Dynamic Modeling and Control of Biologically Inspired Vortex Ring Thrusters for Underwater Robot Locomotion

@article{Krieg2010DynamicMA,
  title={Dynamic Modeling and Control of Biologically Inspired Vortex Ring Thrusters for Underwater Robot Locomotion},
  author={Michael Krieg and Kamran Mohseni},
  journal={IEEE Transactions on Robotics},
  year={2010},
  volume={26},
  pages={542-554}
}
A new type of underwater thruster was designed to provide high-accuracy, low-speed maneuvering to underwater robots. Located internal to the vehicle surface, these thrusters have a minimal effect on the forward-drag profile of the vehicle. These thrusters, whose inspiration comes from the natural propulsion of cephalopods and jellyfish, generate control forces by successive ingestion and expulsion of jets of water from a cavity mounted in the hull of the vehicle. The jetting process has no net… CONTINUE READING
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