Abstract: A submersible vehicle of diverse use that eliminates the compartments of ballast, and at the same time, has a horizontal displacement system and new direction.

Abstract: A boat featuring an autopilot-based steering and maneuvering system. The steering system uses a specially integrated autopilot that remains engaged unless the operator is actively commanding the boat to change course. For example, in a boat in which steering is performed using a joystick, course changes can be effected simply by moving (e.g., twisting) the joystick. That movement automatically disengages the autopilot, allowing the operator to achieve the course change. When the operator has completed the course change and released the joystick, a centering spring returns it to a neutral position and the autopilot automatically reengages. In the improved maneuvering system, the autopilot is used for controlling the direction of a waterjet boat during very low speed (e.g., less than 4 knots) maneuvers, such as docking. The autopilot controls the steering system, e.g.

Abstract: A retractable vessel maneuvering device comprising a thrust producing mechanism (6) and (7), which may be moved between an operating position in the water and a safe storage position out of the water at the stern of a vessel by means of a linear deployment device (2) or a rotary deployment device (3). The deployment device may be affixed directly to the stern or to a platform on the stern of the vessel (11), (33). Said vessel maneuvering device is adaptable to any vessel and energy source with no requirement for through hull openings below the waterline of the vessel.

Abstract: A system for controlling thrust of a jet propulsion type watercraft during various steering conditions. The system comprises a thrust mechanism for providing jet propulsion thrust, a throttle regulator for regulating thrust provided by the thrust mechanism, a throttle position sensor for sensing the throttle position of the watercraft, a steering position sensor for sensing the steering position of the watercraft and a controller for determining the desired throttle position of the throttle regulator. Wherein the desired throttle position is based on the throttle position received from the throttle position sensor and the steering position received from the steering position.

Abstract: An apparatus for aiding in steering and maneuvering a boat that includes a thruster that applies a force transverse to the longitudinal axis of the boat. The operation of the thruster is under control of a remote radio frequency transmitter which permits an operator of the boat to operate the thrusters without being on the bridge of the boat. A switching circuit that includes relays and solenoids associated with a solenoid valve operates with the remote frequency transmitter and receiver to energize a thruster on the boat.

Abstract: A boat featuring an autopilot-based steering and maneuvering system. The steering system uses a specially integrated autopilot that remains engaged unless the operator is actively commanding the boat to change course. For example, in a boat in which steering is performed using a joystick, course changes can be effected simply by moving (e.g., twisting) the joystick. That movement automatically disengages the autopilot, allowing the operator to achieve the course change. When the operator has completed the course change and released the joystick, a centering spring returns it to a neutral position and the autopilot automatically reengages. In the improved maneuvering system, the autopilot is used for controlling the direction of a waterjet boat during very low speed (e.g., less than 4 knots) maneuvers, such as docking. The autopilot controls the steering system, e.g.

Abstract: A boat positioning apparatus and system are disclosed. The apparatus and system may include a boat having a hull, an outboard motor, and a thruster. The thruster has a housing that is secured to the transom to maintain a fixed position relative to the transom. The housing is disposed above a slip stream that occurs when the boat is on plane. A reversible electric motor is disposed in the housing, and a shaft passes through the housing, with propellers affixed to each end of the shaft. A switch, preferably a foot switch, is operably connected to the reversible electric motor. The reversible electric motor may be connected to the same battery used for the outboard motor. Hook and loop fasteners may be used to provide flexibility in positioning the switch in the boat. In an alternate embodiment, the boat positioning system is built into an outboard motor. In the alternate embodiment, a water intake line supplies water to a pump.

Abstract: A screen system for marine thrusters having at least one constrictor for reducing exit jet cross-sectional area to increase exit jet velocity of a thruster.

Abstract: The present invention provides a remotely controllable, miniature vessel for use in the collection of data in aquatic environments. The miniature, boat of the present invention has two opposite parallel pontoons held in such position by at least one transverse member. The boat has an electro-mechanical module including a power source, propulsion means, remote control receiver and a plurality of servos operatively connected to allow the speed and direction of the vessel to be controlled remotely. A removable platform between the front sections of the pontoons permits the mounting of water collection data apparatus, such as light weight Doppler or water sampling devices. Real time communication of data collected may be made by a modem on board the vessel.

Abstract: A water vessel containing a central hump or dome underneath the vessel, with a waterjet system pumping water downward into the hump. The invention utilizes waterjet propulsion and hull shape to create water hump lift. A waterjet system pumps water from the front of the vessel downward into the hump underneath the center of the vessel. This produces lift and reduces the water friction against the water vessel. This also creates a wave or hump of water beneath the vessel, enabling the vessel to ride down the resulting wave. The size and shape of the water hump depends on the velocity and angle of the waterjets. Baffles are utilized at the front and sides of the water vessel to direct water away from the vessel, or towards the vessel, as needed to further the efficiency of the system.

Abstract: A control system and apparatus for controlling waterjet-driven marine vessels is disclosed. Some aspects allow for generation of a plurality of actuator control signals from a single vessel control signal, such as those provided by vessel control apparatus. A control stick embodiment provides a control apparatus that comprises a shaft moveable in at least one degree of freedom to provide the vessel control signals. Some aspects allow for an intuitive direct movement of the vessel in correspondence to movements of the control apparatus. Yet other aspects allow for locking out on or more degrees of freedom while other degrees of freedom and not locked out.

Abstract: A system for controlling thrust of a jet propulsion type watercraft during various steering conditions. The system comprises a thrust mechanism for providing jet propulsion thrust, a throttle regulator for regulating thrust provided by the thrust mechanism, a throttle position sensor for sensing the throttle position of the watercraft, a steering position sensor for sensing the steering position of the watercraft and a controller for determining the desired throttle position of the throttle regulator. Wherein the desired throttle position is based on the throttle position received from the throttle position sensor and the steering position received from the steering position.

Abstract: The invention aims to increase the efficiency of a waterjet propulsion unit with a jet tube, open at its upper and lower end and accommodating a rotating water propulsion means, and with in its outflow opening a rotatable grid of essentially mutual parallel guide plates which cross the axis of the propulsion means under an acute angle, in which a great power can be handled, in that the jet tube is surrounded at the outside of the inlet end by a guide surface having a spherically curved cross-section, and ends at the inlet end in a converging chamber of which two opposite walls an acute angle include with the axis of the propulsion means, said chamber carrying at the outflow end the grid of guide plates of which the plates are parallel with the horizontal end edges of said walls, the whole being rotable together with this grid around the axis of the propulsion means.

Abstract: A method and apparatus for propelling a surface vehicle through the water comprised of a submerged portion, including both a stern propulsion unit and a bow propulsion unit. Either unit may be a pumpjet, the bow unit may include a counter-rotating nose hub having attached spirally wound, twin centrifugal propeller blades. The foremost bow propeller is dedicated to stealth and the next-in-line bow propeller is dedicated to supercavitation. Specially-designed vortex loops that connect the pressure side to the intake side of a propulsion unit may be included in the blades, shroud or hub areas. Further, slightly diverged jet exhaust and variable special surface texturing reduce surface friction drag on the vehicle body. The submarine propulsion system is used to power a surface vessel, supported by two or more hydrofoils which combine a submerged midcraft foil with a wave-piercing variety. The surface craft has the capability of submerging and maneuvering.

Abstract: A tunnel thruster which is compact, quiet and can withstand the higher depth pressure encountered by a UUV. The UUV is usually a cylindrically shaped vessel and has a propulsor with control surfaces at one end. At two positions along the length of the body there are two cylindrical ports which pass through the body of the UUV. At each position one port is in the vertical plane while the other port is in the horizontal plane. These ports are four tunnel thrusters, which enable the maneuvering of the UUV. The tunnel thruster can be mounted in the ports of the UUV. The main components of the tunnel thruster includes a tunnel, motor assembly mounted in the tunnel, rotors on each end of the motor assembly and inlet ducts on each end of the tunnel. The tunnel thruster attempts to address the short comings of the commercial thrusters. The tunnel thruster is an all electrically powered thruster with all mechanical components contained within the tunnel. The rotors operate independently and are counter-rotating.

Abstract: A waterjet-driven boat has a reversing bucket for controlling forward/reverse thrust and a rotatable nozzle for controlling sideward forces. A bucket position sensor is connected to the reversing bucket, and the bucket is controlled using the output of the position sensor to enable the bucket to be automatically moved to a neutral thrust position. Similarly, a nozzle position sensor is connected to the nozzle, and the nozzle is controlled using the output of the nozzle position sensor so that the nozzle may be automatically returned to a zero sideward force position. A joystick with two axes of motion may be used to control both the bucket and the nozzle. The joystick has built-in centering forces that automatically return it to a neutral position, causing both the bucket and nozzle to return to their neutral positions.

Abstract: A thruster is adapted to be laterally mounted through the hull of the vessel and has propulsive ducts for opening to respective sides of the vessel and an inlet to the inboard end of both of the ducts, the inlet being at least partially provided by a tunnel having an internal cross-sectional area greater than that of the ducts, the tunnel at least partially surrounding each of the ducts and opening to each side of the vessel.

Abstract: A jet boat having remote steering to enable pivotal side-to-side steering of a steering nozzle from a pilot seat. A primary coupling between the steering wheel and the steering nozzle. A first pivot arm pivoted by the side-to-side steering of the steering nozzle. A trolling motor mounted pivotally to the rear of the boat and a push/pull cable assembly between the first pivot arm and the trolling motor for corresponding side-to-side pivotal steering of the trolling motor.

Abstract: The present invention having enhanced maneuverability that has hull at least partially submerged in fluid, which will ordinarily be water. The vehicle has a forward bow, a longitudinal axis extending rearwardly from said bow and opposed first and second sides. The first and second sides have respectively a first major opening and a first small opening and a second opening. A fluid-conducting tunnel extends generally transversely through the hull from the first major opening on the first side of the hull to the second major opening on the said side of the hull. There is a propeller for causing fluid to flow through the tunnel. In order to compensate for the detrimental effect on thrust (T) caused by increases in forward vehicle velocity (Vv), angular speed (N) of the propeller is increased proportionally to measured increases in axial fluid velocity (Vx).

Abstract: A waterjet-driven boat has a reversing bucket for controlling forward/reverse thrust and a rotatable nozzle for controlling sideward forces. A bucket position sensor is connected to the reversing bucket, and the bucket is controlled using the output of the position sensor to enable the bucket to be automatically moved to a neutral thrust position. Similarly, a nozzle position sensor is connected to the nozzle, and the nozzle is controlled using the output of the nozzle position sensor so that the nozzle may be automatically returned to a zero sideward force position. A joystick with two axes of motion may be used to control both the bucket and the nozzle. The joystick has built-in centering forces that automatically return it to a neutral position, causing both the bucket and nozzle to return to their neutral positions.

Abstract: This application describes a technique for reducing or preventing the impact force between two small boats or between a small boat and a large boat about to collide. The technique involves the blast of high pressure water from one of the boats against the other to push it aside. The water blasts would be directed against the hull of the threatening boat. A distance sensor can automatically initiate the water blasts by sensing the closeness between the two boats. For manual operation of the water blasts, a switch can be closed at any time that one so wishes, to avoid the collision. One or more adjustable nozzles on water outlets, operated remotely in different directions, enable the boat's pilot to direct the blasts where they would be most effective in averting a collision. Thus, the three options for the boat's captain are: 1. Manually switching on motor-driven pumps to blast water out of fixed nozzles, 2. remotely, angularly positioning nozzles from side to side or up and down, 3.

Abstract: The invention concerns a water sport machine consisting of a hull equipped with a pump-jet, the hull is rigid and provided with an inflatable envelope. The pump-jet consists of a light duty engine combined with a water sucking propeller located in a suction box opening into the hull bottom, the outlet of the suction box opening into a nozzle with decreasing cross-section and a helical wall.

Abstract: A method and system is provided that improves the maneuverability of a marine vehicle having a lateral tunnel thruster. When the marine vehicle moves at a forward speed through water, a water flow having a fluid velocity moves through the thruster. The thruster's propeller is turned at a substantially constant rate of rotation and the fluid velocity in the tunnel is measured. The pitch angle of the propeller is adjusted based on the measured fluid velocity.

Abstract: The present invention provides a propulsion system for a watercraft. The system includes a rotatable body adapted for fixed external mounting on a hull forward a transverse centerline of the watercraft. A prop is coupled to, and rotatable with, the rotatable body. The prop is coupled to a power transmission drive train, which is, in turn, coupled to a drive motor. The rotatable body is further coupled to an angular drive configured for orienting the prop to produce a thrust in a desired direction during operation.

Abstract: A technique for adjusting the trim of a dual electric motor marine propulsion system is provided wherein offset or calibration signal levels are determined through a calibration sequence. The propulsion units are driven in a nominal direction, such as through a “straight-ahead” command. An operator adjusts levels of drive signals to the propulsion units to compensate for deviation from the desired navigational direction, such as due to mechanical and electrical tolerances and variations, as well as due to inherent torques or moments associated with the propulsion units. When the system is determined to navigate the craft in the desired direction, the offset or calibration values are stored. The values are then used during later control of the propulsion units as an inherent trim.

Abstract: A marine propulsion system provides dual driveshafts which are connected in torque transmitting relation with associated propellers. In addition, a bow thruster is provided to provide a thrust on the bow of the marine vessel in the port and starboard directions. An output shaft extends from an engine in a forward direction, toward the bow, and two driveshafts extend from torque transmitting devices, which are also disposed forward from the engine, wherein the driveshafts extend in a rearward direction toward the transom. The driveshafts can be associated directly with propellers, in applications where the driveshafts extend through the transom or through a bottom portion of the hull. Alternatively, the driveshafts can be associated with stern drive units. Efficient maneuvering can be accomplished by selectably determining the magnitudes and directions of the three thrust vectors provided by the two propellers and the bow thruster.

Abstract: A technique is provided for steering and navigating a watercraft. The technique provides for dual electric motor propulsion units aft of a transverse centerline of the watercraft. A forward thruster system is provided forward of the transverse centerline. The rear drive units provide components of thrust for navigating the craft through straight-ahead settings and turning settings. The forward thruster system provides additional thrust components for moving the watercraft in a “sliding” direction, and for providing additional turning thrust. The system is particularly well suited to slow-speed navigation, such as for recreational fishing, as well as for close quarters navigation and docking.

Abstract: The present invention provides a lightweight and simply-configured watercraft of a jet-propulsion type, which can maintain steering capability according to a cruising speed of the watercraft even while a throttle-close operation is performed and the amount of water ejected from a water jet pump is thereby reduced, and a cruising speed calculating device suitable for the watercraft. During forward movement, when the throttle-close operation and steering operation of a steering handle are detected and a cruising speed is within a predetermined speed range, the engine speed is increased. The engine speed is increased by changing a fuel injection timing of a fuel injection system, a fuel injection amount, and/or an ignition timing of an ignition system of the engine. The cruising speed is calculated from the engine speed.

Abstract: A jet powered boat may be provided with a water monitor for fire fighting purposes. The conduit for the monitor is connected to an opening through the bottom of the hull to draw water vertically from beneath the hull. Two motors are provided in the boat. One motor is configured to propel water through the monitor conduit to the water monitor. The other motor is configured to propel water through a propulsion jet at the rear of the boat. In one embodiment, a second propulsion jet is provided at the rear of the boat, connected to the conduit for the water monitor. A baffle at the intersection of the second propulsion jet and the monitor conduit may be operated to selectively direct water to either the monitor or the propulsion jet. In this embodiment, the two motors may be placed symmetrically on either side of the longitudinal centerline of the boat.

Abstract: A thruster is adapted to be laterally mounted through the hull of the vessel and has propulsive ducts for opening to respective sides of the vessel and an inlet to the inboard end of both of the ducts, the inlet being at least partially provided by a tunnel having an internal cross-sectional area greater than that of the ducts, the tunnel at least partially surrounding each of the ducts and opening to each side of the vessel.

Abstract: A pontoon water craft having a hull with trolling mechanisms contained within the hull. The trolling mechanisms are contained in angled recesses provided in the pontoons. Control of the trolling mechanisms can be accomplished by using a control device which can actuate any one of the trolling mechanisms individually or any combination of trolling mechanisms which create a thrust or thrusts resulting in the desired movement of the water craft. The pontoons of the structure hull can help to insulate the trolling mechanisms such that noise is reduced.

Abstract: The instant invention is an improved method for handling and steering vessels and the apparatus for carrying out the method. The invention relates to vessels having fixed shaft propulsion systems and particularly to those vessels in which the propeller is positioned within a tunnel beneath the vessel. The improvements in the steering and handling of such a vessel are realized by inclusion of a bow propulsion system which is integral with and whose operation is coordination with that of the main propulsion system.

Abstract: A boat featuring an autopilot-based steering and maneuvering system. The steering system uses a specially integrated autopilot that remains engaged unless the operator is actively commanding the boat to change course. For example, in a boat in which steering is performed using a joystick, course changes can be effected simply by moving (e.g., twisting) the joystick. That movement automatically disengages the autopilot, allowing the operator to achieve the course change. When the operator has completed the course change and released the joystick, a centering spring returns it to a neutral position and the autopilot automatically reengages. In the improved maneuvering system, the autopilot is used for controlling the direction of a waterjet boat during very low speed (e.g., less than 4 knots) maneuvers, such as docking. The autopilot controls the steering system, e.g.

Abstract: A propulsion and steering system for reducing water mounding along and under a bow and hull of a mono-hull ship thereby enhancing displacement of water by the hull and permitting increase of the beam to length ratio of the ship comprising two or more thrust chambers, each of the thrust chambers passing lengthwise through the hull below a waterline of the ship, each of the thrust chambers having an open bow end and an open stern end, and a bow of the ship configured to channel water into the bow ends of the thrust chambers. Preferred configurations of the bow are disclosed. A propeller or turbine thruster is preferably positioned in each of the thrust chambers for propelling water through the thrust chamber.

Abstract: A baffle system for mitigating thruster wake deficit is provided in the environment of an underwater vehicle. The baffle system includes at least one baffle member initially housed within a thruster housing of the underwater vehicle and an actuating member for selectively positioning the at least one baffle member into a fluid flow over an outer surface of the underwater vehicle. The baffle members deflect the fluid flow from the thruster into surface contact with the outer surface of the underwater vehicle aft of the thruster housing on a discharge side thereof and directs the fluid flow into the thruster housing on an intake side thereof. The baffles may be as few as two and as many as four, and are selectively introduced into the fluid flow passing over the outer surface of the vehicle to direct the fluid flow accordingly.

Abstract: A propulsion system for a watercraft is provided, which may be an integral part of a watercraft or may be retrofitted to a particular watercraft. The propulsion system is fixedly mounted to the hull in a central area, rather than along the perimeter of the watercraft. The propulsion system includes a jet-drive assembly coupled to a jet, an angular drive assembly for rotating the jet, and a control system for controlling the jet-drive assembly and the angular drive assembly.

Abstract: A jet powered boat may be provided with a water monitor for fire fighting purposes. The conduit for the monitor is connected to an opening through the bottom of the hull to draw water vertically from beneath the hull. Two motors are provided in the boat. One motor is configured to propel water through the monitor conduit to the water monitor. The other motor is configured to propel water through a propulsion jet at the rear of the boat. In one embodiment, a second propulsion jet is provided at the rear of the boat, connected to the conduit for the water monitor. A baffle at the intersection of the second propulsion jet and the monitor conduit may be operated to selectively direct water to either the monitor or the propulsion jet. In this embodiment, the two motors may be placed symmetrically on either side of the longitudinal centerline of the boat.

Abstract: A marine vehicle having enhanced maneuverability, which has a hull at least partially submerged in water. The vehicle has a forward bow, a longitudl axis extending rearwardly from said bow and opposed first and second sides. The first and second sides have respectively a first major opening and a first small opening and a second major opening and a second small opening. The small openings are positioned rearwardly of the first small opening. A major water conducting tunnel extending generally transversely through the hull from the first major opening on the first side of the hull to the second major opening on the said side of the hull. There is a propeller for causing water to flow through the tunnel. A small water conducting system extends between the first small opening on the first side of the hull to the second small opening on the second side of the hull.

Abstract: A hydraulic system for the control of boats, ships and crafts in general that comproses nozzles (1, 2) opposed and the end of the stem, having a Venturi tube throttling (8) or an internal diameter reduced by means of flanges (10), so as to be able to determine, following to the outlet of the fluid under pressure, the movement by reaction of the front part of the boat (N) and therefore to perform immediate leftward or rightward curvings according to the nozzle used, and/or corresponding nozzles (3, 4), placed nearby the stern and with similar background function, while the operating the hydraulic reaction of both nozzles placed on the same side determines the parallel movement on the whole craft, for moming alongside to quays or for performing other maneuvers.

Abstract: A screen system for marine thrusters is devised having directionally streamlined screens with geometrically-shaped contoured gratings capable of imparting thrust-enhancing effects, thereby permitting high operational efficiency and the ability to operate with little or no reduction in thrust due to cavitation.

Abstract: A simple and efficient reverse propulsion and control means for water jet powered boats which includes a sliding water valve for controlling exhaust thrusters mounted around the peripheral of the boat and which is coordinated with pivotal movement of the main thruster nozzle.

Abstract: A maneuvering control system is provided which utilizes pressurized liquid at three or more positions of a marine vessel in order to selectively create thrust that moves the marine vessel into desired locations and according to chosen movements. A source of pressurized liquid, such as a pump or a jet pump propulsion system, is connected to a plurality of distribution conduits which, in turn, are connected to a plurality of outlet conduits. The outlet conduits are mounted to the hull of the vessel and direct streams of liquid away from the vessel for purposes of creating thrusts which move the vessel as desired. A liquid distribution controller is provided which enables a vessel operator to use a joystick to selectively compress and dilate the distribution conduits to orchestrate the streams of water in a manner which will maneuver the marine vessel as desired.

Abstract: There is described a tugboat (1) having three azimuthal propelling units (10, 20, 30), two (10, 20) of which are juxtaposed below the stern (7), symmetrically relative to the main plane of symmetry (2), while the third azimuthal propelling unit (30) is disposed in the main plane of symmetry (2) the stern (6), preferably before the rearmost towing point (8).

Abstract: A side thruster comprises a valve, a first water passageway, a second water passageway, a third passageway, a fourth passageway and a pump having an inlet and an outlet. The valve housing includes a first, second, third and fourth ports and a two-position barrier situated within the housing. When in the first position, the barrier connects the first port with the second port and the third port with the fourth port. When in the second position, the barrier connects the second port with the third port and the fourth port with the first port. The first passageway extends between the first port and a first side opening on a first side of the boat. The second passageway extends between the third port and a second side opening on a second side of the boat. The third water passageway extends between the second port and the pump outlet. The fourth water passageway extends between the pump inlet and the fourth port.

Abstract: The bow or stern thruster is a steering device for commercial boats or for large yachting vessels. The thruster has a tunnel disposed transversely across either the bow or the stern of the boat. The tunnel has a tunnel flange secured to an opening in the tunnel. A multisection gearbox including a flange, a neck, a foot cap, and a hollow, cylindrical foot is mounted on the tunnel flange with the foot extending into the interior of the tunnel, being suspended by the neck. The gearbox houses a vertical gear shaft extending through the neck into the foot, which drives a pair of horizontal shafts extending through the foot in opposite directions by a spiral bevel gear coupling. The ends of the horizontal shaft are hollow and have a keyway defined therein. The horizontal shafts each receive a propeller integral with a keyed propeller shaft. The propellers rotate in opposite directions. The vertical shaft is driven by a motor or engine housed within the vessel, but outside the tunnel.

Abstract: A propulsion system for a large, nuclear-powered ship includes a number of steam expansion thrusters rearwardly directed from the stern portion of the ship above the water line, a number of water jet drivers rearwardly directed from the stern portion below the water line, and a number of water jet thrusters downwardly directed from the hull portion of the ship. The frictional drag effect on the ship may be reduced by providing a curtain of air bubbles adapted to flow rearwardly in contact with the hull portion.

Abstract: A screen system for marine thrusters is devised having directionally streamlined screens with geometrically-shaped contoured gratings capable of imparting thrust-enhancing effects, thereby permitting high operational efficiency and the ability to operate with little or no reduction in thrust due to cavitation.

Abstract: A watercraft drive has a double rudder propeller driven by a driving engine via a driving shaft (1), an angular gear (3, 4) and an output transmission shaft (5). A propeller (6, 7) is arranged at each end of the output shaft. A guiding device made of guide blades (8a, 8b) is arranged between the propellers to correct aerodynamic conditions between both propellers (6, 7) and thus to reduce energy losses.

Abstract: An undersea vehicle propulsion and attitude control system is used to conl the forward/reverse movement, vertical up/down movement, lateral movement, pitch, roll and yaw of an undersea vehicle. The propulsion and attitude control system includes a forward port at a forward end of the undersea vehicle, an aft port at an aft end of the vehicle, and radial ports extending radially along the undersea vehicle. The propulsion and attitude control system further includes a single pump, either reversible or unidirectional, and a plurality of valves that, through a controller, selectively control fluid flow between the pump and the forward port, aft port, and radial outlet ports in the undersea vehicle, to provide accurate vehicle propulsion and attitude control.

Abstract: A duct fixed to a vehicle propelled through an ambient fluid medium is innally provided with spaced channel passages from which the fluid medium is ejected under pressure tangentially of local duct surfaces through Coanda affected slots at the trailing edge of the duct from which only the ejection of the fluid medium occurs. The supply of the pressurized fluid medium under selective control is limited to different angular segments of the channel passages in order to modify the flow stream through the duct so as to perform certain functions such as thrust control and steerage control effects enhancing vehicle maneuverability.