Abstract: A sensor system includes an unmanned vehicle system is provided that includes a housing, and an environmental sensor system coupled to the housing, the environmental sensor system configured to detect one or more environmental conditions of an environment in operational contact with the unmanned vehicle system. The environmental sensor includes a sensing element that includes a sensing material to detect and quantify at least one analyte gas by measuring impedance of the sensing element at one or more frequencies of the different frequencies during exposure of the sensing material to the at least one analyte gas.

Abstract: A system comprising an aerial vehicle or an unmanned aerial vehicle (UAV) configured to control pitch, roll, and/or yaw via airfoils having resiliently mounted trailing edges opposed by fuselage-house deflecting actuator horns. Embodiments include one or more rudder elements which may be rotatably attached and actuated by an effector member disposed within the fuselage housing and extendible in part to engage the one or more rudder elements.

Abstract: An underwater robotic system includes a frame adapted to be deployed in a body of water and having guide rails and at least one movable rail movably coupled to the guide rails. An actuator module is movably coupled to the at least one movable rail. A control panel disposed proximate the frame and has a plurality of controls thereon. The plurality of controls is operable by an actuator on the actuator module. A position of each of the plurality of controls is known such that motion of the actuator module and the at least one movable rail is remotely controllable to actuate any chosen one of the plurality of controls.

Abstract: Disclosed is an electronic device for a vehicle, including a processor receiving first image data from a first camera, receiving second image data from a second camera, receiving first sensing data from a first lidar, generating a depth image based on the first image data and the second image data, and fusing the first sensing data for each of divided regions in the depth image.

Abstract: A system for conveying an industrial robot includes: a control module, at least one automatic guided vehicle, and at least one electromagnetic base. An industrial robot is installed each electromagnetic base, which may attract a metallic plate fixed to the ground, thereby fixing the industrial robot installed on the electromagnetic base. An electromagnetic base is configured to, according to a first control instruction sent by the control module, stop attracting the metallic plate so that the industrial robot is movable. An automatic guided vehicle is configured to, according to a second control instruction sent by the control module, convey, to a target position, the industrial robot installed on the electromagnetic base that has stopped attracting the metallic plate. Finally, an electromagnetic base is further configured to, according to a third control instruction sent by the control module, attract the metallic plate fixed to the ground in the target position.

Abstract: A leg-arm-paddle underwater robot is provided in the present invention, which includes: a frame, an operating mechanism, a traveling mechanism, and a propulsion mechanism. The traveling mechanism is adapted to enable the leg-arm-paddle composite underwater robot to travel. The propulsion mechanism is adapted to enable the leg-arm-paddle composite underwater robot to float in water. The operating mechanism includes a first robot arm, a second robot arm, and a first mounting base, wherein the first mounting base is detachably connected to the frame. Both the first robot arm and the second robot arm are rotatably connected to the first mounting base, and rotation centers of the first robot arm and the second robot arm are the same. The operating mechanism of the leg-arm-paddle composite underwater robot has a compact structure and a large working range. The leg-arm-paddle composite underwater robot has reduced volume, enhanced operation capability, wide applicability, and strong practicability.

Abstract: The invention comprises a paddle board apparatus and method of use thereof, comprising: a manual crank connected to a drive shaft, a rotatable housing, and a set of paddle wheels connected to an outer surface of the rotatable housing, where a child manually turning the crank simultaneously propels the paddle board forward in water through use of the paddle wheels and drives an air pump in the rotatable housing to blow bubbles about the paddle board for enjoyment of the child riding the paddle board.

Abstract: An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.

Abstract: A method of deploying autonomous underwater vehicles (AUVs), the method comprising loading the AUVs into a deployment device; submerging the deployment device containing the AUVs after the AUVs have been loaded into the deployment device; towing the submerged deployment device containing the AUVs with a surface vessel; deploying the AUVs from the submerged deployment device as it is towed by the surface vessel; and operating a thruster of each AUV after it has been deployed so that it moves away from the submerged deployment device. A method of retrieving autonomous underwater vehicles (AUVs) is also disclosed, the method comprising towing a submerged retrieval device with a surface vessel; loading the AUVs into the submerged retrieval device as it is towed by the surface vessel; and after the AUVs have been loaded into the submerged retrieval device, lifting the submerged retrieval device containing the AUVs out of the water and onto the surface vessel.

Abstract: A breathing apparatus for a submersible craft is provided that includes a generally vertical tubular structure and a float configured to move vertically within the tubular structure between a first vertical position in which a third opening into the craft is unobstructed by the float and a second vertical position in which the third opening is fully obstructed by the float, and where the vertical position of the float is modulated based on the water level relative to the craft.

Abstract: A method for unmanned delivery of an item to a desired delivery location includes receiving, at an unmanned vehicle, first data representative of an approximate geographic location of the desired delivery location, receiving, at the unmanned vehicle, second data representative of a fiducial expected to be detectable at the desired delivery location, using the first data to operate the unmanned vehicle to travel to the approximate geographic location of the desired delivery location, upon arriving at the approximate geographic location of the desired delivery location, using the second data to operate the unmanned vehicle to detect the fiducial; and upon detecting the fiducial, using the fiducial to operate the unmanned vehicle to deliver the item.

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 underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship.

Abstract: A hybrid compressed air/water energy storage system is described. The system includes a series of water containers and a plurality of inflatable bladders held within each container. An air compression facility is used to inflate the bladders upon which water is forced out of the containers to a water storage facility at a higher potential energy. The system includes a water powered turbine and an expansion turbine. Thus, the system can produce power from both the water powered turbine (e.g., as a component of a hydroelectric plant) and from the expansion turbine (e.g., as a component of a CAES plant). The system can be utilized in a subsurface land-based system or a submerged water-based system.

Abstract: An aircraft including a wing (1) and a wing tip device (6). The wing tip device (6) is moveable between a flight configuration for use during flight and a ground configuration for use during ground-based operations. In the ground configuration the wing tip device is folded inwardly from the flight configuration such that the span of the aircraft is reduced. The wing tip device (6) is connected to the wing along a hinge axis (14) by spar beams (10 and 12) of the wing tip device, one of the beams being mounted for pivoting about a fixed axis and the other beam being mounted on a spherical bearing (15) to provide greater freedom of movement. Various actuator arrangements may be provided to pivot the wing tip device.

Abstract: A system for stabilizing a vessel, comprising one or more ailerons and a drive device. The aileron is able to move about two axes, one on the longitudinal axis of the aileron substantially perpendicular to the hull at cruising speed and oscillating horizontally at zero speed of the vessel, the other fixed in direction and substantially perpendicular to the first axis and allowing its horizontal oscillation movement. The drive devices give the aileron an inclination movement at cruising speed and a scull movement on the two axes at rest. An electronic computer determines the value of the inclination, whether the vessel be sailing or at rest, and a complementary computer, when the vessel is stopped, generates an alternating movement on the substantially vertical axis and reverses the sign of the inclination calculated by the first computer according to the direction of this movement.

Abstract: A combined submersible vessel and unmanned aerial vehicle preferably includes a body structure, at least one wing structure, at least one vertical stabilizer structure, and at least one horizontal stabilizer structure. A propulsion system is coupled to the body structure and is configured to propel the flying submarine in both airborne flight and underwater operation. Preferably, the propulsion system includes a motor, a gearbox coupled to the motor and configured to receive power generated by the motor and provide variable output power, a drive shaft coupled to the gearbox and configured to transfer the variable output power provided by the gearbox, and a propeller coupled to the drive shaft and configured to accept power transferred to it from the drive shaft. The propeller is further configured to rotate and propel the flying submarine in both an airborne environment and in an underwater environment.

Abstract: The problem of penetrating through nets and other objects is solved by cutting the object using concentric cutters in which a rotatable cutter having floating teeth rotates concentrically about a stationary cutter having fixed teeth. The object is cut by a severing action caused by the floating teeth of the rotatable cutter sliding against the fixed teeth of the stationary cutter. Embodiments of the invention include a UUV system for penetrating through fishing nets and other objects, concentric cutting assemblies for use in the UUV system and other systems, and a method for penetrating through fishing nets and other objects. A UUV system in accordance with an embodiment of the invention has a concentric cutting assembly at the forward end and a propulsor at the aft end. The concentric cutting assembly integrates seamlessly within the UUV housing and is deployed from the forward end of the UUV, enabling the UUV to quickly and efficiently penetrate through objects blocking its path.

Abstract: Power systems for an independent carrier for transport of payloads in an automation system for in vitro diagnostic (IVD) applications. The independent carrier may include an onboard power source and an onboard electrical system electrically connected to the onboard power source for controlling movement of the carrier. The independent carrier may include an onboard propulsion system electrically connected to the onboard power source for propelling the carrier and electrically connected to the onboard electrical system for receiving a command to control the movement of the carrier. Onboard power sources may include: replaceable batteries, rechargeable batteries, induction battery charging, photovoltaic power, Peltier effect power, and external combustion engines.

Abstract: An underwater personal mobility device is provided. The underwater personal mobility device can include a lower section rotatably connected to a main body comprised of an observation chamber. The device may have at least two configurations, including a folded configuration, to enable ease of transport and storage of the device.

Abstract: Marine or underwater vehicle designed to be secured to a recovery cable includes contactless elements (6) for detecting the recovery cable (2), the element being capable of guiding the vehicle (1) towards the cable (2) and elements (7) situated at one end (3b) of the vehicle (1) for coupling the cable (2).

Abstract: A submarine is provided with an upwardly directed drilling device (12, 12?). The drilling device (12, 12?) is arranged in a pressure hull (4) of the submarine and has a drill (14, 14?) which can be extended out of the pressure hull (4) through an opening (10) arranged on the upper deck of the submarine. The drill has a drilling head (42, 42?) which forms a closure body which closes the opening (10) of the pressure hull. The drill functions to drill a hole from under an ice sheet to allow occupants of the submarine to exit through the hole.

Abstract: An underwater personal mobility device is provided. The underwater personal mobility device can include a superstructure rotatably connected to a main body comprised of an observation chamber, a transport handle and at least one wheel. The superstructure may further comprise an air conduit and snorkel to provide breathable air to a user. The device may have at least two configurations, including a folded configuration, to enable ease of transport and storage of the device.

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: An improved inspection apparatus includes a control apparatus, a tractor apparatus comprising a tractor and a drive mechanism connected together, the drive mechanism being connected with the control apparatus, a tether apparatus disposed on the tractor and being movable between a deployed position and a retracted position, and a buoy apparatus. The buoy apparatus is connected with the tether apparatus and includes a buoy and a camera apparatus, the buoy in a condition submerged in a fluid applying a buoyant force to the camera apparatus whereby in the deployed position of the tether apparatus the buoy apparatus is in an elevated position situated relatively higher in a vertical direction than in the retracted position of the tether apparatus wherein the buoy apparatus is in another position situated relatively lower in the vertical direction, the camera apparatus being structured to provide a visual output signal to the control apparatus.

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: Disclosed are apparatuses and methods for the adaptation of a subsea vehicle, such as an ROV, and in particular a hydraulically powered construction or maintenance work ROV. In one embodiment the vehicle is provided with a module or modules which provide further propulsion means that have reduced noise at high speed in comparison to the vehicle's main propulsion means. The module or modules also optionally provide greater performance and decreased drag. An ROV adapted in such a way is therefore suitable for high speed survey work. In another embodiment a hydraulic ROV is adapted to enable it to be able to directly drive electrically powered tools.

Abstract: A combined submersible vessel and unmanned aerial vehicle preferably includes a body structure, at least one wing structure, at least one vertical stabilizer structure, and at least one horizontal stabilizer structure. A propulsion system is coupled to the body structure and is configured to propel the flying submarine in both airborne flight and underwater operation. Preferably, the propulsion system includes a motor, a gearbox coupled to the motor and configured to receive power generated by the motor and provide variable output power, a drive shaft coupled to the gearbox and configured to transfer the variable output power provided by the gearbox, and a propeller coupled to the drive shaft and configured to accept power transferred to it from the drive shaft. The propeller is further configured to rotate and propel the flying submarine in both an airborne environment and in an underwater environment.

Abstract: A remotely controlled submersible gold ore processor operated on the ocean floor for the off-shore mining of fine gold in shallow to moderate depth water. This remotely-operated gold processor is powered by multiple hydraulic motors, with each motor performing its assigned duty, while the gold processor is driven along the ocean floor.

Abstract: An underwater personal mobility device is provided. The underwater personal mobility device can include a superstructure rotatably connected to a main body comprised of an observation chamber, a transport handle and at least one wheel. The superstructure may further comprise an air conduit and snorkel to provide breathable air to a user. The device may have at least two configurations, including a folded configuration, to enable ease of transport and storage of the device.

Abstract: An improved inspection apparatus includes a control apparatus, a tractor apparatus comprising a tractor and a drive mechanism connected together, the drive mechanism being connected with the control apparatus, a tether apparatus disposed on the tractor and being movable between a deployed position and a retracted position, and a buoy apparatus. The buoy apparatus is connected with the tether apparatus and includes a buoy and a camera apparatus, the buoy in a condition submerged in a fluid applying a buoyant force to the camera apparatus whereby in the deployed position of the tether apparatus the buoy apparatus is in an elevated position situated relatively higher in a vertical direction than in the retracted position of the tether apparatus wherein the buoy apparatus is in another position situated relatively lower in the vertical direction, the camera apparatus being structured to provide a visual output signal to the control apparatus.

Abstract: A gripper for selectively gripping continuous elongated members can include a tubular supporting structure extending along a given axis and designed to surround a continuous elongated member. The gripper can also include at least two inflatable bags within the tubular structure and in the shape of complementary cylindrical sectors.

Abstract: A mono hull vessel for retrieving and deploying equipments in offshore region comprising a deck box with an upper deck (2) at its top said upper deck having a lifting and lowering device (3,3?), a hull/pontoon (1) at the base of said vessel, the vessel is characterized in that said hull/pontoon (1) is connected to the deck box by a plurality of columns (4) and said hull/pontoon (1) is made in one piece and is continuous to form the platform for a lower deck (5), the upper and lower deck being configured to allow lifting and lowering of equipment therefrom and thereon respectively.

Abstract: A combined submersible vessel and unmanned aerial vehicle preferably includes a body structure, at least one wing structure coupled to the body structure, at least one vertical stabilizer structure coupled to the body structure, and at least one horizontal stabilizer structure coupled to the body structure. A propulsion system is coupled to the body structure and is configured to propel the flying submarine in both airborne flight and underwater operation. Preferably, the propulsion system includes a motor, a gearbox coupled to the motor and configured to receive power generated by the motor and provide variable output power, a drive shaft coupled to the gearbox and configured to transfer the variable output power provided by the gearbox, and a propeller coupled to the drive shaft and configured to accept power transferred to it from the drive shaft. The propeller is further configured to rotate and propel the flying submarine in both an airborne environment and in an underwater environment.

Abstract: A deep water operations system includes a submersible vessel including a propulsion system for operating the vessel on and beneath the surface of a body of water. The vessel will operate on the water surface to travel to a designated site and then submerge beneath the surface to a depth sufficient to avoid surface wave and weather conditions. A surface power buoy is deployable from the vessel at the water surface and connected to the vessel by an umbilical cord and includes a propulsion system, RF vessel communication and a GPS receiver. An ROV launch cage is supported by the vessel by a second umbilical cord and stores and deploys an ROV remotely controlled from the vessel for deep water work and repair activities via the second umbilical cord.

Abstract: A remote operated, underwater non-destructive ordnance recovery system, includes a powered remote controller, a floating remote controlled transceiver wired to a remote disposal unit having a hydraulic grapple, an ordnance recovery basket, and the method in which these devices are used to extract unexploded underwater ordnance. The remote disposal unit includes an electrically driven internal hydraulic pump with bio-degradable hydraulic fluid in a closed loop system. A base includes variable footplates to stabilize the hydraulic grapple by remotely adjustable telescoping legs. A control head that receives signals from control cables and transfers them into hydraulic value actuation, an extendable fully rotating boom, two ballast tubes, a rotating grapple, and lighted underwater cameras on the control box and ballast tubes are also included in remote disposal unit.

Abstract: The simulator of the present invention comprises a submersible structure to be used in a body of water, for instance a pool. This structure comprises a bell defining a main chamber. An escape tower is provided over the bell. This escape tower defines an escape chamber communicating with the main chamber. The escape tower has a lower hatch between the main chamber and the escape chamber, and an upper hatch separating the escape chamber from outside the submersible structure. The simulator also comprises a mechanism for vertically moving the submersible structure relative to the water surface. A method of performing underwater submarine escape training is also disclosed. The simulator allows such training to be conducted in a safe and controlled environment.

Abstract: An air bag launch assembly is disclosed which allows for modular loading onto a submarine, the launch of weapons or vehicles external to the submarine pressure hull, while also achieving greater packing density. The air bag launch assembly includes a large, watertight pressure container; one or more smaller, watertight canisters used to contain the weapon or vehicle. The canisters are sized to fit within the larger pressure container. An air bag inflator is attached to the top and/or sides of the small canister to buoy the canister out of the container.

Abstract: A remotely controlled submersible vehicle comprises a fore section and an aft section. In use, they are held apart from each other, such as by telescopic arms, in order to define a gap within which a payload is received. This keeps the payload near the center of the vehicle, improving the balance of the vehicle and minimizing any threat of disruption to the wash path of thrusters.

Abstract: A method wherein a vehicle is capable of movement on or over land, and/or on, over, or under water. Various body, wing, tail, and/or outrigger shapes facilitate movement and develop lift. Buoyancy or semi-buoyancy is developed utilizing various chambers to contain controlled volumes of gaseous or liquid substances. Motion is augmented by propulsion or repulsion mechanisms, including pressurized liquid stream jet (PJET) propulsion. The vehicle is capable of modifying its shape and/or the curvature of various parts, such as wings, tails, and/or outriggers, by manipulating the internal skeleton, the internal compartments supporting the external surfaces, and/or the internal pressure of the shape. Control Agents with mechanized or manual support manage the vehicle's operations controlling various movement particular information, as well as baseline algorithms, such as wind speed, currents, and location.

Abstract: A transparent/translucent flexible resilient plastic scooper container for operation by underwater remotely operated vehicle jaws, having a flat-bottomed lower portion hollow bowl and an upper inverted bowl lid rearwardly hinged thereto and resiliently insertable into and withdrawable from the hollow of the lower portion by the closing and opening of the jaws.

Abstract: A system that is usable with subsea wells that extend beneath a sea floor includes a station that is located on the sea floor and an underwater vehicle. The underwater vehicle is housed in the station and is adapted to service at least one of the subsea wells.

Abstract: The invention involves underwater vehicles utilizing submersible electricity generation and storage systems involving flywheel devices. These underwater vehicles include autonomous underwater vehicles, remotely operated vehicles, and supporting mobile and stationary tools, stations, and equipment. The underwater vehicle utilizes a pressurizable waterproof enclosure that contains a novel combination of: electricity generation devices, flywheel power sources, energy collection control circuitry and power distribution control circuitry. The underwater vehicle combines these elements to generate and store electricity underwater or at the surface of the water to meet the dynamic electrical requirements of autonomous underwater vehicles, remotely operated vehicles and stationary underwater structures.

Abstract: An apparatus for controlling fluid pressure recovery includes an elongated housing having an opening at a first end thereof, an opening at a second end thereof, an inner peripheral surface, and a fluid flow passageway therethrough. The apparatus further includes a plurality of choke members fixed to the inner peripheral surface of the housing, each of the plurality of choke members being spaced from an adjacent choke member and projecting a predetermined distance into the fluid flow passageway of the longitudinal housing. The plurality of choke members sequentially produce a reduced turbulent free shear fluid layer from the first end to the second end of the elongated housing.

Abstract: A system of sensors and weapons in the form of individual cells forming a multi-functional cellular skin is provided to cover the outer surface of an underwater vehicle. The cells are engineered to have specific functional capabilities, e.g., acoustic sensing cells, communications cells, munitions cells, control cells and motive cells, and are electromagnetically attached to the vehicle. The functional arrangement of the cells types and the number of layers will be dependent on the desired capabilities and the overall mission of the vehicle. Cells may be deployed from the vehicle individually or in functional groups by decoupling appropriate cells from the vehicle. Once decoupled, motive cells can transport themselves and other cells as necessary, to positions remote from the vehicle. Groups of cells can be deployed to specific locations and arrayed in specific configurations by motive cells, allowing the vehicle to remain in a standoff position.

Abstract: The amphibious robot mine locator may be used in water-based and land-based environments to locate mines and other hazards. In a water-based environment a diver controls movement of the amphibious robot mine locator. In a land-based environment movement of the mine locator is via remote control. Mine locator includes a pair of oppositely rotating propellers which propel the mine locator through the water with a ruder being provided to control the direction of movement of amphibious robot mine locator as it travels through the water. There is also a control panel which includes the controls for allowing the diver to steer amphibious robot mine locator and control the depth of mine locator. When amphibious robot mine locator switches to a land-based mode of operation, the propellers function as wheels rotating in the same direction to move amphibious robot mine locator along a programmed path to continue its search for mines and other obstacles and hazards.

Abstract: The amphibious robot mine locator may be used in water-based and land-based environments to locate mines and other hazards. In a water-based environment a diver controls movement of the amphibious robot mine locator. In a land-based environment movement of the mine locator is via remote control. Mine locator includes a pair of oppositely rotating propellers which propel the mine locator through the water with a ruder being provided to control the direction of movement of amphibious robot mine locator as it travels through the water. There is also a control panel which includes the controls for allowing the diver to steer amphibious robot mine locator and control the depth of mine locator. When amphibious robot mine locator switches to a land-based mode of operation, the propellers function as wheels rotating in the same direction to move amphibious robot mine locator along a programmed path to continue its search for mines and other obstacles and hazards.

Abstract: A pumpskid comprises a frame adapted for connection to a remotely operated vehicle for positioning thereby. A male connector mounted on the frame is adapted for engagement with the suction port on a suction anchor. Clamping apparatus is provided for securing the male connector in engagement with the suction port of the suction anchor and thereby clamping the pumpskid in engagement with the suction anchor. A pump mounted on the frame is connected in fluid communication with the male connector by piping sections which include a port open to the surrounding sea. Valves and valve actuators are provided for causing the pump to cause water flow out of or into the suction anchor, as required.

Abstract: A platform for servicing of vertically positioned missiles in a ballistic ssile submarine. The platform includes a vertically inclined rail and a horizontal frame. In the frame there is a first element having a first and a second end superimposed over the inclined rail. This first element is movably mounted directly on the rail at the first end and movably mounted in vertically spaced relation above said inclined rail at said second end. At least one second element is spaced laterally from the first element to enclose a missile tube access opening. A vertical support means is also positioned in opposed relation to the inclined rail. The vertical support means is adjustable to the curved hull surface of the submarine to maintain the frame horizontal. The platform is constructed from a lightweight material such as aluminum, and it can be carried and assembled by two men for the efficient servicing of VLS equipped submarines and other similar vessels.

Abstract: An underwater inspection/repair apparatus comprises a sealing device provided around an opening portion of a watertight vessel, a pushing mechanism provided to the watertight vessel, a water discharge pump provided to the watertight vessel for discharging water in an inside of the watertight vessel, and a compressed air supplying device for supplying a compressed air into the inside of the watertight vessel. A top end of the sealing device is pushed against an inner wall surface of the reactor vessel by a reaction force generated when the pushing member of the pushing mechanism is pushed against the reactor internal structure, so that the inside of the watertight vessel can be isolated in a watertight manner. The pneumatic water discharge pump includes a pneumatic pressure cylinder driven by a pneumatic pressure, and a water discharge cylinder cooperated with the pneumatic pressure cylinder.