Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. At least part of the outer hull is swept with respect to the hull axis A buoyancy control system may be provided. Various methods of deploying and using the vehicle are described.

Abstract: Various aspects can be implemented to provide a reconfigurable underwater vehicle. In general, one aspect of the subject matter described in this specification can be embodied in a underwater vehicle that includes a hull that is angular in shape and capable of avoiding sonar detection. The hull can include a bow and a stern that are substantially similar in shape. The underwater vehicle can also include a plurality of reconfigurable modules that are interconnected to form the hull of the underwater vehicle. Each reconfigurable module is capable of performing a different function associated with operation of the underwater vehicle. Further, the plurality of reconfigurable modules can be built in a warehouse away from a shipyard and assembled to form the underwater vehicle at the shipyard.

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: A method for operating a submersible vehicle includes, responsive to detection of a vortex ring undesirably affecting the vehicle and/or at least one vehicle condition indicating the presence of a vortex ring undesirably affecting the vehicle, initiating at least one control action to mitigate the effect of the vortex ring on the vehicle.

Abstract: A vehicle is provided that is amphibious to include submersible operations. The vehicle has wings configured to generate a sufficient dive force to oppose buoyancy of the vehicle, when desired, which are disposed on opposing sides of a central hull. The vehicle is configured to enable easy transition from land operations to water operations, to include water surface travel as well as submerged travel.

Abstract: A dome assembly comprises an upper hemispherical window having a first end surface with an upper ring assembly sealingly connected to the upper hemispherical window at or near the first end surface and a lower hemispherical window having a second end surface with a lower ring assembly sealingly connected to the lower hemispherical window at or near the second end surface. The dome assembly further comprises a spider retainer assembly comprising a spider ring assembly and one or more saddle arms having a first end and a second end with each saddle arm fixedly attached to the spider ring assembly at a first end and fixedly attached to one or more of the upper ring assembly and the lower ring assembly at a second end.

Abstract: A deep submersible light may include a body defining a hollow interior and a solid state light source such as a plurality of high brightness LEDs mounted in the interior of the body. A transparent window may be mounted over the LEDs. The space between the transparent window and the LEDs may be filled with an optically transparent fluid, gel, or grease, which allows light to pass through and ambient water pressure to pass in, thus pressure compensating the LEDs by allowing them to see ambient water pressure. The transparent window may be mounted in the body for reciprocation in both a forward direction and a rearward direction to accommodate volumetric changes in the compensating fluid, gel, or grease caused by changes in temperature and water pressure as the manned or remotely piloted submarine travels from the sea surface to deep ocean depths.

Abstract: A system for interconnecting a mother ship with a submersible vehicle using a cable towed by the mother ship. The cable has a first cable end connected to the mother ship and a second cable end to be connected to the submersible vehicle. The second cable end is provided with a first connector. A capturing mast is arranged at the submersible vehicle for capturing the cable towed by the mother ship. A connector holder is arranged at the submersible vehicle for holding the first connector when it is to be connected to a second connector. The second connector is connected to the submersible vehicle. A first guide is arranged at the submersible vehicle for guiding the first connector towards the connector holder of the submersible vehicle. A second guide turns the connector to a well defined position into the connector holder.

Abstract: A float device includes a drive motor provided inside a float hull, a plunger reciprocating along with rotation of the drive motor, an internal oil reservoir for housing an hydraulic oil therein, an externally-opened cylinder attached to the float hull, a buoyant force adjustment piston reciprocating in the cylinder along with exit/entry of the hydraulic oil, and a three-way valve having a first connection port connected to the plunger, a second connection port connected to the internal oil reservoir, and a third connection per connected to the cylinder, for switching the flow between the first connection port and the second connection ports and the flow between the first connection port and the third connection port.

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 system for enhancing control of an underwater vehicle, and providing a quick change modular payload section includes a motor configured to rotate an internally threaded member threadingly engaged with a threaded rod. Rotating the member creates linear motion of the threaded rod. A control rod connected to the threaded rod provides movement of a rudder or fin. The threaded rod and member are configured with threads having a fine pitch which maintains a stable position of the fins without needing to supply power to the motor for adjustments. The modular payload arrangement includes a bulkhead ring having L-shaped recesses that receive fasteners disposed on a central body section. The payload section may be fastened to the vehicle by pressing the payload section onto the central body such that the fasteners align with the recesses and turning the payload section to secure the payload section.

Abstract: An underwater vehicle configured to be remote-controllable and maneuverable includes a device which is configured to uncover a submerged object. The device comprises a working nozzle configured to conduct a water flow and a counter pressure nozzle configured to counteract the working nozzle.

Abstract: A frame is for a remotely operated vehicle. Several frame elements provide a carcass formed of a buoyant material. The frame elements are provided by a curable material having been arranged on the surfaces of the carcass, forming a rigid shell around the carcass. A method of constructing a frame is for a remotely operated vehicle. Several frame elements provide a carcass formed of a buoyant material. The method comprises: forming several core elements of a buoyant material; forming a carcass by joining the core elements together; applying a curable material to the surface of the carcass; and forming several mounts integrated into the curable material, for vehicle components.

Abstract: A pressure equalizer for an underwater vessel can include a pneumatic reservoir and a pressure compensating valve (PCV). The PCV can be in fluid communication with the surrounding underwater environment and the vessel interior, and in selective fluid communication with the reservoir. The PCV can further include a valve body and a valve plug. As the PCV opens, the plug moves within the body to establish a path of fluid communication from the reservoir, through the PCV to the vessel interior, to allow flow of high pressure compressible fluid from the reservoir into the interior to pressurize the vessel interior. As the vessel interior pressure equalizes with the surrounding environment, the plug moves within the body to close the fluid communication path with the reservoir, thereby stopping the flow of compressible fluid into the vessel interior to maintain the equalized pressure.

Abstract: A weapon storage device (10) which is to be attached to an external face (8) of a hull (4) of a submarine (2) and which is capable of containing weapons (14), such as ammunition or weapon carriers, which are to be deployed from the storage device on receipt of a deployment signal transmitted from inside the submarine, includes a compensation element (16, 18, 30, 40) which allows the variation in mass of the storage device (10) resulting from the deployment of at least one weapon to be compensated for, partially or wholly, by replacing a volume of gas initially contained in the storage device by an identical volume of water introduced into the storage device.

Abstract: An underwater investigation system may include a host ship, a UUV including a propulsion device and a steering device, and at least one sonar system. The system may further include a guidance controller configured to initiate sonar range measurements between the host ship and the UUV using the at least one sonar system, and estimate a respective UUV position state relative to the host ship at the initiation of at least some of the sonar range value measurements to define a series of successive UUV position state estimates. The guidance controller may be further configured to update UUV position state estimates in the series based upon completion of their respective sonar range measurements, propagate the updates to subsequent UUV position state estimates in the series, and control the propulsion device and the steering device to guide movement of the UUV relative to the host ship based upon the updated position state estimates.

Abstract: Sea characteristics are determined by using a buoy with multiple tilt switches configured to sense at plural tilt angles of the buoy. The tilt switches provide binary outputs of tilt data corresponding to the tilt angles. The binary outputs are received by a processor and are compared with sample patterns of tilt data. The comparison is used to provide an output corresponding to sea conditions.

Abstract: An unmanned submersible vehicle for use in a body of liquid having a top surface and in air overlying the top surface includes a hull, an integral antenna, and an antenna positioning system. The hull has first and second opposed ends. The hull includes a first hull portion adjacent the first end and a second hull portion adjacent the second end. The antenna is disposed within the first hull portion and/or is mounted on the first hull portion. The antenna positioning system is configured to reorient the hull from a transit position to a signal position.

Abstract: A payload delivery unit for protecting and delivering a payload submerged in a submersion medium includes an unmanned buoy, a drop weight member, and a retention system. The buoy includes a container. The container includes a pressure-resistant shell defining a sealed containment chamber. The drop weight member is mounted on the shell and has a negative buoyancy with respect to the submersion medium. The retention system is operative to retain the drop weight member on the buoy and selectively release the drop weight member from the buoy.

Abstract: A subsea vertical glider robot which supports deployment in subsea oilfield activities is disclosed. This vertical glider robot can also be used in oceanographic research exploration. One application of this vertical glider robot is the autonomous delivery of equipment and sensor systems to a precise predetermined location on the sea floor. The vertical glider robot is deployed from a surface ship or any other suitable sea surface platform and allowed to free fall to the bottom of the ocean. The traversal through the body of water is performed primarily by converting initial potential energy of the apparatus into kinetic energy, it does not use propellers. The traversing of the seafloor is controlled with a steering module that refines orientation while processing information about the vertical glider robot's current position and the target where it has to land.

Abstract: Submarines are provided with bluff-shaped surfaces and/or fins used for modification of tropical storms or hurricanes by mixing the upper layer of a section of a body of water with water from a lower section of the body of water. By coordinating a number of submarines to traverse a region of a tropical storm or ahead of a hurricane the cooled water reduces the amount of heat energy available to fuel the intensity and movement of storms. A perforated plate of approximately 100 m×100 m is used, with or without fins, to mix layers of water by creating sufficient turbulence to create eddies up to 50 m. Submarines are used to entrain fluid motion to induce anti-cyclonic vorticity in the body of water.

Abstract: Disclosed are methods and systems for controlling spread and/or depth in a geophysical survey. An embodiment discloses a submersible deflector, comprising: an upper portion comprising an upper fin section and upper foils disposed below the upper fin section, wherein at least one slot is defined between the upper foils; and a lower portion coupled to the upper portion and disposed below the upper portion, wherein the lower portion comprises a lower fin section and lower foils disposed above the lower fin section, wherein at least one slot is defined between the lower foils. Also disclosed are marine geophysical survey systems and methods of performing geophysical surveys.

Abstract: The invention in one variation is a pressure vessel having a pair of hemispheres with a wall and a circular edge, a pair of sealing elements, and an intervening mounting plate with circular groove on both sides of the plate. The hemispheres are mounted on opposite sides of the plate. Each groove has an sealing element and the circular edge. A seal is formed between the plate and a hemisphere when the hemisphere is pressed against the sealing element. Pressure can be generated by creating a partial vacuum in the sealed hemispheres or by using clamps. When exposed to higher pressures, such as when the vessel is used underwater, the pressure on the hemispheres is conveyed to the sealing element forming an even tighter seal. The vessel has interface connections that enable communication to and from devices mounted inside. The vessels are modular and can be ganged to provide redundancy or different functions.

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: An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.

Abstract: A system for pressure compensation, e.g., for pressure compensation in a subsea environment, may include a fluid filled enclosure surrounding a cavity, a first pressure compensator having a first chamber and a second chamber, the first chamber being in fluid communication with the cavity, and a second pressure compensator having a third chamber and a fourth chamber, wherein the third chamber of the second pressure compensator is in fluid communication with the second chamber of the first pressure compensator.

Abstract: There is provided a high power laser system for powering a remotely located laser device, such as an ROV, using a high power laser fiber optic tether and a photo-conversion device, such as a laser photovoltaic assembly. Laser device systems, such as ROV systems that utilizes a high power laser cutting and/or cleaning tools are also provided.

Abstract: A payload delivery system for protecting and delivering a payload submerged in a submersion medium includes a containment system. The containment system includes a container and a dehiscing system. The container includes a pressure-resistant shell defining a sealed containment chamber. The dehiscing system is operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

Abstract: A system and method are provided for launching and recovering an unmanned, water-born vehicle (UWBV) from a mother ship. The UWBV mimics the behavior of dolphins and is positioned ahead of the ship in preparation for bow riding. The UWBV uses a guidance system to position and keep in the bow wave. A high-frequency (HF) sonar transceiver array aboard the ship computes and sends course corrections to maintain the UWBV within the bow wave. The frequency range of the HF array can be 100 kHz or higher due to the short distance between the ship and the UWBV. Accordingly, the HF array can have a small aperture allowing for accurate bearing resolution. Course corrections can be sent on a near-continuous basis such that changes in thrust and rudder angle can be minimized to allow for accurate control of the UWBV.

Abstract: A method for automatically controlling the speed of a ship, in which the engine speed (nMOT) is automatically controlled by a closed-loop engine speed control system as an inner closed-loop control system, the ship's speed (vS) is automatically controlled by a closed-loop ship's speed control system as an outer closed-loop control system, and the ship's set speed (vSL) is influenced as a reference input of the closed-loop ship's speed control system as a function of an external signal source. The ship's set speed (vSL) is corrected as a function of the underwater topography (TOPO).

Abstract: The problem of penetrating through nets and other objects is solved by cutting the object using a linear cutting assembly having a linear cutter arm that moves in an arc and pivots about an attachment point. The object is cut by a severing action caused by a moveable blade of the linear cutting arm moving back and forth across a stationary blade of the linear cutter arm. An underwater vehicle modified to incorporate an embodiment of the linear cutting assembly can cut a sufficiently large opening in the object to allow the vehicle to pass through.

Abstract: A method of operating a remotely operated underwater vehicle (ROV) includes launching the ROV from a vessel into water; supplying a direct current (DC) power signal to the ROV from the vessel via an umbilical; and sending a first command signal to the ROV from the vessel via the umbilical while supplying the DC power signal.

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: 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.

Abstract: A streamline submersible vehicle having an internal propulsion system and a multidirectional thrust vectoring mechanism for steering.

Abstract: A multiple destination cable ferry system where a marine vessel is towed by an underwater sled into its final destination over underwater tracks and transfer switches. The system is designed to be under total computer control in such a way that the towed vessel can be delivered to its final destination without requiring any human intervention aboard the vessel.

Abstract: A method and apparatus is disclosed wherein the flow resistance of a droplet disposed on a nanostructured or microstructured surface is controlled. A closed-cell feature is used in a way such that, when the pressure of at least a first fluid within one or more of the cells of said surface is decreased to or below a desired level, a droplet disposed on that surface is caused to at least partially penetrate the surface. In another illustrative embodiment, the pressure within one or more of the cells is increased to or above a desired level in a way such that the droplet of liquid is returned at least partially to its original, unpenetrated position. In yet another embodiment, a closed-cell structure feature pattern is used to prevent penetration of the nanostructured or microstructured surface, even when the pressure of the fluid disposed on the surface is relatively high.

Abstract: A sluice device suitable for a remotely cable operated vehicle. A water tight compartment has a first and a second sluice gate. The sluice device includes a system for enabling launching, operating, and retrieving of the remotely cable operated vehicle. An insert for converting an existing torpedo tube to a sluice device, and a torpedo shaped transport container for an insert.

Abstract: A dome assembly comprises an upper hemispherical window having a first end surface with an upper ring assembly sealingly connected to the upper hemispherical window at or near the first end surface and a lower hemispherical window having a second end surface with a lower ring assembly sealingly connected to the lower hemispherical window at or near the second end surface. The dome assembly further comprises a spider retainer assembly comprising a spider ring assembly and one or more saddle arms having a first end and a second end with each saddle arm fixedly attached to the spider ring assembly at a first end and fixedly attached to one or more of the upper ring assembly and the lower ring assembly at a second end.

Abstract: A water navigable vessel or glider can transport cargo across oceans and other bodies of water without the use of fossil or nuclear fuels. The vessel includes a housing, a cargo or payload area within the housing, one or more control fins attached to the housing, a ballast within the housing, an expandable and contractible container configured to receive a clathrate and maintain a minimum amount of pressure on the clathrate within the housing in proximity to the ballast, and an intake valve coupled to the ballast. The clathrate changes state, thereby changing the buoyancy of the glider, and causing the glider to move through the body of water.

Abstract: The invention relates to an unmanned underwater vehicle (1) which can be controlled according to predefinable control information by means of a control device (3). The invention also relates to a method for operating an unmanned underwater vehicle (1). To reduce the outlay for investigations of underwater areas using unmanned underwater vehicles, the invention provides for the underwater vehicle (1) to be able to be controlled either in an autonomous operating mode or in a remotely controlled operating mode, predetermined internal control information from a memory element (13) being able to be predefined to the control device (3) in the autonomous operating mode and external control information being able to be predefined to the control device (3) via a communication device (11) of the underwater vehicle (1) in the remotely controlled operating mode.

Abstract: A configuration for the deck of a marine vessel, wherein parallel and perpendicular travel paths, for movement of individual OBS unit storage baskets, are formed along a deck utilizing, in part, the storage baskets themselves. A portion of the deck is divided into a grid defined by a series of low-to-the-deck perpendicular and parallel rails and each square in the grid is configured to hold an OBS unit storage basket. Around the perimeter of the grid is an external containment wall which has a greater height than the rails. Storage baskets seated within the grid are configured to selectively form internal containment walls. Opposing internal and external containment walls define travel paths along which a storage basket can be moved utilizing a low, overhead gantry. A basket need only be lifted a minimal height above the deck in order to be moved along a path. The containment walls and the deck itself constraining uncontrolled swinging of baskets, even in onerous weather or sea conditions.

Abstract: A remotely controlled submersible with a circular profile. A shaft crosses the submersible at the center on the pitch axis that is fixed to the external shell holding the thrusters. From this shaft the framework of the submersible hangs with all of the essential components and any additional weight required gaining the desired buoyancy. A motor such as a servo motor is mounted to the framework and is coupled to a gear, sprocket or pulley that is fixed on the center shaft. When activated the motor rotates the shell of the submersible along with the thrusters to the desired pitch while the internal frame remains low. The design of the submersible external body in relation with the internal body allows the submersible to pitch and maintain stability with a fixed center of buoyancy and center of gravity.

Abstract: The invention relates to an unmanned underwater vehicle having at least one sensor unit (7) which can be used to acquire sensor information (8) relating to objects in the area surrounding the underwater vehicle (1). The invention also relates to a method for operating the unmanned underwater vehicle (1). In order to sense structures and contours of objects under water as quickly and accurately as possible, the invention provides for the at least one sensor unit (7) to be arranged such that it can be moved in a tangential direction (12) of the underwater vehicle, that is to say tangentially with respect to the longitudinal axis (14) of the underwater vehicle (1) or an axis running parallel to the longitudinal axis, and can be positioned in the circumferential direction (12) by a positioning device (13) to which the sensor information (8) can be specified.

Abstract: There is provided an underwater barricade apparatus. The apparatus includes a plurality of weights, a float, and a second fiber line. The weights are connected with a first fiber line. The float floats on the water surface or underwater according to how the weights are laid underwater. The second fiber line has one end thereof connected to the weights or the first fiber line, and the other end thereof wound and connected to the float.

Abstract: A method and apparatus is disclosed wherein the flow resistance of a droplet disposed on a nanostructured or microstructured surface is controlled. A closed-cell feature is used in a way such that, when the pressure of at least a first fluid within one or more of the cells of said surface is decreased to or below a desired level, a droplet disposed on that surface is caused to at least partially penetrate the surface. In another illustrative embodiment, the pressure within one or more of the cells is increased to or above a desired level in a way such that the droplet of liquid is returned at least partially to its original, unpenetrated position. In yet another embodiment, a closed-cell structure feature pattern is used to prevent penetration of the nanostructured or microstructured surface, even when the pressure of the fluid disposed on the surface is relatively high.

Abstract: An Explosion Proof Vehicle (EPV) having an interior substantially filled with an inert fluid creating an interior pressure greater than the exterior pressure. One or more flexible tubes provide the inert fluid and one or more electrical conductors from a control system to the vehicle. The vehicle is preferably used in subsurface tank inspection, whereby the vehicle is submerged in a volatile fluid.

Abstract: An underwater assembly includes: a hull having an internal cavity that is in fluid communication with the external environment; an inductive actuator mounted within the cavity of the hull; a current source mounted in the hull and electrically connected to the actuator; and a movable member connected with the actuator and positioned external of the hull. Provision of current to the actuator causes the movable member to move relative to the hull.

Abstract: A rapidly deployable flexible enclosure system for the collection, containment and presentation of hydrocarbon emissions from compromised shallow or deepwater oil and gas well systems, pipelines, including subsea fissures. The flexible containment enclosure can accommodate any depth and adapt to any collection terminator configuration required. The flexible containment enclosure system is connected to the floating platform and supported by positive offset neutral buoyancy attachment devices. The floating platform may be assembled onshore and towed, ferried or assembled on site. Liquid and gaseous materials are directed to separate ports for removal from the rigid enclosure cavity integrated within the floating platform. Gaseous emissions may optionally be directed to a tethered floating flare system.

Abstract: A method and apparatus of operating an autonomous underwater vehicle (AUV) may include receiving an AUV in a receptacle of a submersible station. The AUV and the submersible station may be launched to an underwater location. The AUV may engage with the submersible station before, after or during a mission, and may return to the same or a different submersible station after part, or all, of the mission has been completed.