Abstract: A buoyancy system for an underwater autonomous vehicle is provided. The buoyancy system includes one or more pressure vessels, a primary pump connected to each of the one or more pressure vessels with the primary pump configured to pump liquid from the one or more pressure vessels. The buoyancy system further includes a controller communicatively coupled to the primary pump and configured to operate the main pump, and a power source configured to provide power to the controller and the primary pump. Each pressure vessel includes a cylindrical shell with an inner surface, spaced apart axial support members disposed on the inner surface of the cylindrical shell, and radial support plates between the axial support members.

Abstract: A deep-sea mining apparatus for retrieving deep-sea nodules is provided. The deep-sea mining apparatus includes a buoyancy system, a payload hopper, an underwater autonomous vehicle (UAV), and a collector system. The collector system includes a controller system and a perception system communicatively coupled to the controller system and configured to track the deep-sea mining system as the deep-sea mining system hovers over ore nodules laying on a seabed. The collector system further includes one or more robotic arms controlled via the controller system, wherein each of the one or more robotic arms is attached to a bottom surface of the UAV and is equipped with a grasping mechanism configured to pick up the ore nodules from the seabed.

Abstract: A buoyancy system for an underwater autonomous vehicle is provided. The buoyancy system includes one or more pressure vessels, a primary pump connected to each of the one or more pressure vessels with the primary pump configured to pump liquid from the one or more pressure vessels. The buoyancy system further includes a controller communicatively coupled to the primary pump and configured to operate the main pump via wireless or wired communication, and a power source configured to provide power to the controller and the primary pump.

Abstract: A method of calibrating a trigonometric-based ranging system in first and second transmissive media including, in each of the first and second media, determining a sensor matrix for a sensor of the system therein. Rotation and translation of a sensor axis of the sensor is measured relative to an ideal sensor axis, by determining the rotation and translation of a sensor co-ordinate system of the sensor in each of the first and second media concurrently, to provide a rotation/translation matrix for a field of view of the sensor in each of the first and second media. Rotation of a device axis of a structured signal-emitting device relative to an ideal device axis is measured by determining a relative change in the structured signal in the first medium and in the second medium, to generate a device rotation matrix to be applied to the structured signal.

Abstract: A method of calibrating a trigonometric-based ranging system in first and second transmissive media including, in each of the first and second media, determining a sensor matrix for a sensor of the system therein. Rotation and translation of a sensor axis of the sensor is measured relative to an ideal sensor axis, by determining the rotation and translation of a sensor co-ordinate system of the sensor in each of the first and second media concurrently, to provide a rotation/translation matrix for a field of view of the sensor in each of the first and second media. Rotation of a device axis of a structured signal-emitting device relative to an ideal device axis is measured by determining a relative change in the structured signal in the first medium and in the second medium, to generate a device rotation matrix to be applied to the structured signal.