The Synergistically Propelled Ichthyoid: Dynamic Modeling, Simulation, and Experimental Results

We have developed a novel type of submersible called a Synergistically Propelled Ichthyoid [SPI] which is propelled by the combined jet and tail action of a fluttering fluid-conveying pipe. Two dynamic models for an SPI are presented and solved; an analytically tractable model in an inertial reference frame and a more complex model in a general planar reference frame. The latter model has been solved numerically—these simulations show a benefit to using a fluttering tail relative to a dimensionally identical rigid tail. Construction details of an experimental realization are provided. Preliminary measurements taken using that platform are also provided which qualitatively confirm the simulation’s conclusion that a fluttering flexible tail is capable of higher speed than a dimensionally identical rigid tail.