| 摘要 |
The aquatic vehicle includes centers of mass (COM), of propulsion (COP) and of resistance (COR); a propulsion force (P) provided by propulsion sources (43, 44 or 143, 144); a neutralization of the propulsion and resistance torques; double blade control surfaces (20, 22, 24, 26 or 120, 122, 124, 126), each having two blades mounted on the opposite sides of a rotational axis; the surfaces being arranged such that the control effects are transmitted through COM; lateral boards (28, 30, 32, 34 or 128, 130, 132, 134) to provide the vehicle a lift in motion and structures of displacement volume (70, 72) to support the vehicle at rest. In one embodiment, the vehicle includes top and bottom components (12, 14) of equal normal cross-sectional areas (w1, w2). In another embodiment, the vehicle includes top and bottom components (112, 114) and top and bottom extensors (116, 118). |
