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Bio-inspired vehicles are currently leading the way in the quest to produce avehicle capable of flight and underwater navigation. However, a fullyfunctional vehicle has not yet been realized. We present the first fullyfunctional vehicle platform operating in air and underwater with seamlesstransition between both mediums. These unique capabilities combined with thehovering, high maneuverability and reliability of multirotor vehicles, resultsin a disruptive technology for both civil and military application includingair/water search and rescue, inspection, repairs and survey missions amongothers. The invention was built on a bio-inspired locomotion force analysisthat combines flight and swimming. Three main advances in the present work hasallowed this invention. The first is the discovery of a seamless transitionmethod between air and underwater. The second is the design of a multi-mediumpropulsion system capable of efficient operation in air and underwater. Thethird combines the requirements for lift and thrust for flight (for a givenweight) and the requirements for thrust and neutral buoyancy (in water) forswimming. The result is a careful balance between lift, thrust, weight, andneutral buoyancy implemented in the vehicle design. A fully operationalprototype demonstrated the flight, and underwater navigation capabilities aswell as the rapid air/water and water/air transition.

Demonstration of an Aerial and Submersible Vehicle Capable of Flight and Underwater Navigation with Seamless Air-Water Transition