Propulsion of a microsubmarine using a thermally oscillatory approach

In this paper, motivated by the driving mechanism of a putt-putt toy boat, we explore the feasibility to propel a microsubmarine using a thermally oscillatory approach, which only requires a simple design and does not involve any complicated propulsive systems. We investigate the design, fabrication, actuation and horizontal motions of the corresponding microsubmarines. Based on the understanding gained through preliminary tests on two manually fabricated putt-putt boats, we designed and fabricated the prototype of a microsubmarine. Similar to a putt-putt boat, the prototype also uses a thermally oscillatory process for propulsion. In a cyclic period of this process, due to the expansion and shrinkage of a vapor bubble inside the reservoir of the submarine, liquid is first ejected outside and then sucked into the reservoir. Due to the difference in liquid flow directions between ejection and suction stages, a thrust is produced to propel the submarine. At an applied voltage of 16 V and pulse frequency of 100 Hz, the submarine was found to have the highest speed of 1.8 mm s⁻¹ and longest travel distance of 12.6 mm. The corresponding thrust was estimated to be 67.6 nN. (paper)