The present invention is directed broadly to an underwater appendage assembly (10) of a marine vessel (12). The underwater appendage assembly (10) is in the form of a rudder assembly fitted to a bow section (14) of the vessel (12). The rudder assembly comprises an appendage in the form of a rudder foil (18) connected to a flapper member (20). The flapper member (20) is arranged whereby movement and more particularly pitching, of the vessel (12) induces deflection of the flapper member (20) relative to the rudder foil (18). This deflection in the flapper member (20) provides an oscillating movement of the flapper member (20) in a flapping action which is substantially synchronised with movement of the vessel (12) upward and downward. The flapping action of the flapper member (20) is effective in promoting forward propulsion of the vessel (12).

The present invention is directed broadly to an underwater appendage assembly (10) of a marine vessel (12). The underwater appendage assembly (10) is in the form of a rudder assembly fitted to a bow section (14) of the vessel (12). The rudder assembly comprises an appendage in the form of a rudder foil (18) connected to a flapper member (20). The flapper member (20) is arranged whereby movement and more particularly pitching, of the vessel (12) induces deflection of the flapper member (20) relative to the rudder foil (18). This deflection in the flapper member (20) provides an oscillating movement of the flapper member (20) in a flapping action which is substantially synchronised with movement of the vessel (12) upward and downward. The flapping action of the flapper member (20) is effective in promoting forward propulsion of the vessel (12).

A biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.

A linear drive system adapted for repetitive driving using a linear motor. The drive system may be used to power pumping hydrofoils which drive a boat or ship. Linkages are used to maintain the driven portion in linear motion. A coupled dual drive system in which two driven portions are coupled such that their coupled motions travel at the same velocity in opposed directions. The coupled linear drive system which may be used as a mechanical power source for drive systems used in transportation and industry. A boat with dual pumping hydrofoils adapted for propel a boat using the hydrofoils for both lift and propulsion.

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 biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.

A robotic eel may comprise a plurality of torque reaction engines, an inertial mass, and a fin. Each of the plurality of torque reaction engines oscillates an inertial mass about an axis, producing a torque reaction on and oscillation of an external shaft. Oscillation of the external shaft bends a beam of the robotic eel. Bending the beam of the robotic eel produces at least one of a traveling or a standing wave in the beam. The traveling wave may be communicated to a second torque reaction of the plurality of torque reaction engines and to the fin, producing thrust.

A robotic eel may comprise a plurality of torque reaction engines, an inertial mass, and a fin. Each of the plurality of torque reaction engines oscillates an inertial mass about an axis, producing a torque reaction on and oscillation of an external shaft. Oscillation of the external shaft bends a beam of the robotic eel. Bending the beam of the robotic eel produces at least one of a traveling or a standing wave in the beam. The traveling wave may be communicated to a second torque reaction of the plurality of torque reaction engines and to the fin, producing thrust.

A linear drive system adapted for repetitive driving using a linear motor. Linkages are used to maintain the driven portion in linear motion. A coupled dual drive system in which two driven portions are coupled such that their coupled motions travel at the same velocity in opposed directions. A linear drive system with a return spring portion which is adapted to facilitate linear direction changeover. A coupled linear drive system which may be used as a mechanical power source for drive systems used in transportation and industry.

A linear drive system adapted for repetitive driving using a linear motor. The drive system may be used to power pumping hydrofoils which drive a boat or ship. Linkages are used to maintain the driven portion in linear motion. A coupled dual drive system in which two driven portions are coupled such that their coupled motions travel at the same velocity in opposed directions. The coupled linear drive system which may be used as a mechanical power source for drive systems used in transportation and industry. A boat with dual pumping hydrofoils adapted for propel a boat using the hydrofoils for both lift and propulsion.