Development of a Vertical Submerging and Emerging Bat-Ray-Inspired Underwater Vehicle.

In this article, the development of a bat-ray-inspired underwater vehicle is presented; although the propulsion of the vehicle is based on traditional thrusters, the shape of the ray's fins was used as a model to design the body of the vehicle; this architecture allows the independent control of the forward velocity and the full attitude of the vehicle using only two thrusters and two articulated fins. The compact design of the robot, along with the high dexterity of the architecture, allows the vehicle to submerge and emerge vertically as well as navigate horizontally. The mathematical model of the proposed vehicle, including dynamics and propulsion system, is presented and validated using numerical simulations.

Communication System Based on Magnetic Coils for Underwater Vehicles.

In this work, a wireless communication system based on magnetic coils for underwater vehicles is presented. Firstly, the mathematical model of magnetic field induction using magnetic coils is discussed. Then, a description of the proposed communication system is presented, including the main components of the transmitter and receiver module.