The present invention relates to a method of actuating a shape changeable member of actuatable material. The invention further relates to a shape changeable member and to a system comprising such a shape changeable member and a magnetic field apparatus.

The TRAVELING WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. In a fluid medium, the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust. Arched blades affixed to the fins facilitate propulsion on hard surfaces such as ice.

The TRAVELING WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. In a fluid medium, the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust. Arched blades affixed to the fins facilitate propulsion on hard surfaces such as ice.

An apparatus and method for an unmanned underwater vehicle that utilizes at least one flexible robotic fin to provide a highly maneuverable vessel with station-keeping performance in tight spaces, close to ocean structures or missions where a low-speed or station-keeping vehicle is required. A propeller is also provided for providing the main propulsion during high-speed transition with assistance provided by the flexible robotic fin. The vehicle includes sonar and camera equipment as well as a plurality of other sensors for achieving navigation and communication functions while surveying the underwater marine environment. A system controller and motor controller are synchronized to provide deflection commands to ray elements in the flexible robotic fin to achieve particular maneuvers such as pitch, yaw, and roll in confined spaces. The commands are traveling waves that undulate the fin precisely and for station-keeping the commands are opposing wave commands that fix the vehicle at one position.

An apparatus and method for an unmanned underwater vehicle that utilizes at least one flexible robotic fin to provide a highly maneuverable vessel with station-keeping performance in tight spaces, close to ocean structures or missions where a low-speed or station-keeping vehicle is required. A propeller is also provided for providing the main propulsion during high-speed transition with assistance provided by the flexible robotic fin. The vehicle includes sonar and camera equipment as well as a plurality of other sensors for achieving navigation and communication functions while surveying the underwater marine environment. A system controller and motor controller are synchronized to provide deflection commands to ray elements in the flexible robotic fin to achieve particular maneuvers such as pitch, yaw, and roll in confined spaces. The commands are traveling waves that undulate the fin precisely and for station-keeping the commands are opposing wave commands that fix the vehicle at one position.

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 comprising a disk, accelerating thrust fluid and propelling the robotic fish.

An apparatus and method for an unmanned underwater vehicle that utilizes at least one flexible robotic fin to provide a highly maneuverable vessel with station-keeping performance in tight spaces, close to ocean structures or missions where a low-speed or station-keeping vehicle is required. A propeller is also provided for providing the main propulsion during high-speed transition with assistance provided by the flexible robotic fin. The vehicle includes sonar and camera equipment as well as a plurality of other sensors for achieving navigation and communication functions while surveying the underwater marine environment. A system controller and motor controller are synchronized to provide deflection commands to ray elements in the flexible robotic fin to achieve particular maneuvers such as pitch, yaw, and roll in confined spaces. The commands are traveling waves that undulate the fin precisely and for station-keeping the commands are opposing wave commands that fix the vehicle at one position.

An apparatus and method for an unmanned underwater vehicle that utilizes at least one flexible robotic fin to provide a highly maneuverable vessel with station-keeping performance in tight spaces, close to ocean structures or missions where a low-speed or station-keeping vehicle is required. A propeller is also provided for providing the main propulsion during high-speed transition with assistance provided by the flexible robotic fin. The vehicle includes sonar and camera equipment as well as a plurality of other sensors for achieving navigation and communication functions while surveying the underwater marine environment. A system controller and motor controller are synchronized to provide deflection commands to ray elements in the flexible robotic fin to achieve particular maneuvers such as pitch, yaw, and roll in confined spaces. The commands are traveling waves that undulate the fin precisely and for station-keeping the commands are opposing wave commands that fix the vehicle at one position.

The TRAVELING WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. In a fluid medium, the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust. Arched blades affixed to the fins facilitate propulsion on hard surfaces such as ice.

The TRAVELING WAVE PROPELLER, PUMP AND GENERATOR APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. In a fluid medium, the traveling waves of sinusoidal deformations may exert force on the fluid causing the fluid to move and/or creating thrust. When anchored in moving fluid, hydrodynamic loading of the fins may cause the fins to move and transmit force to an electromagnetic generator or other energy-harnessing transducer to generate electricity.