NDLI: A compact underwater vehicle using high-bandwidth coanda-effect valves for low speed precision maneuvering in cluttered environments

Content Provider	IEEE Xplore Digital Library
Author	Mazumdar, A. Asada, H.H.
Copyright Year	2011
Description	Author affiliation: Massachusetts Institute of Technology, Cambridge, 02139 USA (Mazumdar, A.) \|\| Mechanical Engineering at the Massachusetts Institute of Technology, Cambridge 02139 USA (Asada, H.H.)
Abstract	A highly maneuverable, compact vehicle for underwater precision inspection of complex structures is presented. The vehicle will have no appendages such as rudders, screws, and other external thrusters, which might get tangled and interfere with the underwater structure in a cluttered environment. A multi-axis, integrated thruster mechanism using Coanda-effect high-speed valves for switching the direction of jets can be encapsulated in a compact, egg-shaped body. Compared to traditional screw thrusters, these valves have improved dynamic performance in switching the jet stream direction. Furthermore, the reaction forces and moments due to switching can be substantially reduced. First, the principle of Coandaeffect water jet valves is introduced, and its governing equations are obtained. Optimal dimensions and parameters producing a maximum of thrust are obtained, and are experimentally verified. Multiple Coanda-effect valves are then integrated into a tree structure to create a multi-axis thrust mechanism. A simple planar proof of concept prototype is built and tested.
Starting Page	1544
Ending Page	1550
File Size	1101302
Page Count	7
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5980499
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Vehicles Actuators Switches Performance evaluation Fluids Valves
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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