| 摘要 |
The aquatic vehicle (10) includes a propulsion force provided by propulsion sources; a center of mass, a center of propulsion and a center of resistance; double blade control surfaces (28, 32), with each control surface being constructed with two blades of equal area and with the blades being mounted rotatively on opposite sides of an axis; the blades are arranged such that the control surfaces transmit the control effects through the center of mass. In one embodiment, the vehicle includes a top component (12) and a bottom component (14). The top component (12) is identical to the bottom component. The vehicle includes a first control for controlling vertical motion; a second control for sideways movement; and a third control for reversing motion of the vehicle.
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