This video shows the Hybrid AUV CephaloBot Performing zero radius turning. Overlayed on this video is a virtual representation of the AUV captured by the underwater motion capture system in real time.
Here is a video describing squid inspired thruster dynamics as well as a vorticity based pressure model for jetting cavities that I developed. This video shows the characteristic vorticity generation mechanisms, and how they relate to pressure.
This next video shows a prototype AUV (equipped with bioinspired jet thrusters) attempting to maintain steady position in the presence of significant disturbance forces. The video is also equipped with a lateral-line inspired distributed sensor shell allowing it to measure hydrodynamic forces in real time. The video shows the drastic improvement in position tracking for the vehicle utilizing novel force compensation motion control vs standard state feedback motion control.