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A series of compact thrusters, inspired by the natural locomotion of jellyfish and squid, is developed for propulsion and maneuvering of underwater vehicles. These thrusters generate propulsive forces by successively ingesting and expelling jets of water in a controlled manner at high frequencies. In order to achieve higher thrust levels, the parameters controlling the performance of the thrusters are reviewed and investigated. Because the thrusters are compact, they can be placed completely inside a vehicle hull, thus providing the desired maneuvering capability without sacrificing efficient cruising due to sleek hydrodynamic shape. The system design of CephaloBot, a prototype hybrid vehicle utilizing these thrusters, is presented, as well. A custom-developed embedded and compact system is also designed for the CephaloBot. A base set of navigational sensors, an acoustic system for localization and underwater communication, Xbee Radio Frequency (RF) transceiver for communication above water, and a LabVIEW programmed processing board are all included as key features of the system.

A Hybrid Class Underwater Vehicle: Bioinspired Propulsion, Embedded System, and Acoustic Communication and Localization System