Thrust and wake characterization in small, robust ultrasonic thrusters

Abstract

Among the new technologies in marine robotics is the trend toward smaller, cheaper and highly maneuverable vehicles, which could operate in swarms and also in very narrow and cluttered environments. A key challenge for vehicles with characteristic length of tens of centimeters scale is propulsion, where the designer faces high complexity in small vehicular space, as well as fouling concerns. Toward this end, we review and characterize the ultrasonic thruster (UST), which may be an attractive alternative to rotary and biomimetic-type actuators. The UST is a piezoelectric transducer that generates high-power, high-frequency acoustic waves, to produce bulk fluid movement for propulsion. We have systematically measured thrust and flow characteristics for a 7mm-diameter transducer with a range of voltages and sinusoidal frequencies, and varying duty cycles for a rectangular source signal; further, we installed three transducers into a 21cm underwater vehicle prototype. The experimental results allow us to outline the major parameters and considerations in our small vehicle and infer the mission length and speed using the UST technology.

Ultrasonic Thruster

“…As we observed in our previous work (Tan & Hover, 2009, 2010b, a disproportionate loss in thrust exist under elevated voltage applied across the transducer. As in all piezoelectric transducers, most of the electrical energy is converted into acoustical energy with some lost as superfluous heat through the transducer.…”

MHz-Order Surface Acoustic Wave Thruster for Underwater Silent Propulsion

“…The magnitude of the propulsion force may furthermore be easily increased by multiplexing the devices. Altogether, compared to ultrasonic thrusters using PZT [28,29], the use of SAW via LN devices appeared to provide stronger propulsion effects.…”

Self-propelled swimmer via thickness-vibration-mode ultrasonic transducer

“…Ultrasonic power devices have been widely studied [23][24][25][26][27][28][29][30][31][32][33][34][35][36][37]. Moreover, ultrasonic thrusters in water have been investigated with acoustic streaming [38][39][40][41][42]. Acoustic streaming is mainly used to discuss the propagation and attenuation of acoustic waves to liquid, and is more appropriate for investigating the mechanical effect to liquid or objects in liquid.…”