Abstract: An air-based-deployment-compatible underwater vehicle that may be configured to perform vertical profiling is described. The vehicle may be configured, during information transmission, to perform motion stabilization at a water surface. A body of the vehicle may have a cylindrical shape. Buoyancy control components of the vehicle may be disposed within the body. The buoyancy control components may be configured to adjust a volume and/or buoyancy of the vehicle to facilitate vertical profiling. Fins may be hingedly disposed on the body at one or more locations on the vehicle. The fins may be movable between a first configuration and a second configuration. The fins, in the first configuration, may be positioned substantially flat against the body. The fins, in the second configuration, may extend radially outward to slow descent and to provide motion stabilization. The fins may be pitched to rotate the vehicle about a longitudinal axis during vertical profiling.

Abstract: An air-based-deployment-compatible underwater vehicle that may be configured to perform vertical profiling is described. The vehicle may be configured, during information transmission, to perform motion stabilization at a water surface. A body of the vehicle may have a cylindrical shape. Buoyancy control components of the vehicle may be disposed within the body. The buoyancy control components may be configured to adjust a volume and/or buoyancy of the vehicle to facilitate vertical profiling. Fins may be hingedly disposed on the body at one or more locations on the vehicle. The fins may be movable between a first configuration and a second configuration. The fins, in the first configuration, may be positioned substantially flat against the body. The fins, in the second configuration, may extend radially outward to slow descent and to provide motion stabilization. The fins may be pitched to rotate the vehicle about a longitudinal axis during vertical profiling.

Abstract: An underwater vehicle may be configured to perform vertical profiling and diagonal profiling. The vehicle may include a body having an elongated shape with a central longitudinal axis orthogonal to a central lateral axis. The vehicle may include lateral control surfaces. The lateral control surfaces may be disposed outside of the body and mechanically coupled with the body at a position proximal to the central lateral axis. The lateral control surfaces may be configured to rotate about a control axis parallel to the central lateral axis in order to control an attitude of the vehicle during ascent or descent. A given one of the lateral control surfaces may have a portion extend from the mechanical coupling in a direction perpendicular to the control axis.

Abstract: An underwater vehicle may include a buoyancy control system configured to use a dual-internal-reservoir configuration to enhance efficiency of changing buoyancy of the underwater vehicle. The buoyancy control system may utilize an incompressible fluid (e.g., oil or water) that is transferred between a first internal reservoir and an external chamber to affect buoyancy of the underwater vehicle. In exemplary implementations, a compressible fluid (e.g., air) may be used to inflate or deflate a second internal reservoir. The second internal reservoir may be disposed within the buoyancy control system so that it can act on the first internal reservoir by applying a compressive force or a tensive force on the first internal reservoir, depending on the pressure differences between the two reservoirs.