Abstract
The authors developed a Manta-like submergence vehicle which is expected to perform smooth up-down motion. For Manta is conjectured to use only fluid force to keep floating in the water. This vehicle is 0.7 m in length and 1.05 m in width, and has two fins. Each fin has two joints that can move independently by servomotors connected to the joints, and performs pitching motion. Movement of fins is controlled by a microprocessor which is installed on a R/C controller. In a water-tank experiment, this vehicle swan near the water surface at about 0.1 m/s. Better performance and three-dimensional movement will be attained by adjusting motion control.
