Abstract: A two-stage voltage step-up converter and energy storage system is utilized for harvesting trickling electrons from benthic microbe habitats. A relatively random low voltage from the microbial fuel cell (less than about 0.8 VDC) is provided to the first stage step-up converter, which stores power in a first output storage device. A first comparator circuit turns on the second stage step-up converter to transfer energy from the first output storage device to a second output storage device. A second comparator circuit intermittently connects the load to the second output storage device. After initial start-up, the system is self-powered utilizing the first and second output devices but may use a battery for the initial start-up, after which an automatic switch can switch the battery out of the circuit.

Abstract: A charging and equalizing method for a battery having a control computer in a charging system in communication with a plurality of module processors. Charging and equalization pauses periodically for voltage measurement by the module processors. The control computer determines when to equalize battery cells in the modules based on their open circuit voltages transmitted by the module processors. A selected group of cells in each module can be equalized. Equalization is carried out in the modules until all of the module processors indicate that equalization has been completed. Charging can then resume until charging is complete or cells reach a maximum voltage given by the control computer. In an alternative embodiment, a selected group of cells may be partially bypassed while charging to reduce the charge rate of the cell.

Abstract: A system is provided to control maneuvering flapping foils of an underwater vehicle. An oscillator generates periodic signals in which effects of external disturbances are minimized or amplified as required; the periodic signal can be either sinusoidal or can depart significantly from a sinusoid; the amplitude and frequency are varied by changing the oscillator parameters and the phase between the signals are varied by changing the parameters. The oscillator restores the parameters after a disturbance. Since the oscillator functions without external sensors, the oscillator serves as an inner-loop controller with a centralized control. An open loop control architecture for the controller, results in a motion where the vehicle maneuvers execute as force and moment commands. The non-linear, auto-catalytic oscillator can be realized using a variety of second-order differential equations.

Abstract: A battery monitoring device for a battery having cells grouped in modules. The device includes a monitoring circuit for each module which monitors the voltage in each cell and the overall module voltage. The monitoring circuits can also detect module temperatures. The monitoring circuits are networked to a control computer. The device can be used with a power supply and relays for each module to interrupt charging when a fault condition is detected by the monitoring circuits. Other features of the device allow equalization of cells having excessive voltages.

Abstract: A charging and equalizing method for a battery having a control computer in a charging system in communication with a plurality of module processors. Charging and equalization pauses periodically for voltage measurement by the module processors. The control computer determines when to equalize battery cells in the modules based on their open circuit voltages transmitted by the module processors. A selected group of cells in each module can be equalized. Equalization is carried out in the modules until all of the module processors indicate that equalization has been completed. Charging can then resume until charging is complete or cells reach a maximum voltage given by the control computer. In an alternative embodiment, a selected group of cells may be partially bypassed while charging to reduce the charge rate of the cell.

Abstract: The mechanism of the present invention maneuvers a vehicle by deflecting the flow from a propulsor of the vehicle. The mechanism has an elastomeric nozzle that encases the flow and is deflected via an articulation device mountable inside the vehicle. The nozzle is shaped and supported by spiral-wound composite to maintain a circular cross-section through a range of motion. An end of the nozzle is attached to the shroud of the propulsor and another end is supported by a ring with support struts radiating from a hub. The hub is supported by a shaft attached to a gimbal. The gimbal is constrained in movement by an outer race and an anti-rotation stud in a radial slot in a ball of the gimbal. A linkage as part of an articulation device controls rotation of the gimbal to direct movement of the shaft and enclosed nozzle thereby deflecting flow of the propulsor.

Abstract: A device for controlling a video camera in underwater high speed photography in a first aspect includes a plurality of spaced break screen or sense coil members, a projectile for launch through the series of break screen or sense coil members, a video camera operated to video at a predetermined timing upon release of the projectile, and a source of illumination to aid in the video photography. A trigger device such as a break screen or sense coil is positioned immediately up-range of the video camera. With a time delay programmed into a Programmable Array Logic (PAL), a control circuitry receives the trigger information and creates a timed signal to control the operation of the video camera. In accordance with another aspect of this invention, the control circuitry includes discrete logic devices programmed such that gating of the video camera is controlled by the control circuitry at the time the projectile passes the lens of the camera.

Abstract: A device for sensing projectile velocity in an underwater environment is provided. The device includes a plurality of evenly spaced voltage coil members positioned in the path of a projectile. Each voltage coil member includes a support frame having an opening therein and a magnetic coil mounted on the support frame, and a sensing member connected to each support frame. The sensing member includes means for outputting a signal responsive to passage of the projectile through the voltage coil member, and a logic arrangement for determining a difference between passage of the projectile between adjacent ones of said plurality of voltage coil members throughout the run thereof, thereby determining a velocity of the projectile.

Abstract: A device for sensing projectile velocity in an underwater environment is provided. The device includes a plurality of evenly spaced break screen members positioned in a path of the projectile. Each break screen member includes a support member, a pair of transparent sheets spanning the support member, a continuous resistive trace sandwiched between the transparent sheets, and a sensing member correspondingly connected to each resistive trace. The sensing member includes means for outputting a signal responsive to impact of the projectile against the break screen, and a logic arrangement for determining a difference between impact of at two adjacent break screens throughout the run of break screens, thereby determining a velocity of the projectile.

Abstract: A system for sensing projectile velocity and position having a plurality of support members positioned in a path of said projectile. Each support member has an aperture with a resistive trace supported in the aperture. The resistive trace can be separated by the projectile's passage. A sensing circuit is joined to each resistive trace and provides a signal indicating separation of the resistive trace. This signal is provided to a logic circuit which provides a single signal indicating separation of each said resistive trace. A data acquisition system provides an output indicating said projectile velocity and position with respect to time.

Abstract: A device for controlling a strobe light in underwater high speed photography in a first aspect includes a plurality of spaced break screen or sense coil members, a projectile for launch through the series of break screen or sense coil members, a camera having a shutter opened at a predetermined timing prior to release of the projectile and closing at a predetermined timing subsequent to release of the projectile, and a strobe light opposed to the camera for illumination at a time when the projectile passes in front of the camera. A trigger device, such as a break screen or sense coil, is positioned immediately up-range of the camera. With a time delay programmed into a Programmable Array Logic (PAL), a control circuit receives the trigger information and creates a timed signal to control the illumination of the strobe light.