. The upper servo motor drives the first bevel gear from a first side of the modular assembly, while the lower servo motor drives the second bevel gear from a second side.

Disclosed herein are hydrofoil vessels and systems integrated with renewable energy sources. In one aspect, the hydrofoil vessel includes one or more hulls, an omni-directional platform connecting the one or more hulls of the hydrofoil vessel. The omni-directional platform may include at least one of: a sail, a wind turbine, a solar panel, a hydroelectric motor, a hydrofoil controller platform, and a battery component. Also disclosed herein are methods and computer readable medium for controlling an omni direct modular hydrofoil vessel having one or more hulls integrated with renewable-energy sources.

Underwater robotic systems are disclosed. In some instances, a robotic system may include a body, a flexible fin, and a rotatable mass associated with the body such that angular acceleration of the rotatable mass causes a reaction torque that rotates the body to deform the flexible fin to create thrust in water.

Underwater robotic systems are disclosed. In some instances, a robotic system may include a body, a flexible fin, and a rotatable mass associated with the body such that angular acceleration of the rotatable mass causes a reaction torque that rotates the body to deform the flexible fin to create thrust in water.

Provided is a portable foldable aquaplane, comprising a buoyancy device (9), a handle (2), a pedal board (3) and a seat cushion (5), wherein the buoyancy device (9) comprises a head buoyancy component (1) and a body buoyancy component (13); the head buoyancy component (1) is connected to a front end of the body buoyancy component (13) in a foldable manner; the handle (2) is connected to the head buoyancy component (1) via a first telescopic rod (14); and the seat cushion (5) is connected to the body buoyancy component (13) via a second telescopic rod (15). By adjusting the height of the handle (2) and of the seat cushion (5), the aquaplane is not only capable of satisfying the requirements of riding on water in a standing state, but is also capable of satisfying the requirements of riding on water in a sitting state. The foldable structure of the aquaplane makes it easy to carry and store, and same can also provide sports and entertainment for both individuals and multi-players at the same time by means of a connection hook.

An acoustically stealthy, soft-bodied underwater propulsion system includes a central chord member and a series of successive muscle layers each having a skeletal mechanism and a set of actuators. Each skeletal mechanism includes a central vertebra, two or more actuator arms extending radially outward from the central vertebra and disposed axially symmetrically about the central chord member, and an actuator plate extending from a radially outward end of each actuator arm and oriented substantially transverse to the actuator arm. Each actuator is situated between an actuator plate from a first muscle layer of the series and a second muscle layer of the series.

An acoustically stealthy, soft-bodied underwater propulsion system includes a central chord member and a series of successive muscle layers each having a skeletal mechanism and a set of actuators. Each skeletal mechanism includes a central vertebra, two or more actuator arms extending radially outward from the central vertebra and disposed axially symmetrically about the central chord member, and an actuator plate extending from a radially outward end of each actuator arm and oriented substantially transverse to the actuator arm. Each actuator is situated between an actuator plate from a first muscle layer of the series and a second muscle layer of the series.