  Ocean sampling for highly temporal phenomena, such as harmful algal blooms,
necessitates a vehicle capable of fast aerial travel interspersed with an
aquatic means of acquiring in-situ measurements. Vehicle platforms with this
capability have yet to be widely adopted by the oceanographic community.
Several animal examples successfully make this aerial/aquatic transition using
a flapping foil actuator, offering an existence proof for a viable vehicle
design. We discuss a preliminary realization of a flapping wing actuation
system for use in both air and water. The wing employs an active in-line motion
degree of freedom to generate the large force envelope necessary for propulsion
in both fluid media.

Fluid Dynamics