Abstract: Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

Abstract: Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

Abstract: Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

Abstract: Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

Abstract: Autonomous underwater vehicles are described that are stackable with other like autonomous underwater vehicles on a suitable launch platform, such as within a vertical missile launch tube of a submarine, waiting to be deployed into the water. The underwater vehicles can be deployed or launched individually, in groups, or all together into the water. While stacked together, the stacked autonomous underwater vehicles can connect to one another or to external structure of the launch platform. In addition, the underwater vehicles can be positively buoyant or can be made to have controllable buoyancy to allow the underwater vehicles to float up and out of the launch platform during deployment without an external deployment force.

Abstract: A system that can be used for inspecting underwater structures. The system allows a user to gain a better understanding of the condition of an underwater structure. The system is a self-contained, modular system that can be operated by divers, coupled to an AUV, ROV or other host platform vehicle deployment platform, towed by a ship, pole mounted, or hull mounted. All of the components necessary to achieve the desired scanning functions are incorporated onto the self-contained, modular system. The system can include and fully utilize a 3D sonar system and an inertial navigation system. This combination of features permits the system to be used to, for example, generate 3D models of underwater structures, detect changes in underwater structures by comparing the generated 3D model against an a priori 3D model, and provide navigational updates to the host platform based on the observed features of an underwater structure.

Abstract: Utilizing a sonar system to determine if a structural member of an underwater support structure that is supposed to be filled with air is instead flooded with water. The determination that a supposedly air filled structural member is instead flooded with water provides an indication that the structural member is cracked or damaged, making it easier to find damaged members and effect suitable repair. The sonar system is located a distance from the structural member so that it is spaced from the structural member.

Abstract: Utilizing a sonar system to determine if a structural member of an underwater support structure that is supposed to be filled with air is instead flooded with water. The determination that a supposedly air filled structural member is instead flooded with water provides an indication that the structural member is cracked or damaged, making it easier to find damaged members and effect suitable repair. The sonar system is located a distance from the structural member so that it is spaced from the structural member.

Abstract: A system that can be used for inspecting underwater structures. The system allows a user to gain a better understanding of the condition of an underwater structure. The system is a self-contained, modular system that can be operated by divers, coupled to an AUV, ROV or other host platform vehicle deployment platform, towed by a ship, pole mounted, or hull mounted. All of the components necessary to achieve the desired scanning functions are incorporated onto the self-contained, modular system. The system can include and fully utilize a 3D sonar system and an inertial navigation system. This combination of features permits the system to be used to, for example, generate 3D models of underwater structures, detect changes in underwater structures by comparing the generated 3D model against an a priori 3D model, and provide navigational updates to the host platform based on the observed features of an underwater structure.