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Conclusions In this paper, we proposed a spherical underwater vehicle which uses three water-jet propellers as its propulsion system. We introduced the design details of mechanical and electrical system. Development of Water-Jet-Based a VectoredSpherical Water-Jet-Based Development of a Vectored Underwater Vehicle Spherical Underwater Vehicle 19 17 Based on the design of the vehicle, we introduced the principles of the water-jet propulsion system including the force distribution of three water-jet propellers, the working principles of different motions.

2 0 0 4 8 12 16 20 24 angle of attack α (°) 28 32 36 40 Fig. 21.

Kowal, H. (2002). Advances in thrust vectoring and the application of flow-control technology, Canadian aeronautics and space journal 48(2): 145–151. 20 18 Autonomous Underwater Vehicles Will-be-set-by-IN-TECH Lazic, D. & Ristanovic, M. (2007). Electrohydraulic thrust vector control of twin rocket engines with position feedback via angular transducers, Control Engineering Practice 15(5): 583–594. Le Page, Y. & Holappa, K. (2002a). Hydrodynamics of an autonomous underwater vehicle equipped with a vectored thruster, OCEANS 2000 MTS/IEEE Conference and Exhibition, Vol.

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