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Aerial-aquatic vehicles are capable to move in the two most dominant fluids,making them more promising for a wide range of applications. We propose aprototype with special designs for propulsion and thruster configuration tocope with the vast differences in the fluid properties of water and air. Forpropulsion, the operating range is switched for the different mediums by thedual-speed propulsion unit, providing sufficient thrust and also ensuringoutput efficiency. For thruster configuration, thrust vectoring is realized bythe rotation of the propulsion unit around the mount arm, thus enhancing theunderwater maneuverability. This paper presents a quadrotor prototype of thisconcept and the design details and realization in practice.

TJ-FlyingFish: Design and Implementation of an Aerial-Aquatic Quadrotor with Tiltable Propulsion Units