1. Jetting phase analysis.
Jetting phase analysis. (A) Combustion during static jetting tests with transparent chamber (movie S5). (B) Volume of air (blue) and water (red) in the combustion chamber shown at 0, 100, and 160 ms during the water jetting phase. (C) Evolution of the water level and volume during jetting, showing that CFD and analytical predictions compare well. (D) Surface plot of analytical model output showing the effect of nozzle diameter and volume fraction on the height achieved by the robot when launched vertically. (E) Internal chamber pressure and thrust evolution for the jetting phase.
R. Zufferey et al. Sci. Robotics 2019;4:eaax7330
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