Abstract: An underwater base for handling plural underwater vehicles equipped with seismic sensors for recording seismic signals during a marine seismic survey. The underwater base including a storing part configured to store the plural underwater vehicles; an inlet part located above the storing part and configured to control access of the plural underwater vehicles to the storing part; a control part configured to acoustically guide the plural underwater vehicles to the inlet part; and a support part configured to support the control part, the storing part and the inlet part. The storing part is further configured to receive the plural underwater vehicles as the plural underwater vehicles fall from the inlet part into the storing part.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Abstract: A device fashioned in the shape of a toroid is rotated by a mechanism that propels itself in one or more directions based on internal rotation. In one specific example, the toroidal device is a toroidal balloon, where the tread of the toroidal balloon driven vehicle (TBDV) is self-contained and the entire outer surface is dynamic. Such a device is uniquely and ideally suitable for exploration of a tubular structure such as, but not limited to, the alimentary tract.

Abstract: A submersible remotely operated vehicle with a streamlined shape, which uses an internal support lattice to provide pressure resistance. By using a lattice frame to distribute the water pressure load on the vehicle, the vehicle may be constructed of thin-walled, injection molded plastic, yet may be capable of diving to significant depths. The vehicle may provide pitch control using a single vertical thrust actuator that is horizontally fore or aft of the center of vertical drag; this efficient pitch control improves hydrodynamic efficiency by pointing the vehicle towards the direction of travel to minimize the coefficient of drag. The vehicle may communicate wirelessly with a remote operator via a communications buoy tethered to the vehicle, thereby eliminating cabling constraints on the vehicle's range from the operator. The tether may be connected to the buoy using a waterproof connector that presses three terminals surrounded by a compliant seal onto mating contacts.

Abstract: A gas recovery system for sub-sea use includes a sub-sea canister and a gas recovery entity. A bladder arranged within an interior of a housing of the gas recovery entity is configured to receive gas from the sub-sea canister via a pipe when a pressure of the gas exceeds a threshold at a sub-sea site.

Abstract: The invention relates to an underwater work system 1 with at least one autonomous unmanned underwater vehicle 2 and one unmanned relay vehicle 4 floating at the surface of the water 3, which comprises a radio antenna 5 for external communication 26 and a drive 16. The underwater vehicle 2 is connected to the relay vehicle 4 via an internal communication device. The invention furthermore relates to a method for operating an underwater work system. In order to create an underwater work system with an autonomous underwater vehicle and an unmanned relay vehicle floating at the surface of the water as well as a method for operating such an underwater work system, which provides an increased efficiency of the autonomous underwater vehicle 2 with short mission times, it is provided according to the invention that the relay vehicle 4 is controllable by means of a control unit 16 via the at least one autonomous underwater vehicle 2 in due consideration of navigation information 17.

Abstract: A method includes disconnecting subsea equipment containing a first fluid from an installation in a subsea environment, wherein the first fluid is a produced fluid that includes produced hydrocarbons. Furthermore, the method also includes raising the disconnected subsea equipment from the subsea environment and controlling a fluid pressure of the first fluid in the subsea equipment with an accumulator device while raising the subsea equipment from the subsea environment, wherein the accumulator device includes first and second adjustable accumulator chambers and a movable pressure boundary separating the first and second adjustable accumulator chambers.

Abstract: Disclosed herein are an underwater docking system and a docking method using the system. An exemplary embodiment of the present invention relates to a system for docking a target body on a docking station under water, the system comprising: a guide unit provided to the docking station to transmit at least one guide signal to the target body; an agent unit connected to the docking station by a smart cable and disposed at a position spaced apart from the docking station so that the agent unit is moored under the water in a direction corresponding to a tidal current; and the target body configured to be guided toward the agent unit by the guide signal and then connected to a portion of the agent unit.

Abstract: A cowl assembly for an outboard motor includes first and second cowl members. A fastening assembly includes a latch coupled to one of the cowl members, and a retaining mechanism coupled to the other of the cowl members. The latch and the retaining mechanism engage one another to fasten the first and second cowl members together. A seal is configured to form a fluid tight joint between the cowl members. A shape memory alloy wire is coupled to at least one of the latch and the seal. A switch is configured to selectively provide electrical current to the shape memory alloy wire to activate the shape memory alloy wire. Activation of the shape memory alloy wire causes at least one of disengagement of the latch from the retaining mechanism and disengagement of the seal from one of the first and second cowl members, enabling separation of the cowl members.

Abstract: Generally, the present disclosure is directed to systems that may be used to facilitate the retrieval and/or replacement of production and/or processing equipment that may be used for subsea oil and gas operations. In one illustrative embodiment, a system is disclosed that includes, among other things, subsea equipment (100) that is adapted to contain a first fluid while operating in a subsea environment (160), and an accumulator device (120a, 120b, 120c, 120d, 120e) that is in fluid communication with the subsea equipment (100), wherein a pressure boundary of the accumulator device (120a, 120b, 120c, 120d, 120e) is adapted to move in response to a pressure change on the subsea equipment (100) as the subsea equipment (100) is raised from the subsea environment (160).

Abstract: A flexible lifting tether system for lifting a marine vehicle or object is described which is capable of significantly improving the primary characteristics of an existing cable by enhancing load-carrying capabilities (e.g. in air), modifying the tether to have altered specific gravities in water, and relieving torsional stresses when in operation.

Abstract: Methods and systems are presented for generating and performing a seismic data acquisition mission based on an a priori sea current model and a seismic data acquisition operation model and a shooting solution model based on the a priori sea current model. The individual models can be updated based on releasing sample buoys through the survey area both before and during mission execution.

Abstract: There are provide a pressure-resistant container which is less likely to be damaged due to stress concentration even in deep seas of 1000 m or deeper below sea level, and an exploration machine provided with the same. A pressure-resistant container includes a cylindrical first outer shell member; and substantially hemispherical second outer shell members which are respectively connected to both ends of the first outer shell member, and is constructed by selecting materials so that a Young's modulus E2 of a base material which constitutes the second outer shell members is smaller than a Young's modulus E1 of a base material which constitutes the first outer shell member.

Abstract: A self-propelled microbial fuel cell apparatus includes a microbial fuel cell with a cathode electrode and an anode electrode wherein the anode electrode is enclosed within an enclosure that has an opening in it. The microbial fuel cell is positioned within a self-propelled delivery vehicle so that the electrodes of the fuel cell are exposed to interface with a microbial environment.

Abstract: An underwater vehicle may include a buoyancy control system configured to use a dual-internal-reservoir configuration to enhance efficiency of changing buoyancy of the underwater vehicle. The buoyancy control system may utilize an incompressible fluid (e.g., oil or water) that is transferred between a first internal reservoir and an external chamber to affect buoyancy of the underwater vehicle. In exemplary implementations, a compressible fluid (e.g., air) may be used to inflate or deflate a second internal reservoir. The second internal reservoir may be disposed within the buoyancy control system so that it can act on the first internal reservoir by applying a compressive force or a tensive force on the first internal reservoir, depending on the pressure differences between the two reservoirs.

Abstract: A free vehicle suitable to serve as a platform to carry a variety of equipment to the ocean floor, actuate devices at the floor and at intermediate points on the way to and returning from the ocean floor is described. The free vehicle includes standardized power, control electronics, navigation equipment and mechanical release mechanisms that can be used in conjunction with custom experiments. Exemplary experiments include sensors and sampling equipment used for deep-sea exploration. The free vehicle platform provides for scalable designs to meet scientific needs and surface vessel constraints.

Abstract: An unmanned underwater vehicle (UUV) shipboard launcher system, which comprises a deployment device and an unmanned underwater vehicle (UUV) launcher. The UUV launcher includes a frame, a canister coupler to facilitate coupling of a communication line canister of a UUV to the launcher, and a UUV coupling device supported about the frame to releasably secure the UUV to the launcher. The UUV launcher also includes an arming pin engagement feature supported about the frame, and operable to engage an arming pin of the UUV upon being secured to the launcher, as well as a separation device supported about the frame and adapted to force the UUV away from the UUV launcher upon release of the UUV by the UUV coupling device, which separation may function to remove the arming pin and arm the UUV.

Abstract: An integrated system for diving operations for use in turbid water by a remote operator comprising a surface console station that supports the receipt of tethered command and control of system components and display for received real-time video via a communications channel; a remote wearable information processing unit tethered to the surface console station and having integrated controls; a wearable human interface system connected to the remote wearable information processing unit and including a video display and two-way audio system; a viewing enhancing device tethered to the remote wearable information processing unit and the surface console station, including an image capture device; and a fluid clarification unit coupled to the viewing enhanced apparatus. The apparatus may be worn and operated by a diver, mounted on a remotely operated vehicle or manipulated remotely while mounted on the end of a pole and may include an array of viewing enhancing devices.

Abstract: An apparatus for treating a medium, the apparatus including structure for generating a flow of a working fluid in a flow path, treatment structure for subjecting the medium to treatment and a delivery device for delivering the medium to the treatment structure, the treatment structure and the delivery device being operable in response to the flow of working fluid. A refuge chamber and method utilize such apparatus.

Abstract: Systems and methods for charging a rechargeable battery device on a marine vessel utilize a rechargeable battery device, a charger charging the battery device, and a control circuit. The control circuit calculates an amount of current that is available to charge the battery device based upon an amount of current that is available from the shore power source and an amount of current that is being drawn from the shore power source by devices other than a voltage charger and limits the amount of current being drawn by the voltage charger to charge the battery device to an amount that is equal to or less than the calculated amount of current that is available to charge the battery device. The control circuit can repeatedly calculate the amount of current that is available to charge the battery device and limit the amount of current being drawn by a voltage charger to charge the battery device to thereby actively adjust an amount of charge applied to the battery device.

Abstract: A modular system for building underwater robotic vehicles (URVs), including a pressure vessel system, modular chassis elements, a propulsion system and compatible buoyancy modules. The pressure vessel system uses standardized, interchangeable modules to allow for ease of modification of the URV and accommodation of different internal and external components such as sensors and computer systems. The system also includes standard, reconfigurable connections of the pressure vessel to the modular chassis system. A standardized, modular propulsion system includes a magnetic clutch, and a magnetic sleeve used to power the URV on or off.

Abstract: An arrangement and a method for implosion mitigation, and in particular a structural arrangement of a water vessel and a method thereof for mitigating implosion loads. The water vessel includes first and second end portions connected by a middle portion, with one portion structurally weaker than the others so that when the vessel experiences an overmatching load, only the structurally weaker portion of the vessel fails. The vessel may further include energy absorbing structures.

Abstract: A system including a fluid injection system configured to removably couple to a mineral extraction system, wherein the fluid injection system includes a fluid injection system controller, a flow meter system coupled to the fluid injection system controller, wherein the flow meter system is configured to measure a fluid flow of a fluid through the fluid injection system, an adjustable valve configured to control the fluid flow through the fluid injection system, and a non-return valve configured to block reverse flow of the fluid through the fluid injection system, wherein the fluid injection system controller, the flow meter system, the adjustable valve, and the non-return valve are coupled to a common housing.

Abstract: A marine vessel comprising: at least one buoyant tubular foil; at least one venturi injection ring positioned adjacent to the perimeter of the at least one buoyant tubular foil so as to create a passageway between the at least one venturi injection ring and the perimeter of the at least one buoyant tubular foil, wherein the passageway is characterized by a fore opening, an aft opening, and an intermediate opening disposed between the fore opening and the aft opening, and wherein the intermediate opening is smaller than the fore opening and the aft opening; at least one fluid opening formed in the perimeter of the at least one buoyant tubular foil adjacent to at least one of the intermediate opening and the aft opening; and at least one passageway connecting the at least one fluid opening to a source of fluid.

Abstract: A marine vessel comprising: at least one buoyant tubular foil; and at least one baffle plate positioned about the perimeter of the at least one buoyant tubular foil so as to protrude into the flow of water passing by the perimeter of the at least one buoyant tubular foil, whereby to create a high-pressure zone fore of the at least one baffle plate and a low-pressure zone immediately aft of the at least one baffle plate, whereby to create a dense stream of supercavitated water immediately aft of the at least one baffle plate.

Abstract: A valve is disclosed. The valve can be mounted through a wall, for example in the hull wall of a submersible vehicle. The internal components of the valve can be readily removed, serviced and/or replaced without removing the valve body from the wall. A filling assembly is also disclosed, which mates with the valve to deliver a fluid from one side of the wall, through the valve and into a storage tank or other apparatus disposed on the opposite side of the wall. The filling assembly actuates the valve to open a fluid pathway therethrough in order to deliver fluid to a storage tank or other apparatus connected to the valve's exit port.

Abstract: The invention relates to remotely operated multi-component search robots for underwater search and rescue operations, and particularly suited for searches under ice.

Abstract: Provided are an apparatus and a method for seabed exploration using an unmanned remotely operated vehicle. The apparatus for seabed exploration of the present invention includes: an unmanned remotely operated vehicle connected with a ship 2 by a cable 1; a transponder of an acoustic positioning system mounted on the unmanned remotely operated vehicle; a pinger mounted on the unmanned remotely operated vehicle and outputting a signal that is received by a receiver of an echo sounder system mounted on the ship; a measuring device mounted on the unmanned remotely operated vehicle and sensing or measuring various information on the seabed where the unmanned remotely operated vehicle is positioned; and a sediment collecting device collecting sediments of the seafloor, when the unmanned remotely operated vehicle grounds on the seafloor.

Abstract: Disclosed are a cavitation device and an underwater moving body having the same. The underwater moving body includes a body; and a cavitation device for generating a cavity which encloses an outer circumferential surface of the body, wherein the cavitation device includes: a plurality of flap-up/down members rotatably connected to the body, disposed to cover the outer circumferential surface, and disposed in a circumferential direction and a lengthwise direction of the body in a matrix form; and a pressing module for flapping up the flap-up/down members such that the cavity is generated, as the flap-up/down members being rotated are inclined from the outer circumferential surface. Under this configuration, the cavitation device can freely generate a partial cavity or a super cavity on the surface of the underwater moving body. Furthermore, a ventilation module for forming a ventilated cavity may be coupled to the cavitation device.

Abstract: A vehicle control system is provided that includes an internal communications system. The vehicle control system further includes a controller configured to communicate with a plurality of independent vehicle systems via the internal communications system. The controller stores and accesses a plurality of libraries of system processes having data associated with the plurality of vehicle components. The controller maintains an operational state for the vehicle during an operational failure of at least one of the plurality of independent vehicle systems.

Abstract: In various embodiments a variable buoyancy profiling float is disclosed. The variable buoyancy profiling float may comprise a spherical glass housing comprising a first hemisphere and a second hemisphere. The first and second hemispheres may be coupled by a partial vacuum within the spherical glass housing. A buoyancy system may be located at least partially within the spherical glass housing. The buoyancy system may be configured to provide variable buoyancy control to the variable buoyancy profiling float. A sensor bundle may be mounted to the spherical glass housing and may be configured to measure at least one environmental parameter.

Abstract: A system and method for remote inspection of a liquid filled tank or structure is disclosed. In the system, a remotely operated underwater vehicle is deployed in a liquid filled tank which includes pre-installed location identifier tags. The remotely operated underwater vehicle includes at least one camera for providing a video feed to an operator. The remotely operated underwater vehicle is piloted through tanks to be inspected, scanning tags and transmitting video and sensor data to the operator via operator's computer. The operator inspects and records observations of the video and sensor data to the system. Resulting data is recorded and reports generated.

Abstract: Systems and methods for a robust underwater vehicle are described herein. A robust underwater vehicle may include a force-limiting coupler connecting an actuation system to an actuation fin. The force-limiting coupler may be configured to break away from the actuation system upon receiving a threshold force. The robust underwater vehicle may also comprise hull sections connected by a threaded turnbuckle. Carbon-fiber axial strength members may mate with the threaded turnbuckle to pull the hull sections together to a specified preload tension. The robust underwater vehicle may also include a blazed sonar array protected by a carbon fiber bow including a plurality of slits. The plurality of slits may provide significant protection to the sonar array while simultaneously allowing one or more transducers to transmit sonar signals in a two-dimensional plane.

Abstract: An electrical generation system. A floating vessel is anchored in flowing water. Inlets in the hull of the vessel capture flowing water and direct the water to one or more turbines. The system is designed so that all flows are two-dimensional to the extent possible. The latter feature greatly simplifies both design and construction.

Abstract: An unmanned underwater vehicle and a method for recovering an unmanned underwater vehicle. The unmanned underwater vehicle (1) is recovered by releasing a recovery buoy (21), which is connected to the vehicle (1) by a recovery line (22), recovering the recovery buoy (21) from the surface, attaching the recovery line (22) to a recovery system and lifting the vehicle (1) by the recovery system and the recovery line (22). To provide a safe recovery of the unmanned underwater vehicle under most weather condition, the vehicle (1) is submerged after releasing the recovery buoy (21) by reducing the buoyancy of the vehicle (1) and providing negative net-buoyancy (29).

Abstract: An underwater mobile inspection apparatus is capable of inspecting a subsea pipeline (inspection object) while cruising. The underwater mobile inspection apparatus includes: a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the subsea pipeline; a first movable arm provided on the cruising body; an inspection tool unit for use in inspecting the subsea pipeline, the inspection tool unit being provided on the first movable arm; and a controller configured to, when the cruising body cruises along the subsea pipeline in such a manner as not to come into contact with the subsea pipeline, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the subsea pipeline becomes a predetermined target positional relationship.

Abstract: A method of deploying a device to the seabed with a submersible vehicle, the vehicle having a hull which defines a hull axis and appears substantially annular when viewed along the hull axis. The hull has an interior defining a duct which is open at both ends. The device is mounted to the hull on one or more struts so that it is positioned in line with the duct or at least partially within the duct. The device is transported to the seabed mounted to the hull on the strut(s), water flowing through the duct as it does so. The device is then deployed on the seabed after it has been transported to the seabed by the vehicle.

Abstract: A diving toy having hydrostatic depth control adapted to cause said diving toy to continuously seek a predetermined depth in water. The diving toy includes a sealed main body with a motor and a battery compartment for receiving at least one battery positioned inside the sealed main body. A propeller is attached to an axle of the motor protruding through the sealed main body so that when the motor is activated the propeller spins. The sealed main body has a flexible portion disposed substantially rearward on the sealed main body. The flexible portion is hydrostatic pressure sensitive varying the fluid displacement volume and volumetric center of the toy as it dives or climbs. The toy may be adapted to have positive, negative or neutral buoyancy when placed in water.

Abstract: A coupling head 8, coupled to an autonomous underwater vehicle 4 via a rendezvous head 18 that is connectable to or part of the underwater vehicle 4. The coupling head 8 has an alignment stabilizing arrangement 12 for stabilizing its alignment and position in the water below the water surface. The invention further relates to a coupling device 2 having the coupling head 8 and having a cable 10 which is detachably connectable, mechanically, electrically and in a signal-connecting manner, to the coupling head 8, and to a rendezvous device 16 having the rendezvous head 18. The underwater vehicle 4 has the rendezvous head 18 and/or the rendezvous device 16, and a coupling system 1, which comprises at least the coupling and rendezvous heads. The invention further relates to a coupling method 58 and a deployment method 56 of an autonomous underwater vehicle 4 which includes the coupling method 58.

Abstract: The invention relates to an unmanned underwater vehicle for localizing and examining an object, for example a pipeline, arranged at the bottom of a body of water. For this purpose, the underwater vehicle has object localization means and object examination means. The underwater vehicle has a sonar device with 3D underground sonar for collecting measurement data. The object localization means are designed for three-dimensional acoustic localization of local sections of the object which are arranged both above and below the surface of the bottom of the body of water by means of these measurement data while the underwater vehicle is simultaneously moving away over these local sections for the purpose of examining local sections of the object by means of the object examination means. As a result, the invention allows a pipeline to be simultaneously surveyed and inspected as it is traversed once.

Abstract: The present invention has, as a first object, an autonomous underwater vehicle equipped for the acquisition of the gravimetric and magnetic gradient near the seabed, characterized in that it comprises: —at least one gravimetric gradiometer; —at least one magnetic gradiometer. In particular, said autonomous equipped underwater vehicle allows underwater explorations as far as 3,000 m.

Abstract: A telescopic submarine includes: a front submarine unit (1), a rear submarine unit (2), and a lift tower (3). A ring-shaped piston (14) connected with the rear submarine unit (2) is in a hydrocylinder (7) connected with the front submarine unit (1). When the piston (14) is moved forward, a volume of the telescopic submarine is decreased, a specific gravity of the telescopic submarine is increased, and therefore the telescopic submarine dives into the water gradually. The telescopic submarine is able to surface via operating the horizontal rudder (20) to raise the telescopic submarine to a surface of the water, and then pumping the hydraulic oil (32) into the hydrocylinder (7) via the hydraulic pump (11) to drive the piston (14) to move backward. Therefore the volume of the telescopic submarine is increased, the specific gravity of the telescopic submarine is decreased, and the telescopic submarine surfaces.

Abstract: A submarine is designed for combating oil when submerged. The submarine includes a snout (14, 36) which is conduit-connected to a conduit leading into the submarine. The snout (14, 36) is part of an oil suction device and/or part of a device for bringing out an oil decomposition substance. The snout (14) may be designed in a rigid manner and be pivotable from a position between a pressure hull (6) of the submarine and an outer hull (10) forming an upper deck (12) of the submarine, into a position outside the outer hull (10). The snout (36) may also be designed in a flexible manner, wherein the snout (36) is fastened in a section adjacent to a free end, on an ROV (40).

Abstract: A self-scuttling device can include a pressure hull that can define an internal void having an internal pressure PVOID. The device can be disposed in an underwater environment having a pressure PAMBIENT that is greater than PVOID. The pressure hull can be formed with a fill port, which can be selectively opened to flood the void. A reactive agent can be disposed within the void. The reactive agent can be chosen to mix with seawater and establish a solution that corrodes the pressure hull when the reactive agent is exposed to seawater by flooding the void. The reactive agent can be disposed within a watertight container, which maintains watertight integrity at PVOID, but loses watertight integrity at the greater PAMBIENT. When this occurs, the reactive agent becomes exposed to seawater to establish the solution within the void that corrodes the pressure hull.

Abstract: Disclosed is a flow-driven antifouling device for a seismic marine streamer cable. A cylindrical housing is circumferentially mounted to a submerged, circular cable. Fluid flow over the cable provides motive power to rotate the device around the outer surface of the cable, preventing barnacles, marine growth and other fouling accumulation. Interior wheels contact the cable outer surface to disrupt fouling growth and control the direction of travel along the length of the cable. Radially-protruding vanes utilize the local fluid flow over the cable to apply a rotation to the device, powering its movement. The orientation of the inner wheels determines corkscrew direction, allowing forward and aft travel along the cable. Continuous and uninterrupted motion prevents fouling development, which improves the fidelity of seismic sensors and decreases drag on the cable.

Abstract: An underwater robot is configured to be charged in response to a charging signal from a charging dock, and includes a main body having a waterproof chamber, and an electric power unit disposed in the waterproof chamber. The electric power unit includes a rechargeable battery set storing electric power, and a charging module coupled to the rechargeable battery set and configured to charge the rechargeable battery set in response to the charging signal from the charging dock.

Abstract: An energy producing device, for example a submersible vehicle for descending or ascending to different depths within water or ocean, is disclosed. The vehicle comprises a temperature-responsive material to which a hydraulic fluid is associated. A pressurized storage compartment stores the fluid as soon as the temperature-responsive material changes density. The storage compartment is connected with a hydraulic motor, and a valve allows fluid passage from the storage compartment to the hydraulic motor. An energy storage component, e.g. a battery, is connected with the hydraulic motor and is charged by the hydraulic motor when the hydraulic fluid passes through the hydraulic motor. Upon passage in the hydraulic motor, the fluid is stored in a further storage compartment and is then sent back to the area of the temperature-responsive material.

Abstract: Provided is an underwater posture stabilization system which, by being attached to various underwater equipment such as undersea equipment and underwater vehicles having different shapes and positions of the center of gravity according to their purpose and the like, allows simply and reliably setting their posture in water (basic posture), is excellent in versatility, is not only excellent in posture stability since, when the posture inclines under the effect and the like of tidal currents and pulsating currents, a moment to restore the posture to its original posture naturally acts, but is also capable of easily changing the posture as needed, and also is capable of stably controlling the posture even in the presence of complicated tidal currents and pulsating currents, and is excellent in reliability, stability, and certainty of posture control.

Abstract: A submersible vessel comprising: an elongated hull; at least one propeller mounted on a forward end of said hull and adapted to move said hull through water; said at least one propeller being of a size and configuration such that when it is rotated at an appropriate speed, it generates supercavitated water flowing from said at least one propeller and then along an outer surface of said hull so as to diminish friction on the outer surface of said hull and facilitate high underwater speeds.

Abstract: An underwater vehicle including an axi-symmetric framing system rotatable about a centerline to define a shell of revolution having a uniformly-convex outer boundary. A narrow-beam sonar array is mounted on the axi-symmetric framing system, and includes a multitude of simultaneously-fireable and/or asynchronously-fireable transducers distributed substantially evenly over a 4?-steradian viewing angle. The present invention provides the necessary configuration for a vehicle wherein an internal algorithm can compare a “new” geometry to an “old” geometry collected earlier to construct a best fit of the new world map with the old world map and locate the vehicle within the context of the new world map. This then provides a completely independent mechanism for correction of the gradual drift in x and y that is not dependent on any form of external navigation aid.