Modular biomimetic underwater vehicle

A biomimetic, underwater vehicle, comprising:

• a head portion;
• a tail portion, the tail portion comprising:
• a flexible skin forming an enclosure that defines a shape of the tail portion;
• an actuator;
• a first linkage comprising a first end coupled to a first portion of the actuator and a second end coupled to a first connection point located at a rear end of the tail portion;
• a second linkage comprising a first end coupled to a second portion of the actuator and a second end coupled to a second connection point located at the rear end of the tail portion;
• a camera for generating digital images;
• a memory for storing processor-executable instructions;
• and
• a processor coupled to the camera, the memory and the actuator, for executing the processor-executable instructions that causes the biomimetic, underwater vehicle to:
• detect, by the processor, a marine animal proximate to the biomechanical, submersible vehicle;
• determine, by the processor, one or more attributes of the marine animal based on the digital images;
• provide, by the processor, actuator control signals to the actuator that causes the biomimetic, underwater vehicle to shoal with the marine animal;
• wherein the flexible skin bends in a first lateral direction when the actuator is activated in a first direction, and bends in a second lateral direction when the actuator is activated in a second direction, providing a first mode of propulsion to the biomimetic, underwater vehicle.

A biomimetic, underwater vehicle, comprising:

• a head portion;
• a tail portion, the tail portion comprising:
• a flexible skin forming an enclosure that defines a shape of the tail portion;
• an actuator;
• a first linkage comprising a first end coupled to a first portion of the actuator and a second end coupled to a first connection point located at a rear end of the tail portion;
• a second linkage comprising a first end coupled to a second portion of the actuator and a second end coupled to a second connection point located at the rear end of the tail portion;
• a sensor for generating range information;
• a memory for storing processor-executable instructions;
• a thruster coupled to a rear portion of the tail portion for providing a second mode of propulsion to the biomimetic, underwater vehicle;
• and
• a processor coupled to the sensor, the memory, the thruster and the actuator, for executing the processor-executable instructions that causes the processor to:
• determine that the biomimetic, underwater vehicle may collide with an object or marine animal;
• in response to determining that the biomimetic, underwater vehicle may collide with an object or marine animal:
• generate an actuator control signal that causes the actuator to position the tail portion at a maximum, flexed position;
• and
• generate a thruster control signal that causes the thruster to activate;
• wherein the flexible skin bends in a first lateral direction when the actuator is activated in a first direction, and bends in a second lateral direction when the actuator is activated in a second direction, providing a first mode of propulsion to the biomimetic, underwater vehicle.