US app 20150120045 to Michigan State: GLIDING ROBOTIC FISH NAVIGATION AND PROPULSION

First claim of --GLIDING ROBOTIC FISH NAVIGATION AND PROPULSION --

A robotic submersible comprising: a housing including a body and a tail; a pump and a pump tank adjusting a buoyancy of the housing; a first linear actuator controlling the pump; a battery powering a plurality of electronics; a second linear actuator controlling a position of the battery and adjusting a center of gravity; a controller controlling the pump and second linear actuator; the pump, first linear actuator and second linear actuator controlling gliding movements of the housing; at least one motor coupling the tail with the body, the motor controlling the movements of the tail to create a swimming movement; and the controller selectively operating the pump, first linear actuator, second linear actuator, and motor to control when the swimming and gliding movements occur.