Abstract: A highly maneuverable craft, which may be lighter-than-air, is disclosed, having undulating fins of a light-weight material that may undulate along the horizontal axis of the craft and/or rotate 360 degrees and continuously about the central longitudinal axis of the craft. The fins may be actuated by motors coupled to the fins and coupled to the exterior of the craft via circumferential bands. Motion of the fins creates aerodynamic thrust. The circumferential bands may serve as tracks or channels along which the motors run, allowing the motors to travel 360 degrees or travel continuously around the exterior of the craft and thereby draw the fins about the craft. The circumferential bands may serve as reinforcing components, allowing the motors to exert torque against the body of the craft which may be thin-walled for maximum positive buoyancy. An on-board battery may power the motors via electrical circuits extending around the bands.

Abstract: An unmanned aerial vehicle including a body part having an inner space filled with light gas; and a plurality of wing parts mounted on the body part and providing a propelling force. Each of the wing parts includes a fin part having a first rib and a second rib, a first servomotor and a second servomotor connected to one end of the first rib and one end of the second rib, respectively, to move the other end of the first rib and the other end of the second rib in a control angle range; a control unit for controlling the first servomotor and the second servomotor to make the first rib and the second rib move while having a particular phase difference therebetween; and a third servomotor connected to the first servomotor and the second servomotor to rotate the fin part to determine the propelling direction of the body part.

Abstract: A motorized device capable of moving in a fluid and including one or more locomotor systems, each having at least one drive assembly linked to at least one locomotion member and a motor controlled by a voltage. The frequency of a reciprocating motion of the drive assembly matches the resonant frequency of the locomotion member linked to a non-movable portion by at least one prestrained elastic member. The instantaneous amplitude of the reciprocating motion of the drive assembly is adjusted to control the average position and the maximum amplitude of the reciprocating motion of the locomotion member. The drive assembly includes at least one speed reducer for reducing the speed of rotation of the motor. When the motor is operating at its maximum mechanical power, the speed of rotation transmitted to the at least one locomotion member is reduced to match the resonance frequency.

Abstract: A transformable aerial vehicle includes a fuselage and a body frame. The fuselage includes a transmission mechanism including a leadscrew, at least two nuts threadedly connected to the leadscrew and connected to each other, and a nut adapter sleeved on one of the at least two nuts. The body frame includes a main support arm connected to the nut adapter, a crossbar connected to the main support arm, and a rotary power mechanism mounted on the crossbar.

Abstract: A motion decoy having a body and wings in the form of a waterfowl provides a realistic biaxial wing beat motion. The wing beat motion simultaneously includes a flapping action and a rotation action. The flapping action can sweep through an obtuse angle, while at the same time the rotating action that changes the angle of incidence of the wings at different angular positions. The compound biaxial wing beat motion better replicates the motion of live waterfowl, especially during the “lighting” phase of flight.

Abstract: A wing-drive mechanism includes at least one sub-mechanism having a motor that drives a drive shaft in a single direction. The sub-mechanism includes a converter means for converting the rotary motion of the drive shaft to a linear or arcuate back-and-forth motion; amplitude control means for controllably varying the extent of the linear or arcuate back-and-forth motion produced by the converter means; and a rotatably mounted output mechanism engaged with the converter means such that when the converter means produces the linear or arcuate back-and-forth motion, a corresponding alternating rotary motion is imparted to the output mechanism. In other embodiments, the invention is also a wing-drive mechanism and a method for configuring pairs of wing-drive mechanisms.

Abstract: A motion decoy having a body and wings in the form of a waterfowl provides a realistic biaxial wing beat motion. The wing beat motion simultaneously includes a flapping action and a rotation action. The flapping action can sweep through an obtuse angle, while at the same time the rotating action that changes the angle of incidence of the wings at different angular positions. The compound biaxial wing beat motion better replicates the motion of live waterfowl, especially during the “lighting” phase of flight.

Abstract: A motorized device arranged to move using cyclic motion is disclosed. The device includes a motorized means; at least one limb coupled to the motorized means, and configured to be driven by the motorized means for moving the device; and a resilient biasing means coupled to the at least one limb to further drive the at least one limb using mechanical resonance. A related method of moving the motorized device is also disclosed.

Abstract: A passively torque-balanced device includes (a) a frame; (b) a drivetrain including a drive actuator mounted to the frame and configured for reciprocating displacement, an input platform configured for displacement by the drive actuator, a plurality of rigid links, including a proximate link and remote links, wherein the rigid links are collectively mounted to the frame, and a plurality of joints joining the rigid links and providing a plurality of non-fully actuated degrees of freedom for displacement of the rigid links, the plurality of joints including a fulcrum joint that is joined both to the input platform and to the proximate rigid link; and (c) at least two end effectors respectively coupled with the remote links and configured for displacement without full actuation.

Abstract: A flapping flying robot including a body with a longitudinal side extending in a front to back direction, a left wing and a right wing respectively including a left front frame and a right front frame, base ends of the left and right front frames rotatably attached to a front side of the body, and a flapping structure mounted on an upper side of the body, the flapping structure powered by a rotary drive source, the flapping structure rotating the left and right front frames and thereby flapping the left and right wings and a duration of an upstroke of the left and right wings flapped by the flapping structure is shorter than a duration of a downstroke of the left and right wings to generate a lift force.

Abstract: An inverting wing propulsion system is disclosed. A vehicle body having a left side and a right side is provided with a wing drive assembly. At least two wings are operatively associated with the wing drive. At least one wing extends from each of the right side and the left side of the body. The wings are adapted to be driven by the wing drive assembly to engage in a reciprocating motion between a raised orientation and a lowered orientation. The reciprocating motion is characterized by a downward arcuate motion, where said wings fully extend from the body so as to generate an upward thrust, and by an upward motion, where the wings are retracted so as to produce reduced, minimized or negligible downward thrust.

Abstract: The wing flapping mechanism (100) includes a main frame (110), a pair of opposite wings (120) laterally projecting from the main frame (110), and a linkage arrangement to convert rotation of a motor (150) into a three-dimensional cyclic wing motion of each of the wings (120). The linkage arrangement includes torque-transmitting couplings extending from inside the main frame (110) into the wing structures (122) to transmit an alternating pivoting motion, created as a result of the rotation of the motor (150), to the distal end of a corresponding third torsion-responsive tube (140, 144??). Each torque-transmitting coupling extends inside a shoulder joint (130), a first torsion-responsive tube (132, 144?), an elbow joint (134), a second torsion-responsive tube (136, 144?), a wrist joint (138) and the third torsion-responsive tube (140, 144??) of the corresponding wing structure (122).

Abstract: A flapping wing driving apparatus includes at least one crank gear capstan rotatably coupled to a crank gear, the at least one crank gear capstan disposed radially offset from a center of rotation of the crank gear; a first wing capstan coupled to a first wing, the first wing capstan having a first variable-radius drive pulley portion; and a first drive linking member configured to drive the first wing capstan, the first drive linking member windably coupled between the first variable-radius drive pulley portion and one of the at least one crank gear capstan; wherein the first wing capstan is configured to non-constantly, angularly rotate responsive to a constant angular rotation of the crank gear.

Abstract: A method of controlling wing position and velocity for a flapping wing air vehicle provides six-degrees-of-freedom movement for the aircraft through a split-cycle constant-period frequency modulation with wing bias method that generates time-varying upstroke and downstroke wing position commands for wing planforms to produce nonharmonic wing flapping trajectories that generate non-zero, cycle averaged wing drag and alter the location of the cycle-averaged center of pressure of the wings relative to the center of gravity of the aircraft to cause horizontal translation forces, rolling moments and pitching moments of the aircraft.

Abstract: A method is provided to measure an aircraft under simulated flight-loads while the aircraft is not in flight. Simulated flight-loads may be applied to the aircraft, while the aircraft is not in flight, in order to substantially simulate flight pressure distribution loads the aircraft would experience during flight. A position of one or more portions of the aircraft may be measured, while the aircraft is under the simulated flight-loads, to determine an effect of the simulated flight-loads on the aircraft.

Abstract: A motorised device arranged to move using cyclic motion is disclosed. The device includes a motorised means; at least one limb coupled to the motorised means, and configured to be driven by the motorised means for moving the device; and a resilient biasing means coupled to the at least one limb to further drive the at least one limb using mechanical resonance. A related method of moving the motorised device is also disclosed.

Abstract: Disclosed is a flying toy capable of moving by flapping of wings. The flying toy comprises a support structure; an actuation mechanism, for the wings, arranged on the support structure and comprising a crank drive rotated by a means providing the driving force; and two flexible wings arranged symmetrically with respect to the vertical plane of symmetry of the toy and connected, at the wing bases, to the actuation mechanism, the aforementioned wing bases being mounted oscillating about axes arranged on both sides of the vertical plane of symmetry of the toy. A controller receives a control signal indicating a left turn, increases the tension on the right wing and reduces it on the left wing and, for a right turn, the opposite action is performed.

Abstract: A passively torque-balanced device includes (a) a frame; (b) a drivetrain including a drive actuator mounted to the frame and configured for reciprocating displacement, an input platform configured for displacement by the drive actuator, a plurality of rigid links, including a proximate link and remote links, wherein the rigid links are collectively mounted to the frame, and a plurality of joints joining the rigid links and providing a plurality of non-fully actuated degrees of freedom for displacement of the rigid links, the plurality of joints including a fulcrum joint that is joined both to the input platform and to the proximate rigid link; and (c) at least two end effectors respectively coupled with the remote links and configured for displacement without full actuation.

Abstract: A resonance engine is disclosed comprising: a driver plate (12), to which is coupled at least one oscillatory transducer (14); a drive signal generator connected to the oscillatory transducer for excitation thereof; a first spring-mass resonator, having a first natural resonant frequency, with a proximal end attached to the driver plate (12) and a free distal end; and a reaction means attached to the driver plate substantially opposite to the first spring-mass resonator. When the oscillatory transducer (14) is excited by a drive signal from the generator having a component at or close to said natural resonant frequency, the first spring-mass resonator oscillates at resonance, substantially in anti-phase to the driver plate (12). Small vibrational strains in the oscillatory transducer (14) are converted to large strains of controllable kinematic movements.

Abstract: In a moving apparatus, flapping angle of a front wing shaft is ?+??/2, and the flapping angle of rear wing shaft is ????/2. Specifically, amplitude difference between front wing shaft and rear wing shaft is ??. Further, the flapping motion of front wing shaft is represented by sin (?+?/2), and the flapping motion of rear wing shaft is represented by sin (???/2). In other words, phase difference between the front and rear wing shafts is ?. Further, amplitude difference ?? and phase difference ? are each represented by a function using a common parameter. Therefore, a control portion can independently change the amplitude difference ?? and phase difference ?, so as to variously change a torsion angle formed by a tip end portion of the wing and a prescribed phantom plane. Thus, a moving apparatus that can make an efficient transition from hovering to forward or backward flight can be provided.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: Heavier-than-air, aircraft having flapping wings, e.g., ornithopters, where angular orientation control is effected by variable differential sweep angles of deflection of the flappable wings in the course of sweep angles of travel and/or the control of variable wing membrane tension.

Abstract: A wing-drive mechanism is described that permits, with proper control, movement of a wing about multiple wing trajectories. The wing-drive is capable of independent movement about three rotational degrees of movement; movement about a flap axis is independent of movement about a yaw axis, and both are independent of changes in the pitch of the wing. Methods of controlling the wing-drive mechanism to affect a desired wing trajectory include the use of a non-linear automated controller that generates input signals to the wing-drive mechanism by comparing actual and desired wing trajectories in real time. Specification of wing trajectories is preferably also accomplished in real time using an automated trajectory specification system, which can include a fuzzy logic processor or a neural network.

Abstract: A micro aerial vehicle includes: a fuselage; a flapping transmission mechanism mounted on a front portion of the fuselage; a flexible wing frame secured to and driven by the flapping transmission mechanism for producing a figure-eight flapping trajectory for mimicking the flight of a tiny natural flier, such as hummingbird; and a tail wing secured to a tail portion of the fuselage; wherein the flexible wing frame is formed by respectively pivotally or rotatably mounting a wing skin made of parylene foil to a pair of leading-edge arm members made of carbon fiber, and linked to the flapping transmission mechanism to thereby make a miniaturized micro aerial vehicle.

Abstract: The present invention provides a wing-flapping flying apparatus, which can fly by moving its wings similar to a bird hovering or flying in the air by flapping its wings. The wing-flapping flying apparatus comprises: a body; a rotating shaft rotatably joined to the body; driving means for rotating the rotating shaft; and wings reciprocated between two points and connected to the rotating shaft so as to be rotated together with the rotating shaft and to be relatively torsionally rotated with respect to the rotating shaft. The wing-flapping flying apparatus generates lift throughout an entire wing-flapping movement without generating lift only throughout the half of a wing-flapping movement or offsetting the generated lift by the other half of the wing-flapping movement. Therefore, the wing-flapping flying apparatus can provide not only a stable flight but also a softly hovering or ascending and descending flight.

Abstract: An inverting wing propulsion system is disclosed. A vehicle body having a left side and a right side is provided with a wing drive assembly. At least two wings are operatively associated with the wing drive. At least one wing extends from each of the right side and the left side of the body. The wings are adapted to be driven by the wing drive assembly to engage in a reciprocating motion between a raised orientation and a lowered orientation. The reciprocating motion is characterized by a downward arcuate motion, where said wings fully extend from the body so as to generate an upward thrust, and by an upward motion, where the wings are retracted so as to produce reduced, minimized or negligible downward thrust.

Abstract: An ornithopter having segmented, flapping wings and capable of bird-like flight. A main drive system provides flapping motion to the wings. Servo systems are provided for independently moving each wing forward and backward along a major axis of the aircraft fuselage, thereby providing a balance subsystem. A single servomechanism controls upward and downward direction of the wings thereby providing a center angle control subsystem. Two additional servo systems are provided to control a tail assembly that provides steering and other ancillary control functions. Each subsystem is controlled by a dedicated, onboard microcontroller. One embodiment of the aircraft is remotely controlled by a wireless data communication link. The aircraft may be constructed to resemble a natural bird, in both static appearance and flight characteristics. The aircraft may be scaled from model size to a full-size, passenger carrying aircraft.

Abstract: A micro aerial vehicle includes: a fuselage; a flapping transmission mechanism mounted on a front portion of the fuselage; a flexible wing frame secured to and driven by the flapping transmission mechanism for producing a figure-eight flapping trajectory for mimicking the flight of a tiny natural flier, such as hummingbird; and a tail wing secured to a tail portion of the fuselage; wherein the flexible wing frame is formed by respectively pivotally or rotatably mounting a wing skin made of parylene foil to a pair of leading-edge arm members made of carbon fiber, and linked to the flapping transmission mechanism to thereby make a miniaturized micro aerial vehicle.

Abstract: A winged device has an axial support which is mounted for reciprocating rotary motion about a longitudinal axis of the support. A first wing vane is mounted to the axial support for rotation with the axial support. A second wing vane is mounted to the axial support. A cam follower is constrained to a defined movement path by a cam. A first connector connects the first wing vane to the cam follower such that the cam follower is moved along the cam by the first connector as the first wing vane moves with rotation of the axial support about its longitudinal axis. A second connector connects the second wing vane to the cam follower such that the second wing vane is moved by the second connector as the cam follower member is moved along the cam. The cam profile is defined relative to the axis of the axial support such that the relative orientation of the wing vanes changes as the axial support is rotated.

Abstract: A man-powered ornithopter-sailplane, which has one or two pair of flapping wings and a hang-glider wing wherein substantially novel femoral and humeral muscular propulsion engines with the aid of which the body members connected thereto form integrated moving-flying and controlling-guiding mechanisms. Femoral arms are fixed to the torso base from which the movements for the wings flapping with respect to axles inclined to a horizontal direction are transmitted through the intermediate links of a kinematic chain. The wings comprise a row of rotational rods arranged therein and provided with elastic feather-like panels which produced during flapping, in a closed or turned position thereof, aerodynamic profiles and corresponding lifting and propulsion aerodynamic forces. The controlling-guiding movements are transmitted from the humeral arms to the flapping wings using movable ball joints. The diversity of movements of the femoral arms, humeral arms, hang-glider wing make it possible to control the flight.

Abstract: Methods and apparatuses are disclosed that rotate a first member about a first point relative to a chassis, wherein the first member is rotatably coupled to a second member at a second point. A second member is counter-rotated at a ratio of the rotational speed of the first member wherein the second member is rotatably coupled to the third member at a third point. The third point is translated in response to the counter-rotating second member in oscillatory motion along a path. The third member is pivoted at a third point and fluid is moved in response to the motion of the third member. A force is applied to the chassis due to the interaction of the third member and the fluid.

Abstract: An efficient flying device having flapping wings, an ornithopter, which uses many of the principles seen in bird flight, is presented herein. The wings are highly flexible, translationally stable and oscillate as a natural pendulum. Described as a springboard, the wings have a singular natural frequency, and a pumping means drives the wings at that frequency. Feedback means are described by which to accomplish this, whereby deflection of the wing affects an escapement mechanism which controls the timing and direction of the pumping means. Wing design is described whereby camber, flexure, torsion and directionality of wing components affect efficient propulsion, lift and differential reactivity with air during downstrokes and upstrokes. A crook element in the wing spar at a location proximal to the body of the device redirects vertical oscillation to horizontal.

Abstract: A fluid-structure interactive analysis is performed while n types of wing structure models are caused to flap in accordance with a prescribed model of flapping manner. Based on an analysis, data 1, data 2, . . . data n of physical values related to fluid behavior and physical values related to structural behavior are calculated. Among data 1, data 2, . . . data n, a data having a prescribed parameter such as the lift force optimized is extracted. A prototype of a wing portion is formed, which has such a structure that is specified by various parameter values of the numerical model of wing structure corresponding to the extracted data. A driving unit 905 drives the prototype of the wing portion in a manner of flapping that is represented by the flapping motion model equivalent to the manner of flapping of an insect. At this time, the wing has a stiffness that is suitable for flapping flight so that prescribed parameters come to have optimal values.

Abstract: A drive assembly for use with a mechanical flying or walking device comprises an articulated member (7) having first and second portions (7a, 7b) arranged such that the portions move relative to each other, and a drive mechanism (9) for imparting motion to the articulated member. The drive mechanism (9) comprises: a drive member for imparting a cyclic motion on the articulated member, and a control member for controlling, in a predetermined manner, the relative position of the first and second portions during each cycle of the cyclic motion of the articulated member. In the case of a mechanical flying device, two such drive assemblies may be provided, the articulated member of each assembly forming a wing.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: The invention described here offers a low-cost method of remote flight control suitable for use in toy airplanes and ornithopters (flapping-wing aircraft). To accomplish this, the aircraft is powered by a reversible electric motor. The propeller or flapping wing produces a torque force, which is dependent upon the direction of motor rotation. This torque force is used to bank the aircraft and cause a turn. In the case of an airplane, a reversible-pitch propeller enables the propeller to produce thrust in either rotational direction. In the case of an ornithopter, the torque force results from an asymmetrical motion of the wings. By reversing the motor direction, the asymmetry is reversed and the ornithopter turns in the opposite direction. This control method reduces costs, because unlike other toy aircraft control systems, it provides full directional control of the aircraft without the need for any servo or actuator in addition to the drive motor.

Abstract: A drive assembly for a wing of a micromechanical flying insect. The drive assembly comprises a honey comb structure. A method for flying a micromechanical flying insect comprising moving a wing with a drive assembly having a stiffness to weight ratio greater than about 16×1010 N/mKg.

Abstract: An airfoil for use in kites, movable wing aircraft and fixed wing aircraft has a straight spar inserted into a sleeve in the arcuate leading edge of a flexible wing panel. The resultant forces on the spar dynamically shape the airfoil. The airfoil is reinforced by battens between the leading edge and the trailing edge of the wing panel. Flight control is maintained through control lines warping the airfoil.

Abstract: Method and indicator for displaying information showing the airspeed tolerance margins for an aircraft. The indicator comprises a central processing unit which selects, from a plurality of longitudinal scales, the longitudinal scale representative of the current aerodynamic configuration of the aircraft and a display means which presents on a display screen the selected longitudinal scale, which is mobile in the longitudinal direction, and whose position on the display screen depends on the current angle of attack of the aircraft, shown by a characteristic marker in a fixed position on the display screen across the longitudinal scale, the latter scrolling up and down relative to the characteristic marker as a function of the current angle of attack of the aircraft.

Abstract: Devices for navigating in a fluid medium having a solid boundary include a vehicle body and a fin attached to the vehicle body. The fin is configured to oscillate relative to the body such that interaction between the fin and the fluid medium produces propulsive forces that propel the vehicle body in a desired direction in the fluid medium. The fin is also configured to rotate relative to the body along a transverse axis such that engagement between the fin and the solid boundary propels the vehicle body in a desired direction on the solid boundary.

Abstract: A vehicle for flying and having a forward portion and a rearward portion opposite the forward. The vehicle includes a first pair of wings arranged at the forward portion of the vehicle, a second pair of wings arranged at the rearward portion of the vehicle, and a support structure. The support structure is connected to the forward pair of wings and connected to the rearward pair of wings, the support structure being arranged to drive the forward pair of wings alternately toward each other and apart and drives the second pair of wings alternately toward each other and apart.

Abstract: A biomimetic pitching and flapping mechanism including a support member, at least two blade joints for holding blades and operatively connected to the support member. An outer shaft member is concentric with the support member, and an inner shaft member is concentric with the outer shaft member. The mechanism allows the blades of a small-scale rotor to be actuated in the flap and pitch degrees of freedom. The pitching and the flapping are completely independent from and uncoupled to each other. As such, the rotor can independently flap, or independently pitch, or flap and pitch simultaneously with different amplitudes and/or frequencies. The mechanism can also be used in a non-rotary wing configuration, such as an ornithopter, in which case the rotational degree of freedom would be suppressed.

Abstract: A flapping apparatus includes a first disk rotated by a driving source, and a second disk that rotates in contact with a main surface of the first disk. The second disk is provided with first and second stoppers that limit its angle of rotation. When the stopper is in contact with the first disk, rotation of a wing shaft is caused only by the rotation of the first disk, and when the stoppers are not in contact with the first disk, rotation of the wing shaft is caused only by the rotation of the second disk.

Abstract: The invention provides a propulsion system based on “thuniform” movement of a foil member to achieve desired directional movement of a vehicle such as an unmanned submarine type of vessel. A pair of foil members are mounted to the vehicle body for reciprocating oscillating movement towards and away from each other, creating forward movement due to the compression of a fluid medium between the foil members and the expulsion of the compressed fluid rearwardly of the foil members. Each foil member is mounted to a pivot shaft for limited rotational movement with respect to the vehicle body. Damping means are connected between each pivot shaft and its associated foil member so that during operation of the propulsion system damping torque will offset hydrodynamic loads imposed on the foil members by the fluid medium. The damping means will in turn control the pitch angle of the foil members during operation, meaning that a thrust is generated for rigid foil members when moving at zero forward speed.

Abstract: A resonant wingbeat tuning circuit automatically tunes the frequency of an actuating input to the resonant frequency of a flexible wing structure. Through the use of feedback control, the circuit produces the maximum flapping amplitude of a mechanical ornithoptic system, tracking the resonant frequency of the vibratory flapping apparatus as it varies in response to change in flight condition, ambient pressure, or incurred wing damage.

Abstract: On a main body portion of a fluttering apparatus, a wing (left wing) is formed which has a front wing shaft, a rear wing shaft and a wing film provided spreading over the front and rear wing shafts. Further, on the main body portion, a rotary actuator for driving the front wing shaft and a rotary actuator for driving the rear wing shaft are mounted. The front (rear) wing shafts reciprocate in a plane orthogonally crossing an axis of rotation with the actuator serving as the fulcrum. Thus, a moving apparatus is obtained which has superior maneuverability and can move not hindered by any obstacle or geometry both indoors and outdoors.

Abstract: An ornithopter has a power assembly which provides flapping of the wings by a reciprocating shaft and bell cranks. The wings are mounted on a hub which rotates in response to the flapping of the wings. The sinusoidal movement of the wings provides lift for flight.

Abstract: An ornithopter has the capability of slow speed flight as a result of vertical movement of its wings. Two sets of wings are provided with vertical movement of each set of wings 180 degrees out of phase for counterbalancing vertical forces on the fuselage. The direction of the flight path is changed by deflecting the fuselage.

Abstract: The invention provides a propulsion system based on “thuniform” movement of a foil member to achieve desired directional movement of a vehicle such as an unmanned submarine type of vessel. A pair of foil members are mounted to the vehicle body for reciprocating oscillating movement towards and away from each other, creating forward movement due to the compression of a fluid medium between the foil members and the expulsion of the compressed fluid rearwardly of the foil members. Each foil member is mounted to a pivot shaft for limited rotational movement with respect to the vehicle body. Damping means are connected between each pivot shaft and its associated foil member so that during operation of the propulsion system damping torque will offset hydrodynamic loads imposed on the foil members by the fluid medium. The damping means will in turn control the pitch angle of the foil members during operation, meaning that a thrust is generated for rigid foil members when moving at zero forward speed.

Abstract: A fluid-structure interactive analysis is performed while n types of wing structure models are caused to flap in accordance with a prescribed model of flapping manner. Based on an analysis, data 1, data 2, . . . data n of physical values related to fluid behavior and physical values related to structural behavior are calculated. Among data 1, data 2, . . . data n, a data having a prescribed parameter such as the lift force optimized is extracted. A prototype of a wing portion is formed, which has such a structure that is specified by various parameter values of the numerical model of wing structure corresponding to the extracted data. A driving unit 905 drives the prototype of the wing portion in a manner of flapping that is represented by the flapping motion model equivalent to the manner of flapping of an insect. At this time, the wing has a stiffness that is suitable for flapping flight so that prescribed parameters come to have optimal values.