Aerial-aquatic vehicles are capable to move in the two most dominant fluids, making them more promising for a wide range of applications. We propose a prototype with special designs for propulsion and thruster configuration to cope with the vast differences in the fluid properties of water and air. For propulsion, the operating range is switched for the different mediums by the dual-speed propulsion unit, providing sufficient thrust and also ensuring output efficiency. For thruster configuration, thrust vectoring is realized by the rotation of the propulsion unit around the mount arm, thus enhancing the underwater maneuverability. This paper presents a quadrotor prototype of this concept and the design details and realization in practice.

翻译：空水两栖飞行器能够在两种主要流体中运动，这使得它们在广泛应用中更具潜力。我们提出了一种针对推进系统和推进器配置进行特殊设计的原型，以应对水和空气流体性质的巨大差异。在推进方面，通过双速推进单元为不同介质切换工作范围，既能提供充足推力，又能保证输出效率。在推进器配置方面，通过推进单元绕安装臂的旋转实现推力矢量控制，从而增强水下机动性。本文介绍了这一概念的实物四旋翼原型、设计细节及具体实现。