Experimental performance evaluation of an amphibious cycloidal propeller unmanned underwater vehicle

This paper discusses the performance evaluation of a 43 kg (95 lb) amphibious cycloidal propeller unmanned underwater vehicle (Cyclo-UUV) that utilizes a novel amphibious propulsion system. The propulsion system is a hybrid design featuring cycloidal propellers, screw propellers, wheels, and tank treads. Cycloidal propellers provide stability and robust control even in the presence of waves through 360° thrust vectoring. Previous efforts have been made to verify the functionality of the Cyclo-UUV, while this work explores and quantifies the performance of the Cyclo-UUV under different environments through systematic testing. The Cyclo-UUV demonstrated a high degree of controllability and maneuverability both on land and underwater, and achieved a speed of 2.13 m/s underwater and 4.77 m/s on land. The vehicle also achieved maximum measured rates of 140°/s in roll, 76.8°/s in pitch, and 80.94°/s in yaw. The Cyclo-UUV demonstrated excellent disturbance rejection in waves and when transitioning between land and underwater through breaking waves. When beneath waves with a height of 0.27 m, the Cyclo-UUV maintained 60 % effectiveness in tracking roll rate commands, 70 % effectiveness in pitch rate, and 100 % effectiveness in yaw rate, demonstrating good ability to track desired motions in the presence of disturbances. • A novel amphibious propulsion system that utilizes cycloidal propellers. • Details of design and control of the novel amphibious cycloidal propeller UUV. • Testing in various environments: calm water, various waves, and a natural lake. • Superior agility and mobility as well as disturbance rejection.