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：水空两栖飞行器能够在两种主要流体介质中运动，使其在广泛的应用场景中更具潜力。针对水与空气流体特性的巨大差异，我们提出了一种采用特殊推进与推力器配置设计的原型机。在推进方面，通过双速推进单元在不同介质间切换工作范围，既能提供充足推力，又可确保输出效率。在推力器配置方面，推进单元绕安装臂旋转实现推力矢量控制，从而增强水下机动性。本文介绍了基于该概念的四旋翼原型机，并详细阐述了设计细节及实际实现方案。