Fig. 5From: Development of an actuation system based on water jet propulsion for a slim long-reach robotFlow of water inside the nozzle. \(V_i\) and \(V_o\) represents the flow of the water and its direction at the input and output respectively. The oranges circles \(A_i\) and \(A_o\) represent the transversal area of the input and output respectivelyBack to article page