Abstract: A fish-type underwater navigation body includes a caudal turning section provided for a caudal section of a main unit, a pair of first side turning sections provided in front lower sections of the main unit, and a pair of second side turning sections provided in side lower sections between a center section and the caudal section in the main unit. The fish-type underwater navigation body gets propulsion by turning the caudal turning section. Also, the pair of first side turning sections, the pair of second side turning sections and the caudal turning section function for attitude control of the fish-type underwater navigation body.

Abstract: An underwater propelling apparatus includes a body and a plurality of vibrating units. The plurality of vibrating units are placed in parallel to each other on a rear side of the body. Each of the plurality of vibrating units vibrates repeatedly and reciprocally to produce thrust.

Abstract: An underwater propelling apparatus, includes a body and a plurality of vibrating units. The plurality of vibrating units are placed in parallel to each other on a rear side of the body. Each of the plurality of vibrating units vibrates repeatedly and reciprocally to produce a thrust.

Abstract: A radio wave transmitter transmits a transmission command to an artificial fish in a water tank. A radio wave receiver in the artificial fish outputs the received transmission command to an ultrasonic transmitter so that the ultrasonic transmitter is caused to transmit ultrasonic transmission pulses. The ultrasonic transmission pulses are received by reception devices in the water tank, and a reception signal thereof is supplied to a propagation time clock generator. The propagation time clock generator generates propagation time clock pulses according to ultrasonic propagation times from the artificial fish to the reception devices. The propagation time clock pulses are counted by a pulse counter, and a count value thereof is inputted to an arithmetic operation control portion to obtain a propagation time, thereby calculating a three-dimensional position of the artificial fish.

Abstract: A radio wave transmitter transmits a transmission command to an artificial fish in a water tank. A radio wave receiver in the artificial fish outputs the received transmission command to an ultrasonic transmitter so that the ultrasonic transmitter is caused to transmit ultrasonic transmission pulses. The ultrasonic transmission pulses are received by reception devices in the water tank, and a reception signal thereof is supplied to a propagation time clock generator. The propagation time clock generator generates propagation time clock pulses according to ultrasonic propagation times from the artificial fish to the reception devices. The propagation time clock pulses are counted by a pulse counter, and a count value thereof is inputted to an arithmetic operation control portion to obtain a propagation time, thereby calculating a three-dimensional position of the artificial fish.

Abstract: A submersible vehicle is a type having swinging wings. The vehicle is provided with a vehicle main body, a plurality of swinging wings provided for the main body and arranged in series, rotatable shafts located at front edges of the swinging wings, respectively, actuators for driving the shafts independently of one another, and a wing controller for controlling the actuators in such a manner that the wings enable to swing in a flexible manner like the tail fin of a fish, thereby producing a desired propelling force and performing a steering operation.