Abstract: A method for regulating the buoyancy of an underwater vehicle in such a way that it substantially exhibits a predetermined target buoyancy Fc when it is immersed in a volume of liquid delimited by a first surface and a second surface, along a vertical axis, the method includes starting from an initial buoyancy of the vehicle that keeps the vehicle at the level of the first surface, a first step of modifying the density of the vehicle so that it moves closer to the second surface, the first step being implemented as far as a second step of detecting the crossing, by the vehicle, of a predetermined non-zero threshold on distance with respect to the first surface, along the vertical axis, then a third step of modifying the density of the vehicle until the vehicle exhibits substantially the target buoyancy.

Abstract: A method for regulating the buoyancy of an underwater vehicle in such a way that it substantially exhibits a predetermined target buoyancy Fc when it is immersed in a volume of liquid delimited by a first surface and a second surface, along a vertical axis, the method includes starting from an initial buoyancy of the vehicle that keeps the vehicle at the level of the first surface, a first step of modifying the density of the vehicle so that it moves closer to the second surface, the first step being implemented as far as a second step of detecting the crossing, by the vehicle, of a predetermined non-zero threshold on distance with respect to the first surface, along the vertical axis, then a third step of modifying the density of the vehicle until the vehicle exhibits substantially the target buoyancy.

Abstract: A method controlling a thruster of a marine vehicle is provided. The marine vehicle is at least partially submerged in a liquid and includes a body and a thruster including two propellers. Each propeller includes blades intended to tum about a rotation axis of said propeller. The method includes a step of low-speed maneuver controlling, during which the thruster is controlled in such a way that each propeller generates a flow directed toward the flow generated by the other propeller and reaching the flow generated by the other propeller.

Abstract: A method for controlling a thruster of a marine vehicle includes a body and a thruster mounted on the body of the vehicle, the vehicle being at least partially immersed in a liquid and moving with respect to the liquid along an axis of displacement in a direction of displacement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster including an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement.

Abstract: A method controlling a thruster of a marine vehicle at least partially submerged in a liquid includes a body and a thruster including two propellers, each propeller including blades intended to turn about a rotation axis of said propeller, the method including a step of low-speed maneuver controlling, during which the thruster is controlled in such a way that each propeller generates a flow directed toward the flow generated by the other propeller and reaching the flow generated by the other propeller.

Abstract: A method for controlling a thruster of a marine vehicle includes a body and a thruster mounted on the body of the vehicle, the vehicle being at least partially immersed in a liquid and moving with respect to the liquid along an axis of displacement in a direction of displacement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster including an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement.

Abstract: An object that can be towed in a fluid by a cable along a substantially horizontal transport axis comprises a body suspended under gravity from the cable by a fixing arm, and an exterior hydrodynamic surface that is symmetric with respect to a vertical plane containing the transport axis, so as to limit the lateral lift of the body, and an opening passing through the body along a vertical axis and configured to equalize the pressures of fluid flowing along the exterior surface, making it possible to limit the hydrodynamic forces that may be generated perpendicular to the transport axis giving rise to a force in rotation about the transport axis opposing the effect of gravity.

Abstract: A towing device intended to equip the deck of a ship (10) and comprising a winch (16), a cable (14) and a fairlead (20), the cable (14) circulating in the fairlead (20) under the action of the winch (16), the fairlead (20) comprising a frame (21) and at least one first and one second sectors, the sectors making it possible to guide the cable (14) in a channel formed in each of the sectors. The device comprises an articulation with a degree of freedom allowing the rotation of the second sector relative to the frame (21) about an axis contained in a plane comprising a first direction in which the cable can extend in the first sector, characterized in that the first sector is secured to the frame (21) and is interposed between the winch (16) and the second sector.

Abstract: An underwater vehicle designed for navigation at the surface or underwater, having a hull, and at least one normal-force generator of force normal to a longitudinal axis of the underwater vehicle, borne by the hull, wherein a forward part of the hull is asymmetric with respect to the longitudinal axis so as to generate lift as the underwater vehicle moves and wherein the lift is in the opposite direction to the resultant of the forces of the normal-force generator or generators is provided.

Abstract: An object that can be towed in a fluid by a cable along a substantially horizontal transport axis comprises a body suspended under gravity from the cable by a fixing arm, and an exterior hydrodynamic surface that is symmetric with respect to a vertical plane containing the transport axis, so as to limit the lateral lift of the body, and an opening passing through the body along a vertical axis and configured to equalize the pressures of fluid flowing along the exterior surface, making it possible to limit the hydrodynamic forces that may be generated perpendicular to the transport axis giving rise to a force in rotation about the transport axis opposing the effect of gravity.

Abstract: A device for launching and recovering a sonar is disclosed. The device has a linear receiving antenna and a volume transmitting antenna incorporated in a volume body called fish, the sonar being towed by a surface vessel by a towing line a towing cable from which the fish is suspended, and the linear antenna being secured behind the cable relative to the vessel. The device has a towing winch that includes a frame secured to the surface vessel, making it possible to wind and unwind the towing line around a reel. The reel includes two parts that are rotationally mobile about an axis of rotation, the two parts being coupled, the first part having a cylindrical form on which the towing line is intended to be wound, the second part forming a first abutment intended to accommodate the fish.

Abstract: A towing device, intended to be fitted to the deck of a ship, comprises a winch, a cable and a fairlead, the cable running through the fairlead under the action of the winch. The fairlead comprises at least a first and a second sector, the sectors allowing the cable to be guided in a groove made in each of the sectors, a first articulation with a degree of freedom to rotate about an axis, the articulation connecting the two sectors, the axis being substantially perpendicular to a direction in which the cable runs substantially through the fairlead at the articulation, and limiting means that limit the angular travel of the articulation. The sectors and the limiting means are dimensioned so as to prevent the cable from exceeding a lower limit of radius of curvature.

Abstract: A towing device intended to equip the deck of a ship (10) and comprising a winch (16), a cable (14) and a fairlead (20), the cable (14) circulating in the fairlead (20) under the action of the winch (16), the fairlead (20) comprising a frame (21) and at least one first and one second sectors, the sectors making it possible to guide the cable (14) in a channel formed in each of the sectors. The device comprises an articulation with a degree of freedom allowing the rotation of the second sector relative to the frame (21) about an axis contained in a plane comprising a first direction in which the cable can extend in the first sector, characterized in that the first sector is secured to the frame (21) and is interposed between the winch (16) and the second sector.

Abstract: A device for launching and recovering a sonar, comprises a linear receiving antenna and a volume transmitting antenna incorporated in a volume body called fish, the sonar being towed by a surface vessel by a towing line comprising a towing cable from which the fish is suspended, the linear antenna being secured behind the cable relative to the vessel. The device ccomprises a towing winch comprising a frame secured to the surface vessel and making it possible to wind and unwind the towing line around a reel. The reel comprises two parts that are rotationally mobile about an axis of rotation, the two parts being coupled, the first part having a cylindrical form on which the towing line is intended to be wound, the second part forming a first abutment intended to accommodate the fish.

Abstract: A towing device, intended to be fitted to the deck of a ship, comprises a winch, a cable and a fairlead, the cable running through the fairlead under the action of the winch. The fairlead comprises at least a first and a second sector, the sectors allowing the cable to be guided in a groove made in each of the sectors, a first articulation with a degree of freedom to rotate about an axis, the articulation connecting the two sectors, the axis being substantially perpendicular to a direction in which the cable runs substantially through the fairlead at the articulation, and limiting means that limit the angular travel of the articulation. The sectors and the limiting means are dimensioned so as to prevent the cable from exceeding a lower limit of radius of curvature.

Abstract: The present invention relates to a device for the automatic hauling of very long elongate objects. This device in particular allows very long tubular objects of relatively flexible and delicate structure such as, in particular, underwater cables, pipes or alternatively linear sonar antennas of the “streamer” type to be handled. The device chiefly comprises traction means consisting of at least two running strips with rough surfaces which are pressed on each side of the object and drag it along in a traction movement and gripping means which constantly keep the running strips pressed against the object in order to ensure good adhesion. Another subject of the invention is means for actuating the traction means and the gripping means in a coordinated manner so that the object that is to be hauled experiences continuous traction throughout the hauling operation. The device according to the invention has the advantage of being mounted on a stationary chassis and therefore of not requiring an operating area.

Abstract: The present invention relates to a device for the automatic hauling of very long elongate objects. This device in particular allows very long tubular objects of relatively flexible and delicate structure such as, in particular, underwater cables, pipes or alternatively linear sonar antennas of the “streamer” type to be handled. The device chiefly comprises traction means consisting of at least two running strips with rough surfaces which are pressed on each side of the object and drag it along in a traction movement and gripping means which constantly keep the running strips pressed against the object in order to ensure good adhesion. Another subject of the invention is means for actuating the traction means and the gripping means in a coordinated manner so that the object that is to be hauled experiences continuous traction throughout the hauling operation. The device according to the invention has the advantage of being mounted on a stationary chassis and therefore of not requiring an operating area.