Abstract: A recovery apparatus for a training torpedo built to replicate an operational torpedo. The training torpedo is an elongated hollow housing substantially similar in shape to an operational torpedo. The nose portion is a shell having a forward and aft portion, the forward portion being a cylindrical cavity extending longitudinally into the shell. A cylindrically shaped piston is adapted to be inserted into cylindrical cavity of the shell. The piston has a forward and a rear portion, the forward portion being a pressure receiving surface. The piston is able to move forward and aft with respect to the shell. Attached to the piston is a retaining means. When a pressure is imposed upon the forward portion of the piston the piston moves aft and the retaining means releases a plurality of weights. Located between the piston and the shell is a damping means. The damping means acts as a counter force to the pressure on the pressure receiving surface of the piston.

Abstract: A self-propelled manned submersible vehicle of the type comprising a pressure-resistant capsule (1) serving as a cabin, ballast tanks (3, 8), releasable ballast (7), propulsion units (4) having propellers driven by electric motors, and storage batteries (42), the pressure-resistant capsule (1) comprises a peripheral window constituted by a vertical cylindrical sleeve (19) which is entirely transparent, the sleeve is of sufficient diameter to house a plurality of people sitting side-by-side, and extends upwardly from a hemispherical bottom (14) and downwardly from a spherical cap (16) which is extended by a cylindrical conning tower (21) which is closed by a hatch (22).

Abstract: The invention relates to a submarine braking system of a capsule (4) at the end of fast movement. The capsule glides by gravity along a cable (3) and finally hits in succession several disks (6 to 9) which start to glide and finally hit a hydraulic shock-absorbing system (10). The device procures an efficient but calibrated braking of the of the capsule. The invention has application to the submarine research field.

Abstract: An inflatable float with timer and pressure controls to enable underwater gear to be automatically lifted off the sea bed at intervals and moved to a new location. The gas for inflating the float may be generated by chemical means or galvanic action.

Abstract: A submersible bell having a diver's compartment in the upper region thereof, a depending conduit from the diver's compartment to provide a passage for the diver to enter and leave the diver's compartment within the bell and a spiral wall between the bell and depending conduit to provide a winding passage for purging air from the diver's compartment to the water and/or for the diver to enter and leave the diver's compartment within the bell.A submersed bell having a conduit connecting a diver's compartment with the bell and a spiral passage between the bell and the conduit, the conduit and spiral passage permitting a diver to enter and leave the diver's compartment and also purging air from the diver's compartment.

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 negatively buoyant tether cable management apparatus for use with a remotely-operated underwater vehicle is disclosed. The apparatus includes a cable climbing assembly, a depth sensor and a controller coupled to the climbing assembly and formed to actuate the climbing assembly to climb the tether cable when the cable management apparatus has been lowered to a predetermined depth. The climbing assembly includes a pair of powered, ribbed belts which are wrapped at least partially around the periphery of the tether cable at an acute angle to the cable. As the tether cable is lowered further, the climbing assembly climbs to maintain the depth and passes the tether cable out below or beyond the climbing assembly to enable maneuvering of the remotely-operated underwater vehicle with respect to the negatively buoyant cable management apparatus.

Abstract: Buoyancy apparatus for carrying a payload to and maintaining the payload at substantially a constant depth or within a desired range of depth, which comprises a variable buoyancy vessel, a depth sensor, deflectable members for detecting upwards and downward movement respectively linked to a gas supply to increase the buoyancy by displacing water from the buoyancy vessel on detecting downward movement and to decrease the buoyancy by operating a release valve to vent gas from the buoyancy vessel on detecting upward movement, and apparatus for preventing said buoyancy variations commencing until the depth sensor senses that the payload is at a predetermined depth.

Abstract: A device for venting gas from an expansible gas chamber (lifejacket, lifting bag, etc.) of an underwater buoyancy apparatus. The device comprises a monitoring device which monitors the rate of ascent of the expansible gas chamber and provides a control signal when the ascent velocity exceeds a predetermined speed. A venting valve assembly controls the venting of gas from the expansible gas chamber and is responsive to the control signal to vent gas reducing the buoyancy of the expansible gas chamber.

Abstract: A device is disclosed for the release by remote control of a weight from a diving bouyancy control device or vest. The device includes a sheet of flexible material secured to the bouyancy control device with the material and the bouyancy control device defining a pocket therebetween the releasable receiving the weight. The pocket has a first open end or bottom such that the weight may freely exit from the pocket through the first open end of the pocket. A fastening device is disposed adjacent to the first open end of the pocket for controlling the passage of the weight through the first open end of the pocket. A remote control device is connected to the fastening device for remotely controlling the fastening device such that in a first position of the control device, the fastening device closes the first open end of the pocket to inhibit the passage of the weight therethrough.

Abstract: The invention provides a vertical velocity signal and an integration signal, respectively, of two detected ambient conditions. The signals are summed, in a selectable ratio, and compared with a predetermined altitude set point. When there is a difference between the summed outputs and the altitude set point, an altitude control signal is provided to control a vertical propulsion system of an object whose altitude is to be maintained above a terrain.

Abstract: A paravane includes an elongated fuselage; a wing section of spaced wing bers attached to an intermediate portion of the fuselage; stabilizer fins for maintaining the paravane lined-up with the direction of tow; a depth control flap positioned adjacent the wing section and having a pivot axis extending closely adjacent to the towing point; and depth control means for controlling the position of the control flap. The wing members have a straight leading edge portion, a straight trailing edge portion and a curved intermediate portion wherein the wing members are arranged such that the chord lines extend at oblique angles with the longitudinal axis of the fuselage and such that the resultant hydrodynamic lift force vector acting on the wing section passes through the tow point.

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: An unmanned self-propelled submarine vehicle is provided with a material exchanger-container having a vertical axis of symmetry aligned with both the vehicle's center of gravity and its center of volume. The exchanger-container has a moveable diaphragm which divides the interior into two compartments, a lower ballast compartment equipped with an unloading apparatus and an upper compartment adapted to receive collected material. Ballast is unloaded during material loading to maintain the weight of the vehicle constant during loading.

Abstract: A submersible floatation structure is formed of lengths of tubing which are interconnected by fittings. In one embodiment, the tubing end fittings are formed of a polymeric material, such as polyvinyl chloride. The tubing lengths and fittings are interconnected to form a selectable configuration, which, in some embodiments, may be in the form of a reclining chair, a raft, a buoy, or a life preserver ring. Valves are provided for allowing water to enter the structure and thereby provide a ballast which serves selectably to submerge the structure, or render the structure for use on land.

Abstract: A passive near neutral buoyancy platform includes a structure housing a series of gas-filled cells, restrained in their maximum volume regardless of the internal charge pressure, and collapsible in character when external pressure exceeds the charge pressure. With this structure, once a cell having a predetermined initial internal charge pressure reaches a depth where the external pressure exceeds this initial value, that cell contracts, resulting in a net buoyancy change for the structure. Where this series of cells is attached integrally to a single structure, the cells form a pre-loaded compressibility compensation device which is matched to the external environment.

Abstract: Propulsion apparatus for an undersea vehicle comprises a pair of counter-ating low speed impellers driven from a spider shaft rotating at relatively high speed. The reduction is accomplished by a variable speed reducing and torque transmitting device which allows infinite resolution for speed control including a zero speed setting while maintaining a constant high speed at the input spider shaft. Attitude of the vehicle is controlled by a plurality of regulated inlet ports and roll control is regulated by increasing the speed of one impeller and decreasing the speed of the other. The sea water utilized for the attitude is also used for propulsion. Control systems within the vehicle utilize an electro-pneumatic-hydraulic system complex.

Abstract: A system for loading/unloading a series of vertically stacked weights, each eight being substantially flat and having a central aperture. Two parallel aligned spatially separated c-tubes receive a weight and are caused to rotate via a right angle drive system. The weight held by the rotating c-tubes is then lifted vertically and received by a holding mechanism aligned with the central aperture of the weight.

Abstract: Apparatus for delivering a heavy cable such as a rescue cable from the oc's surface to an extended depth for attachment to an object such as a stranded submarine and, after attachment of the free end of the cable to the object, delivering the cable to the ocean's surface. A syntactic foam float provides positive buoyancy for a frame assembly which supports a cable reel holding the heavy cable. Releasable ballasts are included to provide an initial overall buoyancy of a small negative value during the descent of the appartus. A release system is provided to simultaneously release the releasable ballast to change the buoyancy of the apparatus to a positive value, release the cable reel to allow cable payout. The cable reel is coupled to a waterbrake system which limits the rate of cable payout to below the rate of ascent of the rescue cable reel. The waterbrake system includes a depth-activated clutch which engages a secondary waterbrake to slow the rate of cable payout near the ocean surface.

Abstract: In an unmanned underwater instrumentation vehicle, travel to an assigned th and cyclical excursions between depth tolerances above and below that depth are effected by a mechanism that alternatively drops vernier weights by firing explosive release bolts and floods buoyancy chambers by firing explosive piercing cartridges.

Abstract: A release mechanism for use with an underwater exploration device such as one used to release ballast from an ocean bottom seismograph which includes primary and secondary release actuating devices. Ballast weights are secured to the seismograph by cables which themselves are secured by levers held immobile by a removable pin. The pin can be removed by the primary release actuating device, a rotary solenoid with linkage arms which produces a linear stroke, or by the secondary release actuating device, a coil spring held in compression by means of an electroplatable wire around and under the head of the pin, or both, allowing the levers to pivot releasing the cables and ballast weight. The mechanical advantage of the levers is utilized to allow a relatively heavy ballast weight to be held while requiring a much smaller force to remove the pin allowing its release.

Abstract: A dual buoyancy device having two external dimensions, in the smaller of which, one end is closed by an elastic sheet undistended, and in the greater of which the sheet is distended from its normal position thereby increasing the external dimension of the device; the distention of the sheet is accomplished by a thruster member bearing on the sheet which thruster is impelled by a weight and lever system actuated by gravity, which causes the thruster to distend the sheet.

Abstract: An underwater cruise device is disclosed which is mounted to a vessel by a vertical telescoping boom. The device includes a diving chair mounted to the vertical boom which can be selectively submerged during diving operations or completely withdrawn from the water for long distance, surface cruising. A concave, transparent shell canopy is mounted to the diving chair, forming an enclosed upper cavity which can contain a breathable gas ambient to surround the head of the seated diver. Controls are provided on the diving chair to enable the submerged diver to control the extension of the vertical boom into the water and the propulsion and steering of the vessel itself. Radio and television communication with the surface can be provided so that the diver can monitor surface conditions while cruising in the submerged diving chair.

Abstract: A buoyant capsule depth controller is presented for positioning and maintaining a capsule within the ocean waters for establishing an observation or defense station. A bouyant capsule is connected to a weight assembly by means of explosive fittings which detonate at a predetermined depth to separate the two. The buoyant capsule and weight assembly are then held together by means of a short line of fixed length until a second predetermined depth is reached, at which time a pressure-actuated release mechanism releases the short line and a cable wound within the weight assembly is payed out to the buoyant capsule below a preset depth as the weight assembly sinks to the ocean floor. The paying out of the cable rotates a shaft within the weight assembly which in turn drives an hydraulic pump, the output of the pump being controlled by a valve to regulate the amount of drag which the pump exerts upon the shaft thus controlling the rate of cable pay out.

Abstract: A method and apparatus is provided allowing submersible vessels to selectly control buoyancy by use of a simple, selective weight release system. A stacked series of weights varying in shape, size or composition is releasably held on a rotating shaft. Orientation of the weight on the shaft and its location in the stack determine when it is released from the shaft.

Abstract: A submarine system comprising a submarine device for operation within a fluid environment. The device is provided with a self-contained source of energy, propulsion components coupled to the energy source, maneuvering components and an environment observation device. A control station located remote from the submarine device is connected to it by means of a transmission cable, the cable being the sole means of transmitting command signals to the device and receiving observation results therefrom.

Abstract: An apparatus for controlling the depth of an object submerged in a liquid dium includes a sealed chamber means, joined to the object, which retains a working fluid and which has a variable external volume for displacing variable amounts of the medium. The apparatus further includes a heat transfer device for controlling the external volume of the chamber by heating the working fluid to increase the external volume, and by cooling the working fluid to decrease the external volume.

Abstract: A buoyancy system is disclosed for use in controlling the descent and ascent of an object, such as a pipe line being laid offshore. The system includes a plurality of inflatable, collapsible, submersible buoys which may be remotely controlled by air or other inflating mediums. As each of the buoys, and thus the load connected thereto, is lowered or raised in a body of water the pressure inside the buoys is controlled by a valve which is responsive to the hydro-static pressure in the body of water or the volume of the buoy to maintain a relatively small pressure differential between the pressure inside the buoy and the hydro-static pressure at all depths of submersion whether the amount of buoyancy provided by the buoys is to be positive, negative, or neutral. Also disclosed are a plurality of systems utilizing the submersible buoys of this invention for laying pipe line and other objects on or near the sea bottom.