Multi-axis water jet propulsion using Coanda effect valves

A method of forming a Coanda jet propulsion system comprising:

• one or more pumps that form a jet for propulsion;
• and
• coupling a plurality of Coanda jet devices (CJDs) to the one or more pumps, each CJD having a single solenoid, the CJDs are arranged so to allow for a multi-axis underwater control of an underwater robot, the CJDs incorporate a set of compact valves allowing an operator to choose which direction and axis to apply force and moments, said one or more pumps ingest fluid through an inlet before said fluid is ejected through an exit of said CJDs by direction of said one or more pumps and configuration of said plurality of CJDs, each of said CJDs include a plurality of control ports to switch directions of said CJDs using said single solenoid and a plastic piece coupled to a pushrod, said plastic piece covers either a first control port or a second control port while exposing the uncovered control port to ambient pressure producing a pressure differential that causes the jet to switch directions, wherein when the solenoid is inactive the first control port is covered and the jet exits out of the second control port, and when the solenoid is activated the pushrod moves the plastic piece to cover the second control port and the jet exits out of the first control port.

A method of performing the operation of a propulsion system comprising:

• forming a jet for propulsion using one or more pumps;
• and
• providing multi-axis underwater control using a plurality of Coanda jet devices (CJDs), the CJDs are coupled to the one or more pumps, each CJD having a single solenoid, the CJDs incorporate a set of compact valves allowing an operator to choose which direction and axis to apply force and moments, said one or more pumps ingest fluid through an inlet before said fluid is ejected through an exit of said CJDs by direction of said one or more pumps and configuration of said plurality of CJDs, each of said CJDs include a plurality of control ports to switch directions of said CJDs using said single solenoid and a plastic piece coupled to a pushrod, said plastic piece covers either a first control port or a second control port while exposing the uncovered control port to ambient pressure producing a pressure differential that causes the jet to switch directions, wherein when the solenoid is inactive the first control port is covered and the jet exits out of the second control port, and when the solenoid is activated the pushrod moves the plastic piece to cover the second control port and the jet exits out of the first control port.