Abstract: Methods and structures are disclosed for providing autonomous control of an underwater vehicle using a state machine. A controller is used onboard the underwater vehicle and includes a state machine having a plurality of operating states. Each of the plurality of operating states includes one or both of entrance criteria and exit criteria. The controller is configured to transition from executing a first operating state of the plurality of operating states to executing a second operating state of the plurality of operating states in response to the exit criteria of the first operating state and the entrance criteria of the second operating state both being met. The plurality of operating states includes a first portion of operating states associated with a first task, a second portion of operating states associated with a second task, and a third portion of operating states associated with both the first and second tasks.

Abstract: An antenna module configured for use on an underwater vehicle is disclosed. The antenna module includes an array of spiral antennas fabricated on a multi-layer substrate that provides wide-band RF communication with direction finding (DF) capability. The antenna module can also include other antennas fabricated on the same multi-layer substrate, such as one or more global positioning system (GPS) receivers, an ultra-high frequency/very-high frequency (UHV/VHF) antenna, or one or more iridium antennas. The antenna module may further include a water-proof housing that is coupled to the outside hull of an undersea vehicle via a coupling mechanism. The coupling mechanism allows the antenna module to rotate between a stowed position against the hull and a deployed position that extends the antennas out away from the undersea vehicle. The antenna module is curved or flexible so it can stow against a corresponding curved hull of the undersea vehicle.

Abstract: An antenna module configured for use on an underwater vehicle is disclosed. The antenna module includes an array of spiral antennas fabricated on a multi-layer substrate that provides wide-band RF communication with direction finding (DF) capability. The antenna module can also include other antennas fabricated on the same multi-layer substrate, such as one or more global positioning system (GPS) receivers, an ultra-high frequency/very-high frequency (UHV/VHF) antenna, or one or more iridium antennas. The antenna module may further include a water-proof housing that is coupled to the outside hull of an undersea vehicle via a coupling mechanism. The coupling mechanism allows the antenna module to rotate between a stowed position against the hull and a deployed position that extends the antennas out away from the undersea vehicle. The antenna module is curved or flexible so it can stow against a corresponding curved hull of the undersea vehicle.

Abstract: Methods and structures are disclosed for providing autonomous control of an underwater vehicle using a state machine. A controller is used onboard the underwater vehicle and includes a state machine having a plurality of operating states. Each of the plurality of operating states includes one or both of entrance criteria and exit criteria. The controller is configured to transition from executing a first operating state of the plurality of operating states to executing a second operating state of the plurality of operating states in response to the exit criteria of the first operating state and the entrance criteria of the second operating state both being met. The plurality of operating states includes a first portion of operating states associated with a first task, a second portion of operating states associated with a second task, and a third portion of operating states associated with both the first and second tasks.