The Synergistically Propelled Ichthyoid [SPI] is a novel submersible propelled by the combined jet and tail action of a fluttering fluid-conveying pipe. A model for an SPI’s motion in a general planar frame is presented which includes a time-variable conveyed fluid velocity. Simulations using this model show that the tail of the SPI may be used as an effective control surface by leveraging the tail’s ability to “vector” its fluid jet as well as turn the oncoming external fluid like a fish. Methods used to effect rapid turns and simultaneous control of orientation and jet speed are also demonstrated.

This content is only available via PDF.
You do not currently have access to this content.