Abstract: A self-righting sailing vessel is described. The self-righting sailing vessel may determine the occurrence of several predetermined events, such as the self-righting sailing vessel capsizing, present or imminent inclement weather, and/or a present or imminent vessel or large marine animal. Upon detection of one of these events, the self-righting sailing vessel causes at least its hull to become partially or completely submerged beneath the water. The self-righting sailing vessel is configured such that its rig is more buoyant than the rest of the vessel when the vessel is completely submerged beneath the water, causing the vessel to move towards an upright position while underwater. When the vessel is pointing towards an upright position, the vessel may begin ascending until it surfaces and is ready to continue sailing on top of the water.

Abstract: Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: A self-righting sailing vessel is described. The self-righting sailing vessel may determine the occurrence of several predetermined events, such as the self-righting sailing vessel capsizing, present or imminent inclement weather, and/or a present or imminent vessel or large marine animal. Upon detection of one of these events, the self-righting sailing vessel causes at least it's hull to become partially or completely submerged beneath the water. The self-righting sailing vessel is configured such that its rig is more buoyant than the rest of the vessel when the vessel is completely submerged beneath the water, causing the vessel to move towards an upright position while underwater. When the vessel is pointing towards an upright position, the vessel may begin ascending until it surfaces and is ready to continue sailing on top of the water.

Abstract: Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: Various embodiments of an apparatus and method for achieving and maintaining a desired depth of a submersible vessel are disclosed. The submersible vessel has both a ballast control system designed to alter a buoyancy of the submersible vessel and one or more vertical marine thrusters, designed to position the submersible vessel at a desired depth. Using the combination of the ballast control system and one or more thrusters, a desired depth may be achieved and maintained more quickly, more quietly and more accurately than vessels using only a ballast control system or one or more thrusters, respectively, alone.

Abstract: Various embodiments of a sailing vessel are disclosed configured to reduce a heeling moment acting on the sailing vessel as a wind acts on a sail of the sailing vessel. Generally, a mast of the sailing vessel is allowed to cant to leeward, thus reducing the heeling moment.

Abstract: Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: Disclosed are improved soil mapping methods and apparatus that enable a user to efficiently analyze soil and create accurate soil maps to enable the user to determine soil content. The apparatus includes a probe cylinder, an extractor cylinder, a collector assembly, a first stepper motor, a roller assembly, a mixing motor, a contact probe, a cleaning brush motor, a bracket assembly for a mix motor, brush motor, and probe, an extruded aluminum bracing, a gear track, a second stepper motor, a scraper assembly, a third stepper motor, a probe, and one or more hyperspectral sensors. The apparatus relies on less expensive, faster, and more accurate data points that provide actionable real-time information by automating the current labor-intensive soil testing process. The apparatus serves the agricultural industry by advancing precision soil mapping technology to support proactive and efficient fertilizer use.

Abstract: A self-righting sailing vessel is described. The self-righting sailing vessel may determine the occurrence of several predetermined events, such as the self-righting sailing vessel capsizing, present or imminent inclement weather, and/or a present or imminent vessel or large marine animal. Upon detection of one of these events, the self-righting sailing vessel causes at least it's hull to become partially or completely submerged beneath the water. The self-righting sailing vessel is configured such that its rig is more buoyant than the rest of the vessel when the vessel is completely submerged beneath the water, causing the vessel to move towards an upright position while underwater. When the vessel is pointing towards an upright position, the vessel may begin ascending until it surfaces and is ready to continue sailing on top of the water.

Abstract: Various embodiments of a sailing vessel are disclosed configured to reduce a heeling moment acting on the sailing vessel as a wind acts on a sail of the sailing vessel. Generally, a mast of the sailing vessel is allowed to cant to leeward, thus reducing the heeling moment.

Abstract: Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: Various embodiments of a submerged sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: Embodiments of the present invention are directed to a passive, automatic wing-control mechanism for sailing vessels. A cam is attached to one end of a rotatable mast as part of a rotatable wing, and a tensioner is configured to exert a constant force perpendicularly against the cam. When a wing is in a no-go sailing angle with respect to an apparent wind, the cam does not exert a torque on the mast. When the wing is outside the no-go sailing angle, the cam exerts a counter-torque to a torque caused by the apparent wind acting on the rotatable wing, causing the wing to remain at a predetermined angle with respect to the apparent wind.

Abstract: Various embodiments of a submerged sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Abstract: Various embodiments of a solar wing are disclosed. A solar wing sail generates power from a series of parallel, spaced-apart solar rib assemblies, each assembly having a solar array mounted on top. A sail is formed of transparent material that surrounds the solar rib assemblies, forming an airfoil. The power generated by the solar wing sail can be used to charge batteries and operate onboard electronics.

Abstract: Various embodiments of a solar wing are disclosed. A solar wing sail generates power from a series of parallel, spaced-apart solar rib assemblies, each assembly having a solar array mounted on top. A sail is formed of transparent material that surrounds the solar rib assemblies, forming an airfoil. The power generated by the solar wing sail can be used to charge batteries and operate onboard electronics.

Abstract: An automatic wing control mechanism for sailing vessels is described. The automatic wing control mechanism adjusts a wing orientation with respect to the apparent wind to optimize its efficiency.

Abstract: Embodiments of the present invention are directed to a passive, automatic wing-control mechanism for sailing vessels. A cam is attached to one end of a rotatable mast as part of a rotatable wing, and a tensioner is configured to exert a constant force perpendicularly against the cam. When a wing is in a no-go sailing angle with respect to an apparent wind, the cam does not exert a torque on the mast. When the wing is outside the no-go sailing angle, the cam exerts a counter-torque to a torque caused by the apparent wind acting on the rotatable wing, causing the wing to remain at a predetermined angle with respect to the apparent wind.

Abstract: An automatic wing control mechanism for sailing vessels is described. The automatic wing control mechanism adjusts a wing orientation with respect to the apparent wind to optimize its efficiency.