This article on penguins using air bubbles to reduce their drag makes me think of the supercavitating torpedoes reputedly in use by the Russian Navy. Now, apparently part of the problem with the supercavitation approach is that its difficult to keep the torpedo traveling in a straight line, as the torpedo wobbles back and forth inside the large - and apparently irregular- gas pocket blown by the cavitation. If the penguins can make do with micro-bubbles, I wonder what the actual airflow rate would be necessary to lubricate an RPV...and if that amount of gas could be stored in a compressed cylinder on board. Will have to make some calculations. Hard part might be skinning the RPV with pores.

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