Abstract: A fluid machine includes: a shaft portion; a shroud having an inside surface with a diameter decreasing from an upstream side toward a downstream side, a flow path being formed between the shroud and the shaft portion and having a flow path cross-sectional area decreasing toward the downstream side; a propeller rotatably provided about an axis between the shaft portion and the shroud and configured to pump a fluid from the upstream side toward the downstream side; and a motor provided to correspond to the propeller and including a rotor having a ring-like shape fixed to an outer circumference portion of the propeller and accommodated in the shroud and a stator having a ring-like shape surrounding the rotor and fixed in the shroud, in which a plurality of the propellers are provided to be spaced apart in the axis direction, the motors are provided in an identical number to the propellers to correspond to each of the propellers, and of a plurality of motors, the rotor of the motor positioned more on the downstr

Abstract: A surface/submersible water-craft, comprising: a hull, means for submerged propulsion provided in or on the hull, means for surface propulsion provided in or on the hull, floodable-on-submerging crew accommodation provided in the hull and a canopy arranged for closing the floodable crew accommodation for protecting the crew from water flow past the craft, the canopy being openable for crew exit from the craft whilst submerged at a destination.

Abstract: A valve includes a holder having an expandable material. The valve includes a retainer coupled to the holder. The valve further includes an umbrella member with a stem coupled to the holder. The expandable material is adapted to expand in size when absorbing a fluid and translate the umbrella member along an axis of the stem.

Abstract: A buoyancy modification module for a modular underwater vehicle may include a first frame configured to connect the buoyancy modification module to other modules, and a first pressure hull with a first flooding region and a first dry region. A first pump arranged in the first dry region can pump water out of the surroundings or a neutral-buoyancy reservoir into the first flooding region and out of the first flooding region into the surroundings or the neutral-buoyancy reservoir. A first gas region that is connected to the first flooding region may include a first gas pressure when the first flooding region is completely empty, and a second gas pressure when the first flooding region is completely flooded. A difference between the first gas pressure and the second gas pressure results from a reduction in space available for gas in the first gas region.

Abstract: Deploying and retrieving streamer cleaning devices. At least some of the example embodiments are methods including transferring a streamer cleaning device to a geophysical sensor streamer. The transferring may include towing the geophysical sensor streamer through water while the geophysical sensor streamer submerged, towing a tow fish through water by way of an umbilical (the streamer cleaning device coupled within a payload area of the tow fish during the towing of the tow fish through the water), landing the tow fish on the geophysical sensor streamer and thereby abutting the streamer cleaning device against the geophysical sensor streamer, closing the streamer cleaning device around the geophysical sensor streamer, releasing the streamer cleaning device from the payload area, and separating the tow fish from streamer cleaning device and the geophysical sensor streamer.

Abstract: An autonomous underwater vehicle includes a vehicle body controlled by a processor. An anchor joined to a tether is disposed in the vehicle. The vehicle has control surfaces for maneuvering, a propulsion unit, and a turbine. The propulsion unit and turbine generate thrust to propel the vehicle. A power source provides power to the vehicle. The turbine is further joined to a generator. When the processor detects that the power source is below a threshold value, the propulsion unit is stopped, the anchor is deployed, and the control surfaces are operated to move the vehicle in a predetermined trajectory through a fluid stream of the environment restrained by the tether. The fluid stream causes rotation of the turbine and generator to recharge the power source.

Abstract: A system has a submarine vessel and a submarine docking port. The docking port is arranged for transfer of electrical energy to the submarine vessel when the submarine vessel is docked. The submarine vessel has a submarine navigation system. The docking port has a primary coil for emitting a magnetic field. The submarine vessel has a secondary coil. The submarine vessel has means for measuring a strength of the magnetic field received by the secondary coil. The submarine vessel has a positioning electronics that guides the submarine vessel in a horizontal plane to maximize the measured local magnetic field. The positioning electronics guides the submarine vessel in the vertical direction when the measured magnetic field is at a local maximum and the magnetic field increases when the submarine vessel descends towards the primary coil. Also, a method is for docking a submarine vessel on a submarine docking port.

Abstract: A deep-sea manned submersible and a design method for a pressure resistant hull curved structure thereof, the deep-sea manned submersible comprising a main hull body, a propeller assembly, annular sliding channels, a brake disc, and a brake. Two annular sliding channels are provided, and are fixed symmetrically on two opposite side surfaces of the main hull body. The main hull body is inserted vertically through the upper surface of the propeller assembly, and by means of the two annular sliding channels is slidingly connected to the propeller assembly, such that the outer contour of the whole body formed by the impeller assembly and the main hull body takes a nautilus shell shape. The brake disc is of an annular shape, and fixed on an outer ring of the main hull body, and the brake is mounted on the propeller assembly and corresponds matchingly with the brake disc.

Abstract: Multiple autonomous underwater vehicles (AUVs) are operated by a host platform by configuring the AUVs with intermediate nodes (such as unmanned surface vehicles (USVs)) so as to allow the host platform to manage multiple AUVs. The intermediate nodes act as a relay for communications between the host platform and the AUVs allowing the host platform to scale to higher numbers of vehicles thus simultaneously operating the entire fleet of AUVs. The AUVs may provide underwater mapping data. The host platform may be stationary. The host platform may communicate with the intermediate nodes by satellite.

Abstract: An underwater robot based on a variable-size auxiliary drive and a control method thereof includes a variable-size auxiliary drive module and a main control system. The variable-size auxiliary drive module includes a first variable-size silo, at least two first variable-size units and at least two first gasbags. The first variable-size silo has a first accommodating space with at least two first accommodating subspaces. Each of the first variable-size units includes a first micro push rod motor, a first push rod, a first push plate and a first gas guide tube. The first micro push rod motor, the first push rod and the first push plate are accommodated in the corresponding first accommodating subspace. The first push rod is fixed to the first push plate. one of the first gas guide tubes correspondingly communicates with one of the first accommodating subspaces and one of the first gasbags.

Abstract: A submersible system is provided having a submersible launch vessel that sends instructions from a mission controller to deploy one or more deployable systems for one or more underwater operations. The submersible launch vessel is submerged within a waterbody. A submersible power supply powers the submersible launch vessel and the one or more deployable systems. One or more communication devices is in communication with the mission controller, and the mission controller is located in one of a remote or a local location relative to the submersible launch vessel. The one or more deployable systems, via the one or more communication devices coupled to the submersible launch vessel, are remote controlled by the mission controller to execute the one or more underwater operations. Also, information associated with the one or more underwater operations including telemetry data is transmitted to the mission controller from the submersible launch vessel.

Abstract: The present invention discloses a device carrying platform based on an underwater robot. The device carrying platform comprises a mounting rack and more than two mounting seats. The mounting rack comprises a mounting plate and more than two mounting columns fixed to the bottom of the mounting plate, the mounting plate is provided with a plurality of mounting holes, the mounting plate is hinged with a protective screen, the protective screen is provided with an opening, and the opening is hinged with a screen door. The plurality of mounting seats arranged on the mounting rack can be used for mounting devices and instruments of various models, and a first butting part and a second butting part in a mounting groove are matched with each other, so that devices and instruments needed to be mounted are fixed.

Abstract: Multiple autonomous underwater vehicles (AUVs) are operated by a single host surface vehicle (HSV) by configuring the AUVs with intermediate nodes (such as unmanned surface vehicles (USVs)) so as to allow the HSV to manage multiple AUVs. The intermediate nodes act as a relay for communications between the HSV and the AUVs allowing the HSV to scale to higher numbers of vehicles thus simultaneously operating the entire fleet of AUVs. The AUVs may provide underwater mapping data.

Abstract: A versatile flying lead (VHL) termination head system comprises an underwater vehicle interface, an interface plate, a termination frame, and an adjuster, disposed proximate the termination frame's connection end, which is configured to provide a configurable declination angle which sets a hang-off angle of a device connected to the interface plate with respect to the underwater vehicle interface. A subsea termination head may be manufactured and assembled by obtaining a predetermined set of standardized structural building blocks that fit together to form a complete termination frame which is as described herein, using the predetermined set of standardized structural building blocks to construct a subsea termination head from the predetermined set of standardized structural building blocks substantially in parallel and connecting the underwater vehicle interface to the frame at a predetermined angle using the adjuster.

Abstract: A subsea assistance system for supporting saturation diver operations includes an unmanned underwater vehicle (UUV) such as an observation remotely operated underwater vehicle (ROV) that can be flown to a subsea worksite, and various items of ancillary electrical equipment that are connected or subsea-connectable to the UUV or to a skid forming part of the UUV. Those items can include any of: a hand-portable subsea display that displays an image to a diver communicated from the UUV, which image can be generated or enhanced underwater and/or by surface support; a subsea camera that captures subsea image data for communication to the UUV and from the UUV to surface support; and a selection of electrical power tools for performing subsea tasks. Fast-acting protective devices protect divers when using high-voltage wet-mateable subsea connectors on the UUV.

Abstract: A slipring device includes a first part and a second part rotatable against each other. Both parts include housings with slipring components. A first housing at the first part has a hollow shaft with a bayonet lock notch to engage with a locking ring having at least one bayonet lock protrusion. The locking ring can easily be attached by a bayonet lock to lock the first part and the second part together.

Abstract: A modular compartment bulkhead assembly is provided that includes a first external body, a bulkhead, and a second external body. The first external body segment may include a first end portion. The first end portion may be coupled to an external seal body and the external seal body may include a first internal channel. The bulkhead may include an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may include a second end portion. The second end portion may include a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

Abstract: A submersible system is provided having a submersible launch vessel that sends instructions from a mission controller to deploy one or more deployable systems for one or more underwater operations. The submersible launch vessel is submerged within a waterbody. A submersible power supply powers the submersible launch vessel and the one or more deployable systems. One or more communication devices is in communication with the mission controller, and the mission controller is located in one of a remote or a local location relative to the submersible launch vessel. The one or more deployable systems, via the one or more communication devices coupled to the submersible launch vessel, are remote controlled by the mission controller to execute the one or more underwater operations. Also, information associated with the one or more underwater operations including telemetry data is transmitted to the mission controller from the submersible launch vessel.

Abstract: A device (10) for detecting a signal of interest in order to locate an underwater source of the signal. The device includes a receiver (13) configured to detect the signal of interest, an actuator (14) configured to allow at least a portion of the detection device (10) to move towards a zone indicating a result of detection of the signal of interest in response to the receiver being operated, and an emitter (15) configured to indicate the result of detection of the signal of interest.

Abstract: An underwater power supply system includes: a working apparatus arranged underwater with at least one power receiving pad; a first battery unit detachably attached to the apparatus with a power supplying pad and battery, the pad configured to supply electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad; and an underwater sailing body configured to shuttle between the apparatus and a surface ship or an underwater station suspended from the surface ship, the body configured to carry a second battery unit to the apparatus, detach the first battery unit from the apparatus, and attach the second battery unit to the apparatus, the second battery unit including a power supplying pad and battery, the pad configured to supply the electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad.

Abstract: A load-bearing frame structure for a maritime vehicle includes two support plates, a deck plate structure, a front bulkhead structure, and a back bulkhead structure. Each of the support plates has a front edge, a back edge, a top edge, and a bottom edge. The support plates can be angled relative to each other and connected to each other at the top edges thereof forming an inverted V-shape. The support plates can alternately be parallel to each other in a vertical orientation. The support plates each have one or more cut-out sections. The deck plate structure connects the two support plates proximate the bottom edges of the support plates. The front bulkhead structure connects the front edges of the support plates, and the back bulkhead structure connects the back edges of the support plates.

Abstract: A process for installing the payload onto a subsea structure has the steps of affixing an adapter spool on to the subsea structure, deploying a plurality of winches in spaced relation to the subsea structure, connecting an end of a plurality of slings received on the plurality of sheaves to a plurality of winches, connecting an opposite end of the plurality of slings to the payload, lowering the payload in a direction toward the subsea structure, actuating the plurality of winches so as to draw the payload downwardly into a position on the subsea structure, and locking the payload onto the subsea structure. The adapter spool has a collar with a plurality of sheaves extending outwardly therefrom. The payload can be a capping stack and the subsea structure can be a blowout preventer.

Abstract: Various embodiments are directed to interconnectable tiles configured for operation in an aquatic environment or a near-zero/zero gravity environment. The interconnectable tiles are configured to interconnect relative to one another to form interconnected surfaces, and individual interconnectable tiles provide thrust, ballast, and/or buoyancy to the overall interconnected surface so as to move the interconnected surface in a desired configuration.

Abstract: The present disclosure relates to a remotely operated underwater vehicle and a control method therefor. The remotely operated underwater vehicle comprises a body having an imaging unit and a control unit; a power unit disposed on the body; a beacon unit for being worn on a part of a user's body, wherein the beacon unit can emit a plurality of optical control signals with different brightness; and the control unit can control the power unit to respond according to the optical control signals collected by the imaging unit to adjust an action and a posture of the body.

Abstract: The present invention provides a method to hand over a load, in particular when submerged, from a first hoisting device to a second hoisting device, comprising the steps of: providing a rigid intermediate device having a first connection point and a second connection point, wherein the first connection point and the second connection point are spaced with respect to each other with a distance of at least 5 meters, and wherein the intermediate device is configured to be connected to the load, connecting the load to the intermediate device, connecting the first hoisting device to the first connection point, suspending the load completely from the first hoisting device, connecting the second hoisting device to the second connection point, and—transferring the load from the first hoisting device to the second hoisting device, until the load is completely suspended from the second hoisting device.

Abstract: A docking system has flat funnel and a slotted ramp at the end of the flat funnel. The ramp has a plurality of inclined planes, each on a respective side of the slot. A docking adapter, fitted over an underwater vehicle, includes a guide plane and a mask. The funnel guides the guide plane to the top of the ramp during docking/charging of the underwater vehicle. Another aspect of the invention is a highly maneuverable glider including a forwardly mounted buoyancy module followed, in order, by a pitch module, a processing module, and a roll module, mounted concentrically with respect to each other. The glider may be attached to any docking system. When used in conjunction with the docking system of the present invention, the glider may be attached to either the flat funnel or the docking adapter of the docking system of the present invention.

Abstract: An underwater drone is disclosed. The underwater drone includes a horizontal propeller module and a vertical propeller module to respectively provide a drone body with a horizontal proceeding force and a vertical lifting or diving force. The underwater drone includes a horizontal channel and a vertical channel, which allow the water to pass through for reducing resistance when the underwater drone moves forwards, upwards or downwards. The underwater drone is equipped with a buoy member with an antenna portion of a communication module disposed therein. The underwater drone is equipped with the fishing device, the fish finding device and the image capturing module. Therefore, the underwater drone is capable of fishing, rapidly moving and wireless remote control.

Abstract: A computing system for an autonomous engine module stores a self-driving capability and is configured to determine, by communication between an autonomous engine module in which the computing system resides and other autonomous engine modules, and responsive to a user request for use of an autonomous engine module, at least one suitable autonomous engine module use candidate. The computing system may also generate a notification directed to the user including information relating to the at least one suitable autonomous engine module use candidate. The computing system may also receive a selection by the user of an autonomous engine module use candidate. The computing system may also, using the self-driving capability, autonomously drive the autonomous engine module to a designated pickup location responsive to selection by the user of the autonomous engine module as the autonomous engine module use candidate.

Abstract: An unmanned underwater vehicle of a system for the maintenance and inspection of permanent underwater facilities having a first interface configured for structurally and functionally coupling to an operational module selected on the basis of specific needs from a plurality of interchangeable operational modules featuring different characteristics, and a second interface configured for structurally and functionally coupling to a power and communication module selected on the basis of specific needs from a plurality of interchangeable power and communication modules featuring different characteristics.

Abstract: A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur.

Abstract: A target spar. A left jaw member. The left guidance portion has a left spiral curve. The left arm portion has a left arm profile, a left arm gear, and a left arm protrusion. A right jaw member. The right guidance portion has a right spiral curve. The right arm portion comprises a right arm gear and a right arm protrusion. A top plate member. A bottom plate member. A drive unit comprising an electric motor within a pressure housing. A drive shaft on the electric motor. The bottom plate member abuts the left jaw member, the right jaw member, and the top plate member. The left jaw member and the right jaw member opened and closed. At the closed position, the target spar is slidably received in the left and right jaw members, the top and bottom plate members, and abuts the left and right arm profiles.

Abstract: A coupling device for recovering an unmanned ship includes: a coupling unit, which is lifted and lowered by being connected to a crane provided in a mother ship; an accommodation unit provided in the unmanned ship, and having a vertically communicating coupling hole; a guide unit performing guiding such that the coupling unit is coupled to the accommodation unit, and including a towing line formed to be long, and a winch connected to the other side of the towing line so as to selectively wind or unwind the towing line; and a control unit including a sensing part for sensing the tension applied to the towing line by the driving of the winch, and a control part for lowering the coupling unit connected to the crane, if the intensity of the tension sensed by the sensing part is a preset value or higher.

Abstract: Implementations of communication devices may include: a housing having a hollow compartment in a waterproof shell. The waterproof shell may be configured to float on a surface of water. The communication device may include a computing system having a memory and a processor within the hollow compartment of the housing. The communication device may include an onboard power unit electrically coupled with the computing system. One or more radios may be coupled with the housing and with the onboard power unit and the computing system. The one or more radios may be configured to act as a gateway by receiving data from one or more watercrafts and transmitting the data to one or more receivers over a radio telecommunication channel.

Abstract: This invention relates to a subsea Remotely Operated Vehicle (ROV) hub. In particular, the invention relates to a subsea ROV hub comprising a plurality of compartments for housing and deploying a plurality of ROVs.

Abstract: An unmanned underwater vehicle may comprise a remotely operated underwater vehicle and an autonomously operating underwater vehicle. The unmanned underwater vehicle may also comprise a first connection to the remotely operated underwater vehicle. The first connection may serve to exchange data. The unmanned underwater vehicle may additionally comprise a second connection to the remotely operated underwater vehicle. The second connection may serve to supply energy. The unmanned underwater vehicle may still further include a third connection to the autonomously operating underwater vehicle, which third connection serves to exchange data.

Abstract: In a pressure-resistant glass sphere used for exploration of deep sea, ocean floor or the like, it is an important issue to reduce weight and increase a floating force while keeping pressure resistance capable of withstanding high water pressure of deep sea or the like and being used repeatedly. A pressure-resistant glass sphere of the present invention is composed of a pair of glass-made hollow hemispherical bodies, wherein the glass-made hollow hemispherical bodies are joined with each other at ground joint surfaces located on an equatorial plane of the pressure-resistant glass sphere so that the ground joint surfaces serve as a joining surface, and characterized in that a thickness of a spherical shell of the glass-made hollow hemispherical bodies is thicker at an equatorial plane portion than the portion other than the equatorial plane portion having a predetermined width from the ground joint surfaces.

Abstract: A method of adjusting buoyancy of an Unmanned Underwater Vehicle (UUV) includes measuring buoyancy drift of the UUV when underwater. After docking the UUV with a subsea station, a quantity of a flowable buoyancy-adjustment material held onboard the UUV is changed by transferring that material from the station to the UUV or from the UUV to the station. A buoyancy adjustment system for a UUV includes: an onboard tank for holding a variable quantity of the buoyancy-adjustment material and upwardly-opening and downwardly-opening passageways communicating with the tank for transferring the buoyancy-adjustment material to or from the UUV. The subsea station includes: a dock for docking a UUV; a holding tank for holding the buoyancy-adjustment material; and at least one upwardly-opening or downwardly-opening passageway aligned with the dock and communicating with the holding tank for transferring the buoyancy-adjustment material to or from the docked UUV.

Abstract: A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Abstract: A system for underwater remotely operated vehicles (ROVs) and wirelessly controlled subsystems is provided. The system comprises an ROV and a subsystem mounted to the ROV. The ROV includes a microcontroller, a main battery, and a transmitter-receiver. The subsystem includes a controller and a transmitter-receiver. The ROV is configured to communicate wirelessly with the subsystem via signals transmitted between the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise a control center having a transmitter-receiver configured to communicate wirelessly with the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise at least one relay module configured to relay signals between the transmitter-receivers of the system. The ROV of the system can also be configured to wirelessly transfer power from the main battery to the power source of the subsystem, such as by resonance coupling.

Abstract: An underwater mobile body includes: a secondary battery; a detector that detects a remaining amount of electricity stored in the secondary battery; a power generation unit that uses natural energy to generate electricity with which the secondary battery is charged; and a transition unit that when the remaining amount of electricity detected by the detector decreases below a predetermined threshold, causes transition to a charge mode in which the secondary battery is charged.

Abstract: A self-balancing pressure hull device, belonging to the field of pressure structure technology of deep-sea submersibles, being assembled by nesting, from inside to outside, a spherical inner housing, a spherical intermediate housing and a spherical outer housing around the sphere center, pairs of symmetric coaxial connecting shaft components being connected between the spherical inner housing and the spherical intermediate housing and between the spherical intermediate housing and the spherical outer housing, respectively; axes of the two pairs of connecting shaft components are perpendicular to each other so as to enable the spherical inner housing and the spherical intermediate housing to rotate relative to each other, and the spherical intermediate housing and the spherical outer housing to rotate relative to each other, and each of the connecting shaft components in the two pairs being provided with a spring damper for resisting the axial impact between each two adjacent housings.

Abstract: Techniques are disclosed for systems and methods to provide networkable sonar systems for mobile structures. A networkable sonar system includes a transducer module and associated sonar electronics and optionally orientation and/or position sensors and/or other sensors disposed substantially within the housing of a sonar transducer assembly, which is coupled to one or more user interfaces and/or other sonar systems over an Ethernet connection. The sonar transducer assembly may be configured to support and protect the transducer module and the sonar electronics and sensors, to physically and/or adjustably couple to a mobile structure, and/or to provide a simplified interface to other systems coupled to the mobile structure. Resulting sonar data and/or imagery may be transmitted over the Ethernet connection and displayed to a user and/or used to adjust various operational systems of the mobile structure.

Abstract: The subject disclosure is directed towards a submerged datacenter, which may be made up of modules, into a body of water such as the ocean. The submersion facilitates cooling of the datacenter as well as providing protection of the datacenter from environmental conditions that exist at or near the surface. Power may be generated from the datacenter heat, and power generated by or near the body of water (e.g., via waves, tides, wind, currents, temperature differences) may be used to help power the datacenter.

Abstract: The technical objective of the present disclosure is to provide an apparatus for driving a three-dimensional microgravity cable that can reproduce microgravity environments such as those experienced on the moon or Mars. To this end, the apparatus for driving a three-dimensional microgravity cable of the present disclosure comprises: a frame unit for forming a virtual space; a wire unit comprising three or more wires, provided at the frame unit; a winch unit for winding or unwinding each of the three or more wires; tension measuring units, respectively provided at the three or more wires, for measuring the tensions of the respective wires; a position sensing unit, provided at the frame unit, for sensing the position of a participant; and a support unit, positioned in the virtual space, for supporting the participant by the three or more wires.

Abstract: A system (1) for operating a subsea sensor field (2), comprises an automated underwater vehicle—AUV (10) and a subsea service station (13). A sensor (11, 12) in the sensor field (2) comprises a permanently installed base unit (11) and a removable control unit (12). The AUV (10) moves control units (12) to the service station (13) for charging and updating, and then back to the base units.

Abstract: A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Abstract: A system for mapping a thermocline in a body of fluid includes a thermocline detection and monitoring module, a persistent data storage module; and a plurality of distributed sensors, including intelligent sensors, connected with the at least one thermocline detection and monitoring module and the persistent data storage module by one or more control-level programming and communication methods. The thennocline detection and monitoring module can monitor the thermocline at sampling intervals to collect and fuse measurement data from the plurality of sensors to capture thermocline changes as events, correlate measurement data and events, store measurement data in the persistent data storage module along with previously acquired measurement data for comparison and tracking, characterize the thermocline as a function of spatial location, depth, and time, create and maintain reports that describe the thermocline characteristics, status, trends, and provide multimodal notifications of events to different users.

Abstract: Apparatuses, systems, and methods for the deployment of a plurality of autonomous underwater seismic vehicles (AUVs) on or near the seabed based on acoustic communications with an underwater vehicle, such as a remotely operated vehicle. In an embodiment, the underwater vehicle is lowered from a surface vessel along with a subsea station with a plurality of AUVs. The AUVs are configured to acoustically communicate with the underwater vehicle or a second surface vessel for deployment and retrieval operations. The underwater vehicle and/or second surface vessel is configured to instruct the AUVs to leave the subsea station or underwater vehicle and to travel to their intended seabed destination. The underwater vehicle and/or second surface vessel is also configured to selectively instruct the AUVs to leave the seabed and return to a seabed location and/or a subsea station for retrieval.

Abstract: An apparatus includes a shell having multiple ducts that define multiple flow passages through the shell. The apparatus also includes a core disposed within the shell and including one or more rechargeable power supplies. The apparatus further includes multiple drivers configured to cause water to flow through the ducts in order to maneuver the apparatus toward a host device. In addition, the apparatus includes at least one interface on the shell, where the at least one interface is configured to receive power from the one or more rechargeable power supplies and provide the power to the host device. The apparatus may be configured to dock with the host device and to be transported by and supply the power to the host device as the host device travels through a body of water.

Abstract: An apparatus for generating a pressure wave in a liquid medium is disclosed. The apparatus includes a plurality of pressure wave generators having respective moveable pistons, the pistons having respective control rods connected thereto. The apparatus also includes a plurality of transducers coupled to the liquid medium and means for causing the pistons of respective ones of the plurality of the pressure wave generators to be accelerated toward respective ones of the plurality of transducers. The apparatus further includes means for causing restraining forces to be applied to respective control rods to cause respective pistons to impact respective transducers at respective desired times and with respective desired amounts of kinetic energy such that the respective desired amounts of kinetic energy are converted into a pressure wave in the liquid medium.