Abstract: A control fin assembly for a water vehicle includes a multiplicity of fins onnected together and grouped in an array mounted on the vehicle. A portion of the array is of a shape-memory material responsive to heat to assume selected shapes different from the shape of the array portion otherwise. The array portion is electrically conductive and adapted to increase in temperature upon application of electrical current thereto to effect the assumption of the selected shapes.The invention further relates to a control fin for a water vehicle, at least a portion of the fin being of a shape-memory material responsive to heat to assume selected shapes different from the shape of the fin otherwise, the fin portion being electrically conductive and adapted to increase in temperature upon application of electrical current thereto to effect the assumption of the selected shapes.

Abstract: A device (10) for orientating a load to be suspended and moved by a crane includes a flywheel (11) mounted for rotation in a housing (14). A turntable (17) is pivotally connected to the housing (14) and is drivable relative to the housing using a driven worm gear (23) meshing with an annular set of teeth (22) on the turntable (17). The turntable has an axle (18) to which loads can be attached. When the flywheel (11) is spinning at high speed, it resists movement out of its plane of rotation so as to stabilize the cable in winds, etc. The flywheel (11) also allows the worm gear to react against it so as to turn the load relative to the flywheel (11). Maneuvering of the load is therefore made easier.

Abstract: A fin assembly for an underwater vehicle, the assembly comprising a portion f the hull of the vehicle having a recess therein, and a sleeve proximate a forward end of the recess and inclined inwardly from the hull portion at an angle to the hull portion and inclined transversely of the fore-and-aft axis of the vehicle at an angle to the hull portion. The assembly further comprises a fin having a mounting post at a base end thereof, the post being at an angle to the lengthwise axis of the fin, and at an angle to a fore-and-aft axis of the fin. The post is disposed in the sleeve and turnable therein to move the fin from a first position in the hull recess wherein the fin is disposed generally axially of the vehicle and conformed to the hull portion, to a second position in which the fin extends outwardly from the hull in a position radial to the vehicle axis and inclined rearwardly at an angle from a line extending radially of the vehicle axis.

Abstract: A system for positioning and sizing microbubbles in a liquid such as water. first source of acoustic energy produces a first acoustic signal in the liquid, and a second source of acoustic energy produces a second acoustic signal in the liquid. The first and second sources of acoustic energy are positioned and aligned so they produce a standing wave field in the liquid. The standing wave field creates forces which position microbubbles at the antinodes or nodes of the standing wave field. By selecting a frequency for the acoustic signal and a frequency for the second acoustic signal which are slightly different, the standing wave field can cause the positioned microbubbles to move towards or away from a surface region in contact with the liquid.

Abstract: There is presented an assembly comprising an underwater vehicle and a comation directional control and cable interconnect means therefor. The underwater vehicle remains underwater during travel of the vehicle through water. The directional control and cable interconnect means comprise arms extendible from sides of the underwater vehicle. Each of the arms includes a multiplicity of fins in a compact array for contact with the water through which the vehicle moves, each of the fins having an uncambered, neutral lift cross-section matching hydrodynamic streamline flow thereabout at predetermined vehicle speed below the cavitation threshold.

Abstract: There is presented in combination, a water vehicle and a directional cont means therefor. The water vehicle includes at least a portion thereof which is underwater during travel of the vehicle through water. The directional control means comprises a plurality of symmetrically disposed arms extendible from sides of the underwater portion of the vehicle. The arms each include a multiplicity of fins in a compact array for contact with the water through which the vehicle portion moves, each of the fins having an uncambered, neutral lift cross-section matching the hydrodynamic streamline flow thereabout at predetermined vehicle speed below the cavitation threshold.

Abstract: There is presented an assembly comprising an underwater vehicle and a comation directional control and cable interconnect device therefor. The underwater vehicle remains underwater during travel of the vehicle through water. The directional control and cable interconnect device comprises a single arm extendible from one side of the underwater of vehicle. The arm includes a multiplicity of fins in a compact array for contact with the water through which the vehicle moves, each of the fins having an uncambered, neutral lift cross-section matching the hydrodynamic streamline flow thereabout at predetermined vehicle speed below the cavitation threshold.

Abstract: There is presented in combination, a water vehicle and a directional cont device therefor. The water vehicle includes at least a portion thereof which is underwater during travel of the vehicle through water. The directional control device comprises a single arm extendible from one side of the underwater portion of the vehicle. The arm includes a multiplicity of fins in a compact array for contact with the water through which the vehicle portion moves, each of the fins having an uncambered, neutral lift cross-section matching the hydrodynamic streamline flow thereabout at predetermined vehicle speed below the cavitation threshold.

Abstract: An expendable underwater vehicle for use in training naval forces in anti-submarine warfare in ocean waters is between about three to five feet in length and about five inches in diameter, and it includes various improvements which make successful operation in the ocean waters possible. The improvements include an in-water variable speed feature, a variable tonal levels feature, an autonomous evasion feature, and a high-power integrated pinger feature. One or more of these features can be combined to provide an extremely effective and versatile expendable underwater training vehicle.

Abstract: An expendable underwater vehicle for use in training naval forces in anti-submarine warfare in ocean waters is between about three to five feet in length and about five inches in diameter, and it includes various improvements which make successful operation in the ocean waters possible. The improvements include an in-water variable speed feature, a variable tonal levels feature, an autonomous evasion feature, and a high-power integrated pinger feature. One or more of these features can be combined to provide an extremely effective and versatile expendable underwater training vehicle.

Abstract: A winch makes it possible for a fish fitted with sonar to be towed behind a boat. The winch includes a sensor for measuring the attitude of the fish and a device for controlling, using this measurement, a servo cylinder actuator which alters the inclination of the jib to keep this attitude constant. The winch makes it possible to reduce jerks in the tensile stress applied to the cable which tows the fish.

Abstract: A trim system for a submersible comprises a ball control system and a hydraulic control system. The ball control system includes a tubular ball transfer line 33 substantially through the length of the vessel, a plurality of high-density, solid balls 34 within the ball transfer line 33 which are moveable to alter the weight distribution, a coil 1 at each end of the ball transfer line 33 as a reservoir for the balls 34, brake device 3 for temporarily fixing the position of the balls and sensing device 5 for determining the location of the balls. The hydraulic control system includes vehicle control unit 27, power transfer unit 13, manifold 2, compensator 20 and various valves, filters 17 and quick disconnects 12 for moving preselected balls through the ball transfer line 33.

Abstract: The present invention relates to a damped actuator linkage for use on an erwater vehicle. The linkage includes a first linkage member connected to an actuator for providing a torsional force, a second linkage member connected to a utility device, and a layer of non-metallic material interposed between the first and second linkage members to reduce the transmission of noise and the attenuation of vibrations. The non-metallic material layer may be a layer of polyurethane material or a layer of silicone compound. This layer is preferably cast in concentric arrangement between the two linkage members.

Abstract: An integral marine propulsion unit utilizes both collective and cyclic propeller blade pitch angle variations to generate a thrust vector in any of three degrees of motion for use with both the submersible and surface marine vessels. The present marine propulsion unit eliminates the need for extraneous drag generating control surfaces and rudders for motion control of a marine vessel by incorporating a flat plate mechanism which includes an Oldham coupler coupled to a pair of plates and a slotted plate coupled with one of the plates. The slotted plate and the one plate coupled to the slotted plate are relatively rotatable about a fixed axis. The flat plate mechanism permits relative angular displacement between the slotted plate and the one plate to collectively pivot all of the propeller blades and permits radial movement of the slotted plate along with propeller blades.

Abstract: The invention is a Self Propelled Underwater Device With Steerable Fin Stabilizer having a unique hull of generally tubular configuration and having a substantially conical shaped rear portion. The hull comprises a plurality of hollow interlocking tubular sections with one section including the rear portion; adjacent tubular hull sections include peripherally spaced apart threaded portions respectively disposed internally and externally thereof for mating relationship upon relative circumferential motion of the adjacent sections, the adjacent sections are further configured to provide an abutting joint when fully mated with watertight sealing means between the mated sections. The vehicle includes a plurality of steerable stabilization fins mounted on the hull about the rear conical portion at spaced apart locations with hull slots for receiving the respective fins when stowed.

Abstract: A rotor flap apparatus is attached to the trailing edge of a wing of a craft. The rotor flap apparatus includes a rotatable rotor mounted on an attachment arm, which is pivotally mounted on a trailing edge of the wing. The attachment arm can be raised or lowered to move the plane of the rotor up or down to vary the lift and thrust characteristics of the wing, to prevent stall and also to allow very low speed take off and landing. In one embodiment, propellers are provided at the leading edge of the wing, in conjunction with the rotor flap apparatus, to provide a system which allows vertical take off and landing of the aircraft. Other embodiments include wings with rotor flap apparatus attached to land craft and underwater craft as well.

Abstract: A submarine is steered by means of a special bow assembly. The submarine has a body formed with a contoured surface and a forward portion forming a bow. The assembly comprises an annular member surrounding the bow with an outer surface complementary to the contoured surface of the body, and actuating means secured to the body for movement of the annular member forward and away from the bow at an angle to the longitudinal axis of the vehicle. When the annular member is displaced at the angle, the vehicle is caused to turn in the direction toward which the annular member is turned.

Abstract: A submarine is provided with a large number of individual fins, some of which are arranged to create a "slot" effect between them. The fins are controlled in a way which is dependent on which of them may be in service at a particular time so that manoeuvreability is substantially unaffected by damage to a limited number of them.

Abstract: A subsea inspection vehicle which is intended to be remotely operated comprises a substantially cylindrical pressure vessel (1). A pair of generally arcuate buoyancy tanks (8) and external equipment (3,7) are supported on the vessel (1) in a manner arranged such that the vessel remains substantially astable. A plurality of thrusters (16,18) are carried by the vessel (1) and are arranged to enable movement of the vessel (1) relative to all six degrees of freedom provided by its astable configuration. The vessel can be moved in any direction at any attitude of pitch, roll or yaw and can thereby emulate the flexibility of movement of a diver.

Abstract: A remotely operated vehicle (ROV) provided with not less than three thrusters arranged in the longitudinal direction of a vehicle body. The center of gravity G of the vehicle body excluding a pendulum and the center of buoyancy B of the vehicle body including the pendulum are set in agreement with each other, and the pendulum is provided so that it can be turned around a Y-axis extending in the lateral direction of the vehicle body and passing the center of gravity G thereof.

Abstract: A submersible is provided for exploration of the sea or other purposes. The submersible includes a hull made up of three outer shell sections. A first outer shell section has one end opening through which a second outer shell section is inserted into the first outer shell section for horizontal movement. A third outer shell section is inserted into the second outer shell section through one end opening thereof for horizontal movement. Packings are applied between the first and second outer shell sections and between the second and third outer shell sections, respectively. One or both of the second and third outer shell sections are moved outwardly and inwardly by actuators so that the net displacement of the submersible is increased and decreased. By moving the third outer shell section, the center of gravity of the submersible may be transferred so as to be positioned beneath the center of buoyancy.

Abstract: A submarine includes a body and two ballast tanks. The ballast tanks are moveable from an up or diving configuration to a down or beach configuration. With the ballast tanks in the diving configuration and full of water, the submarine normally floats awash, and can be caused to dive at shallow depths for sight-seeing. With the ballast tanks full of air and in the beach configuration, the body will float substantially out of water, and the submarine may be beached or brought to a wharf for easy boarding or debarkation. In the diving configuration, the submarine is identical above and below a horizontal central plane.

Abstract: An apparatus for supplying the power requirements of an Ocean Bottom Seismometer is disclosed wherein the power supply is separate from the power consuming devices of an Ocean Bottom Seismometer and mounted on the weight holding the Ocean Bottom Seismometer on the ocean floor during recording.

Abstract: A remotely operated submersible vehicle (21), wherein the vehicle includes flotation cells (62) to provide positive buoyancy, and the vehicle is connected to a disposable clump weight (22) of sufficient weight to overcome the positive buoyancy. The connection between the clump weight and the vehicle is by way of a cable (25) which can be wound onto and off from a drum winch (45) within the vehicle to control its height off the seabed (23). The trim of the vehicle is maintained by adjusting the horizontal position of a cable guide (43) through which the clump weight cable (22) passes, the cable guide (43) being moved longitudinally and transversed by hydraulic cylinders (47). Control signals to control and monitor the operation vehicle are provided via an umbilical cable (29) extending from a ship (76) or platform on the surface.

Abstract: A towed underwater transducer assembly includes a spherical housing (10) suspended from a towing vehicle at the end of a cable (12). The housing includes mounting brackets (26, 28) located less than one-half of the circumference of the housing apart along a meridian of the housing (10) centered in the direction of tow with a bridle cable (24) extending between the mounting brackets including a turnbuckle (32) to adjust its tension and a mechanical stop (30). A grooved pulley wheel (22) is mounted at the end of the towing cable (12) with the bridle cable (24) riding in the groove and the pulley wheel (22) free to seek a position along the bridle cable (24) such that the projected line of the tow cable (12) passes essentially through the geometric center of the spherical housing (10) thereby causing the spherical housing (10) to maintain an essentially vertical orientation irrespective of variations in the speed of tow.

Abstract: Vessels and the like require cleaning either periodically or whenever a need arises to remove various living things such as seaweeds and shells or contaminants such as oil for the sake of appearance and proper performance. Divers were conventionally employed to manually remove them one by one using a scraper as one means to remove such substances. Such manual operation is, however, extremely inefficient, involving great amounts of time and labor especially for large ships. According to the present invention, the main body of a cleaning apparatus is pressed against an underwater object to be cleaned by means of impellers which are provided substantially at the center of the main body and driven to rotate, whereby cleaning brushes which are provided at the bottom of the cleaning apparatus concentrically with the impellers are rotated to remove substances adherent to the object while the cleaning apparatus is manipulated to run on the object's surface.

Abstract: There is disclosed herein a vertical ship utilizing the buoyancy principles of a submarine. The vertical watercraft is fluid-dynamically streamlined in the direction of travel and has an elongate, pipe-like hull. The elongate, normally vertical hull is provided with ballast means by which the height of a pilot house on the top of the pipe-like hull may thereby be lifted or lowered. Also, the ballast means permit changes in attitude of the hull relative to the gravity vector. The vertical watercraft may be provided with numerous energy recovery means and, as well, may be used as a mining and cargo vessel.

Abstract: An elongated streamlined hull is provided having front and rear ends and a first pair of rear opposite side horizontally outwardly projecting main foils are supported from the hull and have their centers of plan area disposed aft of amidships of the hull. A second pair of forward foils of considerably smaller plan area are mounted from opposite side forward portions of the hull spaced considerably forward of amidships for controlled angular displacement relative to the hull about generally horizontal axes extending transversely of the hull. First control structure is provided for simultaneously adjustably angularly displacing the forward foils and the hull includes front and rear buoyancy tanks, a compressed gas storage tank disposed centrally intermediate the buoyancy tanks and second control structure operatively associated with the storage and buoyancy tanks to selectively flood and blow the buoyancy tanks with ambient water and compressed gas from the storage tank.

Abstract: A spherical vehicle for operation in a fluid medium utilizes an actuator disk or propeller of approximately half the diameter of the sphere for propulsion. In addition to providing the energy for driving the sphere, the actuator disk acts to draw the flow of fluid smoothly over the after part of the sphere, thus avoiding or minimizing the tendency of the flow to separate from the surface of the sphere and create turbulence. For aircraft launch, a heavy shroud protects the actuator disk propeller and assures that the vehicle will sink rapidly after impact. The shroud is jettisoned at a desired depth. Steering in pitch and yaw planes is effected through the use of a plurality of powered thrusters located at or just behind the circle of maximum diameter (with respect to the direction of motion) and selectively actuated by a guidance or control system. Alternatively a single reversible thruster may be used for steering in yaw combined with a movable internal weight for pitch control.

Abstract: A towed submersible body is utilized for housing underwater instrumentation, particularly a scanning type of sonar, the housing constituting a sphere which is attached at its top to a cable towed by a helicopter or by a surface vessel. The spherical housing of acoustically transparent material has hatches and ports top and bottom to aid in flooding and draining the interior. Ballast weights are fastened to the bottom of the housing near the lower hatch to control the location of the wet center of gravity of the body such that it is significantly below and slightly forward of the geometrical center of the sphere to provide stability during towing. A small projection on the housing in the form of a small diameter wire rope fastened to a meridian passing through the tow point or a point approximately 10.degree. aft of the tow point provides for stable towing at speeds up to approximately eight knots with the tow cable at an angle not more than about 10.degree. from the vertical.

Abstract: A device to be towed through the water by a boat and which in turn is adapted to tow a person through the water, the body of the device having a constant buoyancy and being equipped with steering means whereby it can be maintained on the surface of the water while being towed, can be submerged while towing a person with scuba gear, and which can be maneuvered under water to partially or completely roll the device and its user.