Abstract: An electrically driven mooring winch is provided. The mooring winch includes a winding drum, an AC motor configured to drive the winding drum, a frequency conversion unit connected to the AC motor, and a control unit configured to control the frequency conversion unit on the basis of an indicator for tension of the mooring rope. The control unit is configured to set a reference value of rotational speed of the AC motor to a predetermined value, drive the AC motor in one direction for a predetermined time interval, define a first value of a torque of the AC motor, drive the AC motor in an opposite direction for the predetermined interval, define a second value of the torque of the AC motor, and compute a torque estimate using the first and second values of the torque.

Abstract: A cylinder stroke system with a laser proximity detector including a pressure containing tube. The pressure containing tube can include a first tube end and a second tube end. A cylinder rod can be movably disposed within the pressure containing tube. The system can also include a piston disposed on the cylinder rod first end; a first fluid port formed in the pressure containing tube; a second fluid disposed within the pressure containing tube; a blind end cap and mount; a laser secured to the pressure containing tube; at least one optic guide; a lens separating the at least one optic guide from the second fluid. The cylinder stroke system can also include a camera in communication with a main controller. The camera can receive the reflection from the piston and convert the reflection into a reflection signal.

Abstract: An alignment tool, method and system are provided for aligning a cassette handler to a robot blade in a workpiece handling system, in which the tool comprises a frame or fixture adapted to be supported by the cassette handler support surface, in which the frame has one or more distance sensors positioned to measure the distance of a workpiece or robot blade from the sensor or a predetermined reference point or surface. In a preferred embodiment, the frame emulates a workpiece cassette and the distance sensors provide a numerical output of the distance to the workpiece. As explained in greater detail below, these distance measurements facilitate accurately leveling and aligning the cassette handler support surface relative to a workpiece supported by the robot blade such that when the frame is replaced by an actual workpiece cassette, the workpiece cassette will also be level and aligned with respect to the robot blade and the workpiece held by the blade.

Abstract: An in-flight refueling system, damping device and method are provided for enhancing the stability of an elongate hose extending from a tanker aircraft during an in-flight refueling operation. The various embodiments of the system, device, and method provide a passive, integrated damping device that may generate electrical energy from changes in disposition of the elongate hose and then using the electrical energy generated to impart mechanical damping forces to a portion of the elongate hose. Thus, the embodiments may minimize the occurrence of oscillations in the elongate hose as it extends from the tanker aircraft during an in-flight refueling operation.

Abstract: A bi-directional shock absorbing apparatus for attenuating undesirable dock movement, wherein two independent rods, one associated with a dock and the other with a fixed object, receive forces from the raising and lowering of the dock and transfer these forces to the respective ends of a coiled spring providing a balanced, bi-directional dampening affect.

Abstract: A torpedo seeker head for providing guidance information in three orthogonal axes is provided according to the invention. The torpedo seeker head includes three directional hydrophones, with each directional hydrophone capable of receiving an acoustic signal and generating a signal output therefrom. The three directional hydrophones are aligned with their response axes oriented substantially orthogonally, with any two directional hydrophones and respective axes defining a plane. An omni-directional hydrophone is also provided which measures a phase of a received acoustic signal. The signal outputs from the any two directional hydrophones, in conjunction with the phase from the omni-directional hydrophone are used to calculate a look angle to a target in a plane defined by the any two hydrophones, with the measurement being substantially independent of frequency. The three directional hydrophones yield look angles in three dimensions.

Abstract: A spring apparatus for use with hauling elements such as mooring ropes. The apparatus has a spring element (1) in the shape of a tension screw spring which has an intermediate section having a diameter considerably larger than that of its end sections (3). A certain predetermined maximal tension load, and a certain predetermined maximal stretch of the spring element are positioned at the intermediate portion, which, due to its larger diameter, has a lower spring constant, while the end-sections with their smaller diameters and larger spring constants are not stretched. The apparatus also comprises an attachment element (6) attached to an end section and preferably attachment elements attached to each of the end sections. The attachment elements are designed to hold sections of the hauling elements (10). In addition, the hauling element acts as a stretch limiter which prevents the spring from being deformed by overload.

Abstract: A search angle selection system generates a search angle for a torpedo in sponse to a number of inputs. Initially, the system bounds the region to be insonified. The system determines the search angle which best insonifies the region from the surface down to the target's keel depth out to the maximum acquisition range of the torpedo, for each search depth accounting for the torpedo's attack angle. The system determines a set of attainable aimpoints along the surface which are based on the environmental and weapon parameters. It then finds rays which intersect the aimpoints and uses the ray angles to determine an optimal beam steering angle. For each search depth, the system categorizes the sound speed profile between the search depth and the surface, and determines the maximum range that can physically be reached from the search depth. Using the maximum range and the weapon's range gate, a maximum aimpoint is established.

Abstract: A search angle selection system determines acoustic homing beam offset ans to be used by a torpedo from a group of target depth conditions in response to given environmental, tactical, target and weapon information. The system optimally bounds the region that is to be insonified. The system determines the search angle which best insonifies the depth band, that is, the region between the upper depth bound and the lower depth bound, for each search depth, accounting for the weapon's attack angle, including search depths which are not in the depth band itself. For each search depth, the system determines the relative depth separation of the search depth from each of the bounds, and based on this separation an aimpoint which projects from a reference plane through the torpedo is chosen at the depth of each bound. The aimpoint is selected from a table of empirically-determined values.

Abstract: A long-range sensor system, particularly for heavy torpedoes, comprising a group of high and medium frequency sensors (2) disposed on the forward part of the torpedo (1) and an additional group of low frequency sensors (3) distributed along the sides of the torpedo, thus increasing the useful range and acquisition capability with respect to the counteracquisition capability of the target ship.

Abstract: An underwater vehicle sonar system has sonar sensors provided in arms to plement a nose mounted array. The arms are capable of use in an extended position to provide a large diameter sonar array offering improved image resolution in the forward direction. In the extended position the arms also are capable of acting as active hydrodynamic control surfaces. Additionally, the arms can be used in a stowed position to provide a linear array for side viewing.

Abstract: A hollow braid woven anchor rope having an elastic core, of tubular latex, occupies a major portion of rope length. Ends of the elastic core are secured to the rope proper by rings, one each, located on rope end segements. A snap assembly at one end of the rope facilitates attachment to an anchor. When not in use the elastic core collapses the rope to bunch the rope along the relaxed core. A method with a series of steps is disclosed for rope assembly by insertion of the core into the rope and securement of the core ends to end segments of the rope component.

Abstract: A torpedo relative position measuring system, including an active sonar system and a passive magnetic system, is coupled to computing apparatus which operates in response to a set of stored computer programs, all located in the torpedo for homing in on a ferrous target. At long ranges and mid ranges, the torpedo is directed to the target by the sonar system, while at near ranges the magnetic system determines the x, y, z, relative position coordinates between the target and the torpedo in accordance with a calibrated stored magnetic model of the target and numerical solution of the non-linear equations linking the target's magnetic field, as measured at the torpedo, with the target's relative position. Guidance information derived therefrom is then fed to the torpedo's guidance system. With the magnetic system providing the relative position of the target at close range, the torpedo's normal guidance system can readily steer the torpedo to a desired hit point on the target.

Abstract: An underwater maneuverable vehicle is presented which carries an explosive charge and can be used for immediate removal or destruction of various menaces to navigation and other underwater hazards. The battery powered vehicle is air dropped from a platform which carries an imaging lidar system for detection and is operated and navigationally controlled in conjunction with an imaging lidar system. In accordance with an important feature of this invention, an optical lidar downlink is used to control the submerged underwater maneuverable vehicle from an airborne platform. The downlink is pulse spaced modulated. Command signals are secure, and are decoded aboard the vehicle. Control in speed, heading and depth, as well as command detonation are available using this technique.

Abstract: A decoupling ring provided on the front annular face of the nose shell of a craft, surrounding the sonar array. This ring decouples the vibration in the nose shell from the fluid path. The decoupling ring is constructed of one or more mass elements on one or more compliance elements. The individual compliance elements are preferably vibrationally speaking springs and the mass elements are preferably metal segments which form a mass-spring system. The dimensions and characteristics of the mass and compliance rings are chosen to have a fundamental resonant frequency well below the sonar frequency range of interest, thus acting as a low pass filter. When the vibrational energy has a frequency above the resonant frequency of the mass spring system, the vibrational energy is attenuated effectively. The low frequency resonance of the decoupling ring is obtained by using a large mass and a large compliance in the mass and compliance elements, respectively.

Abstract: An array plate for use in an underwater craft. The craft having an array of sonar elements which has a selected range of operating frequencies. The array plate having at least one layer of material in which the layer(s) of material are designed to have selected natural frequencies of vibration throughout the range of sonar operating frequencies. The natural frequencies resulting in standing waves having selected wavelengths that develop along the layer(s) of material. The sonar elements are mounted upon the layer(s) of material such that adjacent sonar elements are spaced apart a distance of one half the average wavelength of the standing waves.

Abstract: A method and apparatus for navigating underwater a killer vehicle towards a mine emitting a magnetic field by using measurements of the mine's magnetic field, by two magnetic sensors affixed to the killer vehicle, in calculating the relative position of the killer vehicle with respect to the mine.

Abstract: An extendible linear sonar array for an Autonomous Underwater Vehicle (AUV) comprises a linear hydrophone array fixed in the nose of the AUV and two hydrophone array segments mounted at the leading edge of stabilization fins extendible from and retractable into the AUV. The stabilization fins are pivoted to move between extended and retracted positions where, in the extended position, the movable arrays together with the fixed nose array form a linear sonar array with extended width. In the retracted position, the stabilization fins with the hydrophone arrays pivot and fold back into stow channels in the AUV body. The stabilization fins may include movable control surfaces to control the attitude of the AUV, or the stabilization fins can be rotated when in the extended position to provide attitude control.

Abstract: In a submarine weapon, particularly for combating submarines, a rocket engine with continuous rocket thrust is utilized as the submarine drive unit. An actively locating, acoustic target seeking device is provided for target detection and target pursuance, the ranging frequency of which is selected so that the echo level to be expected from its detection range lies above the noise level of the rocket engine.

Abstract: A device for limiting the tension in a rope or the like comprises an anchorage plate (8) and a gripping unit (10) containing two piston and cylinder units (34), two gripping members (14) and a hydraulic control circuit which controls the gripping of the rope or the like in a manner dependent on the tension in the rope or the like. Tension P causes the gripping unit (10) and the anchorage plate (8) to separate, thus compressing fluid in chambers (46). This results in the double acting rams (30) biasing the gripping members (14) towards each other under the action of cams (26). If the tension rises above a threshold value the pressurized fluid trips pressure sensitive valve (54) allowing pressurized fluid to reverse reversing valve (55) thus temporarily relaxing the grip on the rope or the like.

Abstract: An underwater maneuverable vehicle is presented which carries an explosive charge and can be used for immediate removal or destruction of various menaces to navigation and other underwater hazards. The battery powered vehicle is air dropped from a platform which carries an imaging lidar system for detection and is operated and navigationally controlled in conjunction with an imaging lidar system.

Abstract: Method and apparatus for guiding an acoustic torpedo toward a ship selected as target which, as a defence against torpedoes drags noise generating decoys (so-called disturbance generators) wherein the torpedo is acoustically guided toward the noise source having the greatest noise level for the torpedo. As the torpedo approaches the noise source a check is made for the presence of a wake, and after detection of a wake in the immediate vicinity of the noise source during passage of the torpedo underneath the noise source, a check is made for the minimum expanse of the noise source in the vertical and travelling direction of the torpedo. The torpedo is set to search for a further noise source if no wake is detected or if a wake is detected in the vicinity of the noise source but a predetermined minimum expanse for the noise source is not detected.

Abstract: An underwater maneuverable vehicle is presented which carries an explosive charge and can be used for immediate removal or destruction of various menaces to navigation and other underwater hazards. The battery powered vehicle is air dropped from a platform which carries an imaging lidar system for detection and is operated and navigationally controlled in conjunction with an imaging lidar system. In accordance with an important feature of this invention, an optical lidar downlink is used to control the submerged underwater maneuverable vehicle from an airborne platform. The downlink is pulse spaced modulated. Command signals are secure, and are decoded aboard the vehicle. Control in speed, heading and depth, as well as command detonation are available using this technique.

Abstract: A system which overcomes the effects of acoustical torpedo counter-measures y using an attack on a countermeasure as a logical step toward the attack on a "real" target. A slight bearing error is introduced into a torpedo homing system to cause the torpedo to miss a small "decoy" target while permitting a "real" target to be hit. After attacking and missing the "decoy", the system then redirects the torpedo towards the "real" target.

Abstract: A safety system for deterring a homing missile from attacking its launching ehicle whereby the launching vessel is enabled to alter the course and neutralize the detonator of the weapon.

Abstract: The invention is an air-to-subsurface missile system which has an acoustic oming torpedo and a directional sonobuoy held in the missile behind the torpedo by a cowling means which includes fins for aerodynamic stability. When the missile reaches the desired location in a body of water, the torpedo and sonobuoy are released. The sonobuoy has the ability to search for targets and to communicate both with the homing torpedo and with a tactical command station. Thus the torpedo can be guided to a target by the sonobuoy and command station, even at ranges at which the torpedo could not locate a target with its own homing system.

Abstract: A low drag nose assembly for use with an acoustic homing torpedo in an aqus environment has at least one planar array mounted in the slanting side of a substantially conical support member and provides a plurality of preformed sonar beams which display an azimuth selectively extending from fore to aft simultaneously.

Abstract: A sonar antenna is provided which can serve as the head of an underwater device, e.g., a torpedo, and a method for manufacturing the same. The sonar antenna is formed of a block of syntactic foam rigid enough to withstand submersion hydrostatic pressures. The block has a plurality of housings formed in the outer surface thereof, with at least one electro-acoustic transducer in at least one housing flush with the outer surface of the block. The base of the block is provided with a flanged sleeve by which the antenna can be mounted to the front end of the underwater device, with an acoustic decoupling fitting provided between the flange and the underwater device. The entire block, transducers and flange are surrounded by a sealed envelope which is transparent to acoustic waves. The outer surface of the sealed envelope serves as the outer surface of the sonar antenna and as the front end of the underwater device.

Abstract: A hydraulic tensioning device for tensioning the rigging of a sailing vessel comprises first, second and third components which are telescopical with respect to one another. A cylinder of the first component and a piston of the second component form a first chamber, and a cylinder of the second component and a piston of the third component form a second chamber, the two chambers being in fluid flow communication with one another via a passage. The first component is connected to one part of the rigging, and the second component to another part of the rigging. The rigging is tensioned by applying tension to a rope or wire connected to the third component. In another embodiment the first component is mounted for guided displacement along a rail, the second and third components each being connected by a rope or wire to a cam cleat to limit longitudinal displacement.

Abstract: A device for use in a sailing vehicle for automatically adjusting the angular position of a boom supporting a sail in response to varying wind pressures is disclosed. A pulley and an adjustment block are mounted for slidable movement inside an elongated tubular housing which is attached to the boom by a pair of brackets. A compression spring is also disposed inside the tubular housing between the pulley and the adjustment block for urging the pulley away from the adjustment block. An end block is fixedly mounted on the end of the housing nearest the adjustment block. An attachment line having a stop at one end extends into the housing through the end block around the pulley and back out through the end block. Structure is provided for selectively fixing the position of the adjustment block in the housing so as to set a predetermined initial pressure on the spring. In using the device, the other end of the line is secured to the body of the sailing vehicle and the adjustment block set to the desired position.

Abstract: A device is provided for use in releasably securing one unit (e.g., the rear end of a truck vehicle) against a second unit (e.g., a loading dock). The device comprises an elongated member mounted for controlled endwise movement relative to a locking assembly, the latter being adjustably mounted on the loading dock. Carried by the elongated member and extending from an end thereof towards the truck is an attaching means which is secured to the truck. A friction means is adjustably mounted within the locking assembly for movement between operative and inoperative positions. When in an operative position, the elongated member can be moved endwise in only one direction away from the truck. When in an inoperative position, the elongated member can be moved in either endwise direction relative to the locking assembly. The friction means is biased to normally assume an operative position.

Abstract: A line tensioning device for maintaining a resilient sinuous bend in an elongated flexible line includes a pair of opposed semi-circular sections forming a rigid tube clamped coaxially about a portion of the length of the line and a pair of parallel elongated springs directed respectively between the opposite ends of the member and points along the line.