An apparatus including a controllable fluid-contacting surface is provided. In another aspect, the present apparatus includes a flexible membrane and multiple actuators each having an output shaft or activation member coupled to a water-contacting membrane, with the shafts extending in a direction offset from the nominal outer surface of the membrane. A further aspect of the present apparatus includes an underwater vessel including a propulsion source, a flexible membrane having a water-contacting outer surface and an electronic controller including programmable software for actuating the actuators.