Abstract: A system to perform marine surveying may include a pair of identical design autonomous marine survey vehicles configured for coordinated operations. The vehicles may navigate and transit from a launch location to a geographically distant designated survey location, continuously survey and transit to a designated recovery location. A pair of vehicles may operate interchangeably at the sea surface, semi-submerged and underwater. Each may generate energy when operating at the surface and store energy in a rechargeable battery to power vehicle operation. The payload may include a sensor system to acquire seabed sensor data. A data storage system may store the sensor data. An on-board payload quality control system may analyze data validity. Positioning when the vehicle is collecting seabed sensor data may be determined with high precision, to provide survey data of high precision.

Abstract: The present invention relates to a power supply system for underwater vehicles, in particular to a power supply system for autonomous underwater vehicles, to underwater vehicles equipped with such power supply systems and to a method of operating an underwater vehicle. The power supply system for underwater vehicles comprises a hydrogen fuel cell, which on the one hand is in fluid contact with a metal hydride storage tank, and on the other hand, with a membrane module that is capable of extracting dissolved oxygen from water. By combining the above mentioned components, the energy necessary to support the AUV operation and the operation of its sensors can be provided, replacing in an efficient and sustainable way the currently employed battery energy systems. For the operation of gliders, a weight compensating mechanism could also be implemented.

Abstract: The present invention relates to an underwater drone which is an unmanned mobile which can move in the water, and more particularly to a communication system for the underwater drone which performs communication between the underwater drone and a land-based controller (or maneuvering device). The present invention also relates to an airlock apparatus for the drone which transfers the drone into or from facilities or containers, or equipment sealed (or closed) against surrounding environment. The communication system for an underwater drone includes an underwater drone (1) configured to move in the water, at least one transmitting and receiving antenna (2) provided in an area where the transmitting and receiving antenna (2) can communicate with the underwater drone (1) by wireless communication, and a controller or a maneuvering device (5) connected to the at least one transmitting and receiving antenna (2) by a wired cable (4) and configured to control the underwater drone (1).

Abstract: Provided are an apparatus and a method of controlling swimming for a robotic fish. The robotic fish, which is operated in a narrow space like an aquarium, often hits the outer wall during submerging or upwardly swimming. In order to solve this problem, the present invention provides an inclination adjusting means, which adjusts the inclination while generating the rotational propulsive force, it is possible to do smooth submergence and upwardly swimming in the narrow space.

Abstract: An underwater propulsion unit including a propeller, a motor, and a housing. The motor is disposed further forward in a propulsion direction than the propeller and drives the propeller into rotation. The housing that accommodates the motor and the propeller includes a first portion and a second portion. In the second portion disposed further rearward in the propulsion direction than the first portion, an introduction inlet and a spout outlet are provided. The introduction inlet introduces water into the housing, and water introduced from the introduction inlet and delivered by the propeller is spouted out of the housing. When viewed in a direction parallel to the propulsion direction, the introduction inlet is disposed further outward than the first portion and introduces water into the housing in a direction parallel to the axis of the propeller.

Abstract: A low emission submersible engine is part of a multipurpose aquatic device, such as an aquatic craft or an electrical generator. A propulsion system having a propeller is coupled to the submersible engine to produce a swimmer propulsion machine and a generator is attached to the engine to produce an electrical generator. The submersible engine receives air from a snorkel that extends up above a water line. The aquatic device has a fuel reservoir which may receive liquid fuel or may receive a fuel cylinder. Floatation chambers keep the aquatic device afloat with the engine submerged. The exhaust assembly and exhaust ports from the engine may also be submerged and the exhaust ports may provide additional thrust. A propulsion system housing integrates the drive shaft and propeller, clutch coupler, exhaust conduits and water flow conduits and is detachably attachable to the engine.

Abstract: A drone receives an activation command indicating a user's need for monitoring, and is deployed based on the activation command and a set of initial operational parameters. The drone autonomously navigates to a first position with respect to the user and performs a first configured action. A plurality of monitoring data signals corresponding to the user and surrounding environment is captured using sensors on the drone, and is wirelessly transmitted by the drone to a remote monitoring system. The monitoring data signals are continuously analyzed to generate updated operational parameters causing the drone to autonomously navigate to a second position and perform a second configured action. A third configured action is received by the drone from the remote monitoring system, wherein the third configured action is generated based on a threat analysis performed by the remote monitoring system on the monitoring data signals.

Abstract: A method for underwater exploration and/or recovery of objects and/or things using a submersible vehicle assembly and underwater powered observation system using a camera and source of light of a green laser to be directed to the underside of the surface of the water so as to locate the vehicle assembly by the green laser. In this manner the vehicle assembly may be utilized for the underwater tasks of locating objects and/or things on a surface of the underwater environment.

Abstract: Systems and methods for providing remote notifications upon the detection of certain conditions. In one embodiment, a device comprising a housing, a power unit, a liquid sensor, and a communications unit detects the presence of a liquid and initiates an alert notification that is transmitted to a remote device.

Abstract: Certain aspects of the present disclosure generally relate to cleaning geophysical equipment in water. An exemplary method includes illuminating, with laser light, an obstruction on the geophysical equipment while the geophysical equipment is deployed in an operable configuration (e.g., towed by a survey vessel).

Abstract: A buoyancy compensating structure including a plurality of tubes forming at least a portion of the payload structure, and a payload section provided within the payload structure. The payload section is configured to house a removable payload. The buoyancy compensating structure further includes a controller configured to regulate a flow of fluid into the plurality of tubes. The controller is configured to neutralize a buoyancy of the payload structure in response to a change in condition of the removable payload in the payload section.

Abstract: An RF asset-tracking device that has an extended operational life, thus increasing the duration between battery replacement or maintenance. The asset-tracking device is provided with an electro-mechanical energy-harvesting device to supplement the battery. The energy-harvesting device provides additional power to augment the battery on a temporary basis, when the battery level is low, until the battery can be replaced. In one particular embodiment, the tracking device has a power management system, a battery power source and a battery monitor, and an electro-mechanical energy-harvesting device and a high capacity supercapacitor operably connected to the power management system.

Abstract: An unmanned, autonomous, ocean-going vessel including a primary hull and a rigid wing rotationally coupled with the primary hull that freely rotates about a rotational axis. At least one of the primary hull and the rigid wing includes at least one selectively floodable compartment configured to selectively flood to submerge the primary hull and at least a portion of the rigid wing. The vessel further includes at least one controller configured to maintain a desired heading. The vessel further includes a control surface element configured to aerodynamically control a wing angle of the rigid wing based on a force exerted by wind on the control surface element. The vessel further includes a rudder. The at least one controller is further configured to determine a rudder position and generate a signal to position the rudder. The vessel further includes a keel coupled with the primary hull.

Abstract: A hydrocarbon-fueled hot water heater for supplying hot water includes a cold water inlet, a hot water outlet, a selectively activatable burner for applying heat to a volume of water between the inlet and the outlet, a sensor for sensing activation of the at least one burner, and a communication interface for communicating data corresponding to the activation of the at least one burner to a processor configured to multiply the amount of time the burner is activated by a known value corresponding to a flow rate of the burner to estimate an amount of fuel consumed by the hydrocarbon-fueled hot water heater. Other devices and methods of submetering hydrocarbon fueled water heaters are also included.

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 adaptor for an unmanned vehicle for inspecting an object, the adaptor includes a moveable ring assembly and a fixed ring. The moveable ring assembly rotates around a periphery of the unmanned vehicle and allows the unmanned vehicle to move along a surface of the object while maintaining a fixed stand-off distance between an exterior surface of the adaptor and the surface of the object. The fixed ring is connected around the exterior surface of the unmanned vehicle and secures a lateral position of the moveable ring assembly with respect to the unmanned vehicle.

Abstract: A system comprising a surface vessel floating on a body of water; an oil leak located in the body of water; a remotely operated vehicle located near the oil leak; a connection between the surface vessel and the remotely operated vehicle; wherein the remotely operated vehicle comprises a mixer and a dispersant injector.

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

Abstract: A water craft comprising: an elongated hull comprising a passageway having an inlet and an outlet; a pump jet disposed within said passageway intermediate said inlet and said outlet; said pump jet being configured to receive water entering said passageway through said inlet and pump said water out of said outlet, whereby to propel said hull through water; a plurality of nozzles disposed on the outer surface of said hull, aft of said inlet, wherein said plurality of nozzles are configured to release a friction-reducing fluid, whereby the friction-reducing fluid displaces water from the surface of said hull so as to diminish friction on the outer surface of said hull and facilitate high speeds.

Abstract: Apparatus includes an ignition system that repeats an ignition cycle by providing hydrogen and oxygen and also provides a control spark with a sufficient amount of energy for igniting a combustible mixture of hydrogen and oxygen. The combustion chamber is immersed in an aqueous fluid, fills with the same or other aqueous fluid, receives the hydrogen and oxygen therein, receive the control spark to ignite the combustible mixture of hydrogen and oxygen to cause a combustion reaction to occur and form steam that yields a specific amount of heat energy, and provides the aqueous fluid from the combustion chamber in response to the substantial increase in pressure on the aqueous fluid contained therein.

Abstract: A marine vessel comprising a command module, first and second buoyant tubular foils, and first and second struts for connecting the first and second buoyant tubular foils to the command module, respectively, wherein the first and second buoyant tubular foils provide substantially all buoyancy required for the marine vessel, and wherein the marine vessel further comprises first and second engines enclosed within the first and second buoyant tubular foils, respectively, and first and second propulsion units connected to the first and second engines, respectively, for moving the marine vessel through water, and means for reducing drag on the vessel as the vessel moves through water.

Abstract: A vessel for transporting a payload through water having a body which travels below the surface of the water and carries the payload, fins extending laterally from the body below the surface of the water a telescoping tower which extends above the surface of the water from the body, a wing extending laterally above the water from an upper portion of the tower, engines mounted on the wing for propelling the body through the water, and propellers mounted on the under sides of the fins for lifting the vessel and holding the vessel in a raised position with the body at the surface of the water while loading and unloading the payload.

Abstract: An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey. The AUV includes a body having a head part and a tail part); a propulsion system for guiding the AUV to a final target on the ocean bottom; a jet pump group connected to the body and including plural jet pumps; a control device connected to the jet pumps; and a seismic sensor configured to record seismic signals. The jet pump group controls a steering of the AUV by generating water jets according to a given sequence.

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

Abstract: An unmanned underwater vehicle (UUV) is disclosed. The UUV includes a body and a propulsion system for propelling and orienting the UUV. The propulsion system has an inlet formed in the body that facilitates fluid being drawn into the UUV from outside the body. The propulsion system also has a duct in fluid communication with the inlet. The duct is adapted to direct the fluid along a flow path. The propulsion system further includes a pump operable with the duct to increase the velocity of the fluid. In addition, the propulsion system includes a nozzle in fluid communication with the duct to receive the fluid at the increased velocity. The nozzle is supported about a side of the body and adapted to moveably redirect fluid out of the UUV. The propulsion system provides multi-axis control of the UUV.

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

Abstract: An autonomous underwater vehicle (AUV) is configured to record seismic signals during a marine seismic survey. The AUV includes a body having a base (B) and first and second sides (A, C), the body having a head part and a tail part; a propulsion system for guiding the AUV to a final target on the ocean bottom; jet pumps connected to corresponding nozzles on the first and second sides (A, C); a control device connected to the jet pumps; and a seismic sensor configured to record seismic signals. The jet pumps are actuated by the control device in a given sequence so that the base (B) penetrates into the ocean bottom.

Abstract: An underwater vehicle includes a fore-body and a flexible aft. The flexible aft includes a flexible body. The flexible body includes a spring body including a spring element extending along a main axis, and a cavity. Related apparatus, systems, techniques, and articles are also described.

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

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

Abstract: An underwater robot includes a body including a first end, and a second end, opposite the first end, and first and second actuation units positioned inside the body. Each actuation unit includes a pump and two valves connected to the pump. The first and second actuation units generate jets of fluid that are discharged through the first and second ends to propel the underwater robot, and the first and second ends are smooth.

Abstract: Disclosed are an underwater moving apparatus and a moving method thereof. The underwater moving apparatus of an exemplary embodiment of the present invention includes a body; a propelling device installed on a rear side of the body; a thruster unit including an up and down directional thruster and a left and right directional thruster installed at the body; and a plurality of leg units positioned at both side portions of the body and including a multi-joint module.

Abstract: An underwater traveling vehicle includes: a vehicle body 2; an endless track means 3 which is rotatably mounted to the vehicle body 2; a drive means which is provided in the vehicle body 2 so as to drive the endless track means 3; and a thruster 4 which is provided in the vehicle body 2.

Abstract: Designs and techniques for fluid thrusters and vehicles that are powered by propelling fluids with fluid thrusters. Multiplex-thruster (MT) systems are disclosed that include a single thruster and a flow multiplexer with multiple channels to deliver thrusting flow in various directions.

Abstract: In one aspect, the invention is a vehicle working in ambient-pressure liquid or gas medium; in a second, it is a fuel tank for such craft—usually with a housing and related propulsion; the tank is craft-mounted, at least partly outside all other parts, contacting the medium; and best at least partly pressure compliant; propulsion consumes fuel; drag depends on structure shape, and fuel volume. Shape decreases longitudinally and/or laterally, reducing drag with fuel use; housing is cylindrical, structure annular (outside the housing); drag depends partly on structure radial thickness, in turn on fuel quantity. Pressure may compress fuel against housing. The structure best is made of or has embedded skin-drag reducing material; materials (soaking-replenished) are best low-friction and/or high-compliance; the surface-noise-absorbing (for underwater craft) structure has shape and size reduction some 20 to 80% of like fixed-geometry craft.

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: An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey. The AUV includes a body having a flush shape; an intake water element located on the body and configured to take in water; at least one propulsion nozzle located on the body and configured to eject the water from the intake water element for actuating the AUV; at least one guidance nozzle located on the body and configured to eject water to change a traveling direction of the AUV; and a seismic payload located on the body of the AUV and configured to record seismic signals.

Abstract: An Endurance Extension Module (EXM) for powering an Unmanned Underwater Vehicle. The EXM converts wave motion to locomotive thrust, towing the UUV from point to point or keeping it in place against an opposing current. The EXM may also supply the UUV with electricity for driving an electric motor or powering on-board electronics. The EXM can be refracted onto the UUV when not in use to minimize drag, or it can release the UUV as prologue to a subsequent rendezvous. The EXM-UUV combinations of this invention allow extended autonomous missions over wider territory for purposes such as surveying, monitoring conditions, or delivering cargo.

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 submersible apparatus (10) which can be fully submerged in a liquid medium, includes: a sealed hollow body (12) having a longitudinal main axis (A); at least one driving member (14, 36, 52) for moving the apparatus (10) horizontally and/or vertically, which can co-operate with the medium in which the apparatus (10) is submerged and which can move in relation to the hollow body (12) through an opening (22, 44, 56) provided in the wall of the body (12); and elements (18, 40, 64) for actuating the driving member (14, 36, 52), which are disposed inside the hollow body (12). The invention is characterized in that the opening (22, 44, 56) is sealed by a flexible membrane (24, 50, 58) which can deform and co-operate with the driving member (14, 36, 52) as the driving member (14, 36, 52) moves through the opening in order to move the apparatus (10).

Abstract: A watercraft having a plurality of flexible section secured to a mount, having a drive assembly, wherein the water craft can move the flexible section upwardly and downwardly to propel the watercraft through the water.

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

Abstract: An underwater structure inspection vehicle that uses a rotating brush to clean the structure for camera inspection. Unlike underwater vehicles currently being used that are positioned by thrusters, this vehicle will be positioned in three different planes by three different means. The first is by mechanically raising and lowering it. The second is by a propulsion system pushing it into the structure. The third is by lateral guidance bars being engaged by the rotating forces of the propulsion system. In areas of high water velocity, an optional back-side platform may be used to assist the propulsion system by locking the vehicle onto the structure.

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: The present invention relates to an autonomous underwater vehicle (“AUV”) for monitoring underwater fluid currents by detecting electrical currents induced by the flow of a conductive liquid through the Earth's magnetic field. More particularly, the present invention relates to the gathering of data related to underwater fluid currents and the control of AUV motion during data gathering.

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: 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: 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: An autonomous unmanned underwater vehicle (“AUV”) includes a body, a controller, a buoyancy engine, a rotary propulsion system and pitch control surface(s). The buoyancy engine is for alternately ingesting and expelling ambient water to change the mass of the AUV and thereby cause the AUV to alternately descend and ascend in the water. The pitch control surface(s) are for causing the AUV to move forward while alternately descending and ascending in the water. The rotary propulsion system includes a motor for rotating a propeller in the water to provide thrust. The controller is operative for responsively, automatically switching between at least the glider and rotary propulsion modes. In the glider mode, the buoyancy engine and the pitch control surface(s) are cooperative for causing the AUV to move forward while alternately descending and ascending. In the rotary propulsion mode, the rotary propulsion system is operative for causing the AUV to move forward.