12 Feb 2010-American Journal of Physics (American Association of Physics Teachers)-Vol. 78, Iss: 3, pp 236-243
TL;DR: The water rocket as mentioned in this paper is a popular toy that is often used in first year physics courses to illustrate Newton's laws of motion and rocket propulsion, and is made of a soda bottle, a bicycle pump, a rubber stopper, and some piping.
Abstract: The water rocket 1 is a popular toy that is often used in first year physics courses to illustrate Newton’s laws of motion and rocket propulsion. In its simplest version, a water rocket is made of a soda bottle, a bicycle pump, a rubber stopper, and some piping see Fig. 1. The bottle is half-filled with water, turned upside-down, and air is pushed inside the bottle via a flexible pipe that runs through the stopper. When the pressure builds up, the stopper eventually pops out of the neck. The water is then ejected and the rocket takes off. Witnesses of the launch of a water rocket cannot but be amazed that such a simple device can reach a height of tens of meters in a fraction of a second. The popularity of water rockets extends beyond physics classrooms, with many existing associations and competitions organized worldwide. 1 The more than 5000 videos posted on YouTube with the words “water rocket” in their title testify to their popularity. Some of these videos involve elaborate technical developments such as multistage water rockets, nozzles that adapt to the pressure, the replacement of water by foam or flour, underwater rocket launches, and even a water-propelled human flight. The public’s passionate explorations with water rockets contrast with the small number of articles devoted to their analysis. I found only two papers 2,3 that treat the simplest possible rocket, similar to
A more thorough analysis of water rockets: Moist adiabats, transient flows, and inertial forces in a soda bottle
Accurate measurements show that they outperform the usual textbook analysis at the beginning of the thrust phase.
The bottle is half-filled with water, turned upside-down, and air is pushed inside the bottle via a flexible pipe that runs through the stopper.
In Sec. III numerical solutions are compared with published experimental data.2.
A. Moist air expansion
Air expansion is the only source of energy of the rocket.
Because this distance is much smaller than the radius of the rocket, the gas expansion has to be modeled as an adiabatic process.
The pressure-volume relation is derived, assuming that the total entropy resulting from dry air, water vapor, and condensed water the fog is constant during the adiabatic expansion.
The total number of water molecules NL in the liquid is the difference between the initial and the current values of NV.
B. Water ejection
The starting point of the analysis is to assess the importance of viscous forces.
Water can therefore be assumed to be inviscid in this context, and ejection can be analyzed with Euler’s equation.
The ratio in the square brackets in Eq. 10 ensures that the total flow of water is the same over any section of the rocket.
The notation highlights that this term accounts for the inertia of the accelerated water.
C. Rocket acceleration
For a conventional rocket, MU is generally estimated by assuming that the fuel moves upward at the same speed as the rocket.
This term accounts for the fact that the velocity of water in the rocket is smaller than the velocity of the rocket itself.
The three forces on the right-hand side of Eq. 14 are estimated in the usual way.
For the case of a uniform velocity profile, the first contribution is the product of the rate of mass loss with the exhaust velocity; the second term accounts for the fact that the thrust is not estimated in the reference frame of the rocket.
The last two forces exerted on the rocket are the weight and the aerodynamic drag.
A. Numerical solutions and experimental data
These authors used a 2-l soda bottle as a rocket, the takeoff of which they measured with a high-speed camera and a “smart-pulley” system.10.
The authors have accounted for several effects which were previously not considered and which may have an important role during the burnout.
From dimensional analysis, the acceleration is expected to be as significant as the pressure difference between the inside and the outside of the rocket.
For both pressures, curve 1 is slightly above the analysis of Ref. 2, but the theoretical prediction remains below experiment.
B. Analysis of simplified equations
A real rocket still outperforms the theoretical prediction, also known as The improvements are small.
And thus the authors shall here assume g0=0 and CA=0.
The time derivatives dh /dt and dZ /dt are plotted in Figs.
For large values of / 0, the two numbers are very close to each other.
In general, applying Bernoulli’s equation leads to an underestimation of the initial ejection velocity.
IV. CONCLUSIONS AND PROSPECTS
This paper was motivated by the observation2 that water rockets outperform the usual textbook analysis at the beginning of the thrust phase.
The present analysis does answer some questions raised in Ref. 2.
The authors have shown that this energy can be accounted for using a polytropic exponent smaller than =1.4.
The movement of water inside the rocket contributes significantly to the total momentum of the rocket, an effect that is more pronounced for a larger hole.
Maximum energy efficiency would require that water be ejected with a constant velocity with respect to the ground.
TL;DR: In this article, a planar trajectory model was developed to predict aquatic escape trajectories using a CO $_2$ powered water jet to escape the water, actuated by a custom shape memory alloy gas release.
Abstract: The ability to collect water samples rapidly with aerial–aquatic robots would increase the safety and efficiency of water health monitoring and allow water sample collection from dangerous or inaccessible areas An aquatic micro air vehicle (AquaMAV) able to dive into the water offers a low cost and robust means of collecting samples However, small-scale flying vehicles generally do not have sufficient power for transition to flight from water In this paper, we present a novel jet propelled AquaMAV able to perform jumpgliding leaps from water and a planar trajectory model that is able to accurately predict aquatic escape trajectories Using this model, we are able to offer insights into the stability of aquatic takeoff to perturbations from surface waves and demonstrate that an impulsive leap is a robust method of flight transition The AquaMAV uses a CO $_2$ powered water jet to escape the water, actuated by a custom shape memory alloy gas release The 100 g robot leaps from beneath the surface, where it can deploy wings and glide over the water, achieving speeds above 11 m/s
TL;DR: This paper investigates the use of solid reactants as a combustion gas source for consecutive aquatic jump-gliding sequences and presents an untethered robot that is capable of multiple launches from the water surface and of transitioning from jetting to a glide.
Abstract: Robotic vehicles that are capable of autonomously transitioning between various terrains and fluids have received notable attention in the past decade due to their potential to navigate previously unexplored and/or unpredictable environments. Specifically, aerial-aquatic mobility will enable robots to operate in cluttered aquatic environments and carry out a variety of sensing tasks. One of the principal challenges in the development of such vehicles is that the transition from water to flight is a power-intensive process. At a small scale, this is made more difficult by the limitations of electromechanical actuation and the unfavorable scaling of the physics involved. This paper investigates the use of solid reactants as a combustion gas source for consecutive aquatic jump-gliding sequences. We present an untethered robot that is capable of multiple launches from the water surface and of transitioning from jetting to a glide. The power required for aquatic jump-gliding is obtained by reacting calcium carbide powder with the available environmental water to produce combustible acetylene gas, allowing the robot to rapidly reach flight speed from water. The 160-gram robot could achieve a flight distance of 26 meters using 0.2 gram of calcium carbide. Here, the combustion process, jetting phase, and glide were modeled numerically and compared with experimental results. Combustion pressure and inertial measurements were collected on board during flight, and the vehicle trajectory and speed were analyzed using external tracking data. The proposed propulsion approach offers a promising solution for future high-power density aerial-aquatic propulsion in robotics.
42 citations
Cites background from "A more thorough analysis of water r..."
...The pressure P is assumed to follow a dry adiabatic expansion (34), and initial pressure Pinit is given by stoichiometric energy conversion....
TL;DR: A high power water jet propulsion system capable of launching a 70 gram vehicle to speeds of 11m/s in 0.3s, designed to allow waterborne take off for an Aquatic Micro Air Vehicle (AquaMAV).
Abstract: Water sampling with autonomous aerial vehicles has major applications in water monitoring and chemical accident response. Currently, no robot exists that is capable of both underwater locomotion and flight. This is principally because of the major design tradeoffs for operation in both water and air. A major challenge for such an aerial-aquatic mission is the transition to flight from the water. The use of high power density jet propulsion would allow short, impulsive take-offs by Micro Air Vehicles (MAVs). In this paper, we present a high power water jet propulsion system capable of launching a 70 gram vehicle to speeds of 11m/s in 0.3s, designed to allow waterborne take off for an Aquatic Micro Air Vehicle (AquaMAV). Jumps propelled by the jet are predicted to have a range of over 20m without gliding. Propulsion is driven by a miniaturised 57 bar gas release system, with many other applications in pneumatically actuated robots. We will show the development of a theoretical model to allow designs to be tailored to specific missions, and free flying operation of the jet.
25 citations
Cites background from "A more thorough analysis of water r..."
...The unsteady form of Bernoulli's equation (equation 4) can be recovered from Euler's equation by integrating from the air-water interface to the nozzle exit (figure 4) [14]....
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...To calculate thrust, an additional force term, Fint(t) is included to account for the force experienced by the vessel due to the internal acceleration of fluid mass (equation 8) [14]....
TL;DR: In this paper, the authors study the thermodynamics of the water rocket in the thrust phase, taking into account the expansion of the air with water vapor, vapor condensation and the energy taken from the environment.
Abstract: We study the thermodynamics of the water rocket in the thrust phase, taking into account the expansion of the air with water vapor, vapor condensation and the energy taken from the environment. We set up a simple experimental device with a stationary bottle and verified that the gas expansion in the bottle is well approximated by a polytropic process $PV^\beta$= constant, where the parameter $\beta$ depends on the initial conditions. We find an analytical expression for $\beta $ that only depends on the thermodynamic initial conditions and is in good agreement with the experimental results.
TL;DR: In this paper, the authors study the thermodynamics of a water rocket in the thrust phase, taking into account the expansion of the air with water vapor, vapor condensation, and the corresponding latent heat.
Abstract: We study the thermodynamics of a water rocket in the thrust phase, taking into account the expansion of the air with water vapor, vapor condensation, and the corresponding latent heat. We set up a simple experimental device with a stationary bottle and verify that the gas expansion in the bottle is well approximated by a polytropic process PVβ = constant, where the parameter β depends on the initial conditions. We find an analytical expression for β that depends only on the thermodynamic initial conditions and is in good agreement with the experimental results.
TL;DR: In this article, the First Law of Thermodynamics and the Arrow of Time are combined with the Second Law of Time and the Gibbs Stability Theory to describe the Gibbs instability theory.
Abstract: I Historical Roots: From Heat Engines to Cosmology
1 Basic Concepts and the Law of Gases
2 The First Law of Thermodynamics
3 The Second Law of Thermodynamics and the Arrow of Time
4 Entropy in the Realm of Chemical Reactions
II Equilibrium Thermodynamics
5 Extremum Principles and General Thermodynamics Relations
6 Basic Thermodynamics of Gases, Liquids and Solids
7 Thermodynamics of Phase Change
8 Thermodynamics of Solutions
9 Thermodynamics of Chemical Transformations
10 Fields and Internal Degrees of Freedom
11 Thermodynamics of Radiation
III Fluctuations and Stability
12 The Gibbs Stability Theory
13 Critical Phenomena and Configurational Heat Capacity
14 Entropy Productions, Fluctuations and Small Systems
IV Linear Nonequilibrium Thermodynamics
15 Nonequilibrium Thermodynamics: The Foundations
16 Nonequilibrium Thermodynamics: The Linear Regime
17 Nonequilibrium Stationary State and Their Stability: Linear Regime
V Order Through Fluctuations
18 Nonlinear Thermodynamics
19 Dissipative Structures
20 Elements of Statistical Thermodynamics
21 Self-Organization and Dissipative Structures in Nature
TL;DR: In this article, the authors presented a numerical solution for the height of the rocket, as well as several analytic approximations, and five out of six lab groups predicted the maximum height of a water-propelled, air-pumped, water-powered rocket within experimental error.
Abstract: The air-pumped, water-propelled rocket is a common child’s toy, yet forms a reasonably complicated system when carefully analyzed. A lab based on this system was included as the final laboratory project in the honors version of General Physics I at the USAF Academy. The numerical solution for the height of the rocket is presented, as well as several analytic approximations. Five out of six lab groups predicted the maximum height of the rocket within experimental error.
TL;DR: The most efficient way to operate a rocket is to increase its exhaust velocity as it accelerates as discussed by the authors, when this increase is done properly, the final kinetic energy of the rocket is maximized.
Abstract: The most efficient way to operate a rocket is to increase its exhaust velocity as it accelerates. When this increase is done properly, the final kinetic energy of the rocket is maximized. It is shown that the resulting ‘‘perfect rocket’’ is far simpler to analyze than the traditional constant‐thrust rocket and provides an excellent application of the material taught in all first semester noncalculus physics courses.