then used to create a frequency modulated continuous wave acoustic ranging signal that is Doppler insensitive (used for obstacle avoidance). Waste gas is then passed through an ejector to entrain external atmospheric gases to increase mass flow and decrease waste gas temperature so that lower-temperature components can be used downstream. Some waste gas is diverted into gas bearings for rotational and linear moving components. Finally, remaining waste gas is vectored into the wings where it is used for circulation-controlled lift augmentation (Coanda effect). Any remaining gas can be used for vectored thrust, but if the gas budgets are correctly designed, there should be no extra gas beyond the circulation control points. The features of the RCM are tailored to the entomopter to conserve energy. References External links Robert C. Michelson: Entomopter Project "Reciprocating Chemical Muscle (RCM) and Method for Using Same", U.S. Patent No. 6,446,909, September 10, 2002 Engines