Abstract: The present invention provides a power unit of an underwater vehicle, which allows reduction in size and weight of a transformer for stepping down a power voltage of a power supply to increase a loading amount of a variety of devices with respect to the underwater vehicle, so as to obtain a favorable operating environment. The power unit is connected to the power supply through a cable and receives power through the cable. Further, the power unit comprises an electronic transformer having: a rectifier for rectifying a high-voltage alternate current power of the power supply into a direct current; a high-frequency converter for converting an output of the rectifier into a high-frequency alternate current; a transformer for stepping down an output voltage of the high-frequency converter; a rectifier for rectifying an output of the transformer into a direct current; and a control circuit for controlling the high-frequency converter.

Abstract: Disclosed is an underwater vehicle that can be operated as a remotely operated vehicle (ROV) or as an autonomous vehicle (AUV). The underwater vehicle has a tether, which may be a fiberoptic cable, that connects the vehicle to a control console. The underwater vehicle has vertical and lateral thrusters, pitch and yaw control fins, and a propulsor, all of which may be used in an ROV-mode when the underwater vehicle is operating at slow speeds. The underwater vehicle may also be operated in a AUV-mode when operating at higher speeds. The operator may switch the vehicle between ROV-mode and AUV-mode. The underwater vehicle also has a fail-safe mode, in which the vehicle may navigate according to a pre-loaded mission plan if the tether is severed.

Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. The vehicle further comprising means for rolling the vehicle about the hull axis. A buoyancy control system may be provided, and the outer hull may be swept with respect to the hull axis. Various methods of deploying and using the vehicle are described.

Abstract: An ice fishing submarine for carrying an end portion of a fishing line radially away from an ice fishing hole comprising: i) a hull enclosing a propulsion system which includes a battery which powers an electric motor which turns a propeller; ii) a power switch to begin propulsion away from the ice hole; and, iii) a tether having an unfixed end secured to the submarine and configured to interrupt power to the propulsion system when the tether becomes taut. When the submarine travels the distance of the length of the tether radially away from the ice hole the tether then becomes taut thereby automatically switching power off to the propulsion system of the submarine, and thereby eliminating the necessity of running control wires extending down through the ice hole to the submarine and monitoring the travel of the submarine to turn off power at an appropriate time.

Abstract: A submersible electronics device for use in a body of water and a substratum floor below the body of water includes a submersible housing, an operational electronics system, and a mobility system. The operational electronics system is mounted in and/or on the housing. The operational electronics system is adapted to communicate with another device and/or to sense at least one of a physical signal and an environmental parameter. The mobility system is selectively operable to fluidize the substratum, vibrate the housing, and/or adjust a buoyancy of the submersible electronics device to selectively move the housing into the substratum to at least partially bury the housing in the substratum and/or to selectively move the housing out of the substratum to at least partially unbury the housing from the substratum.

Abstract: An actuator that at least inhibits the deleterious effects of corrosive fluids, such as seawater, does not rely on relatively expensive materials, and is capable of operation and relatively high pressures includes two sealed buffer chambers. One buffer chamber is supplied with a buffer fluid, and the other buffer chamber is maintained at a vacuum pressure. The buffer fluid in the first buffer chamber helps remove any residual corrosive fluid that may remain on the actuator translation member as it moves into the actuator housing, and any fluid that leaks into the second chamber will boil as a result of the vacuum pressure therein.

Abstract: A cleaning device for a seismic streamer includes a housing placeable the exterior of the streamer. A turbine is associated with the housing and is configured to be rotationally driven by movement of the streamer through a body of water. A drive element is associated with the housing and is configured to convert rotational motion of the turbine to motive power to move the housing along the streamer. At least one cleaning element is associated with the housing and is cooperatively engaged with the exterior of the seismic streamer. A method for cleaning a streamer includes towing the streamer through the water. Motion of water is converted into motive power to move a cleaning device along the streamer.

Abstract: A submarine has a pressure hull (20) which includes a number of adjoining transparent viewing sections (21 and 22) in the shape of truncated spheres. The sections (21 and 22) are clamped to a body section (23, 24) by a cage (40) and tension rods (44) which pass slidably through a thrust ring (38) interposed between the transparent sections. Access to a passenger compartment within the pressure hull is obtained via a hatch (32) in a mid section (23). The pressure hull is housed in an external hull designed for surface cruising. Ballast tanks are formed between pressure hull and the external hull, and the tie rods pass through low pressure seals to pivotal anchorage points within the ballast tanks.

Abstract: A propulsion system is provided for an underwater vehicle such as a Remote Operated Vehicle (ROV). Two propellers are independently driven by motors, while the orientation of the propellers is simultaneously controlled by a third motor. A means is provided for reprogramming the control electronics that can be disabled when the vehicle is underwater. The control electronics also provides that all signals including video are transmitted to a base station without requiring coaxial cable.

Abstract: Pollutants such as hydrocarbons which have settled on the bed of a body of water are removed to the surface using a submersible vehicle positioned above the bed of a diver supported on a platform above the pollutant. A wand at one end of a pipe evacuated by a centrifugal pump is manipulated to draw the pollutant to the surface for treatment or disposal.

Abstract: A cleaning device for a seismic streamer includes a housing placeable the exterior of the streamer. A turbine is associated with the housing and is configured to be rotationally driven by movement of the streamer through a body of water. A drive element is associated with the housing and is configured to convert rotational motion of the turbine to motive power to move the housing along the streamer. At least one cleaning element is associated with the housing and is cooperatively engaged with the exterior of the seismic streamer. A method for cleaning a streamer includes towing the streamer through the water. Motion of water is converted into motive power to move a cleaning device along the streamer.

Abstract: A remotely controlled apparatus for transporting liquid, such as oil, toxic chemicals, or the like, in a tank of a sunken ship to a floating body, without leakage and a method performed by the apparatus are disclosed. An underwater recovery device (100) of the apparatus includes a supporting frame (10), to which a plurality of devices including a linkage (111) are fixed, chucking devices (20) for fixing the underwater recovery device (100) to the sunken ship (500), a grabber (30) for attaching the base plate (80) to the supporting frame (10), DTB systems 40 for attaching the base plate (80) to the sunken ship (500), thrusters (50) for providing a propulsive force so as to attach the supporting frame (10) to the sunken ship (500), a hole cutter (60) for drilling a hole for the recovery of the liquid, and a liquid recovery device (70) for recovering the liquid through the hole drilled in the sunken ship (500).

Abstract: Methods and apparatus for monitoring a remotely operated vehicle umbilical condition in real time allowing for improving of power delivery as well as early detection of threats to integrity of the umbilical. The umbilical may include an optical fiber. Processing equipment may enable distributed temperature sensing along the optical fiber.

Abstract: An actuator that at least inhibits the deleterious effects of corrosive fluids, such as seawater, does not rely on relatively expensive materials, and is capable of operation and relatively high pressures includes two sealed buffer chambers. One buffer chamber is supplied with a buffer fluid, and the other buffer chamber is maintained at a vacuum pressure. The buffer fluid in the first buffer chamber helps remove any residual corrosive fluid that may remain on the actuator translation member as it moves into the actuator housing, and any fluid that leaks into the second chamber will boil as a result of the vacuum pressure therein.

Abstract: An underwater vehicle includes a shaft with a propeller disposed thereon; a generator/motor having a stator and a rotor, the rotor being operable to rotate with the propeller; at least one energy storage device connected to the generator/motor; and a controller for setting the generator/motor in a charge mode, a propulsion mode and an idle mode.

Abstract: A safety system for underwater propulsion devices operated by scuba divers includes sensors that detect the vertical velocity of the device. If the descent or ascent is greater than 60 feet per minute, the system reduces the vertical speed by changing the pitch of the device or reducing the speed of the device. By regulating the vertical speed, the device can be used safely with less chance of injury to the scuba diver due to rapid compression or decompression.

Abstract: A diving device is provided herein. The diving device includes a sealed main body and an actuator. The sealed main body has a flexible portion disposed on one part of the sealed main body. The flexible portion is controlled by the actuator to change the volume of the diving device. Therefore, a force is generated to drive the diving device moving upward or downward.

Abstract: An encapsulated module (14) for an unmanned underwater vehicle (UUV) (V) is formed with an operational component (16) and encapsulating material (60). The encapsulant (60) forms a rigid capsule surrounding the operational component (16). The capsule (14) has a least one exterior surface (18) that assists in forming the exterior surface (26) of the UUV (V) when the capsule (14) is combined into the UUV (V).

Abstract: An unmanned underwater vehicle (UUV) (V) includes a steering unit (10) for directional control of the UUV (V) with an exterior surface (12) and at least one interchangeable module component (14) for housing a desired operational unit (16) appropriate for a chosen mission profile. The interchangeable module (14) has an exterior surface (18) preferably impervious to the intrusion of water (20). A frontal portion (22) may be adapted for fluid flow. The exterior surfaces (10, 18, and 24) of the steering unit (10), the interchangeable module component (14) and the frontal portion (22) form a substantially smooth surface envelope (26).

Abstract: A composite wall structure for use in a building, such as a geodesic dome, or the outer hull of a pressurized vehicle, such as an airship or submarine, is formed by interconnecting a plurality of three dimensional triangular shaped cells into a shape of desired contour, such as planar or curved, with each individual cell having a sealed chamber that is pressurized, and securing a fluid impervious closure skin to the connected array of cells. Each cell is formed by connecting planar rectangular sidewalls into a triangular frame having opposite sides and attaching a planar triangular panel to each side of the frame in a manner to form a pressure sealed chamber. The hull structure of predetermined shape is capable of captivating a volume of air and/or resisting buckling or failure resulting from fluid pressure on the hull during operation in air or water environments.

Abstract: An unmanned autonomous submarine which can float, dive and move in water to perform various tasks. The submarine includes a pressurized cabin which is necessary for the diving and flotation system to work properly. This also helps to increase its sealing power against water leakage into the cabin. The submarine is autonomous, that is automatic and self controlled. It is propelled by water jet propulsion. It can be programmed to dive to preset depths, move along preset trajectories, and return to the base after completing the assigned tasks. A remote control option is provided in order to perform special tasks. The submarine is equipped with several sensors that can measure depth, orientation, attitude, location and speed. It is also equipped with an underwater video camera that can send wireless video pictures from underwater to a monitor above water surface.

Abstract: A transonic hull having a bow, a stern, a longitudinal length therebetween, side surfaces extending from the bow to outboard portions of the stern, a lower surface extending between the side surfaces, the transonic hull having a submerged volume with an approximately triangular shape in plan view with apex adjacent the bow and a base adjacent the stern, and an approximately triangular shape in side view when in motion with a base adjacent the bow and an apex adjacent the stern.

Abstract: Submarines with air-charged cargo holds are provided. The pressurize hull of a traditional submarine's cargo hold is replaced by non-pressurized hull, which lowers costs for transporting dry cargo and solves strength and seal problems raised when providing large openings for hatches. The dive depth of the air-charged cargo submarines is not large, so the pressure and volume of the charged air in the cargo hold are limited. This allows problems associated with ensuring the safety of the crew and properly operating the submarine to be easily solved.

Abstract: A submersible surface-planing vessel has the capability to operate with a lowered profile on surface propulsion to lessen the visibility of the vessel, and sink to the bottom for temporary storage, followed by resurfacing and dewatering to operate as a planing craft. Surface propulsion is provided by an engine system which can be totally sealed when the vessel submerges. A buoyancy system, which may include both open and closed ballast tanks, permit the vessel to sink, refloat or to be of neutral buoyancy as required. The vessel is constructed to maintain the center of buoyancy above the vessel's center of gravity irrespective of the degree of fill of the ballast tanks to maintain the vessel in an upright orientation at all times when under water and transitioning between surface and submerged states.

Abstract: A modular watercraft capable of both surface and submersible accommodation and transport of passengers. In one embodiment of the submersible watercraft of this invention, the hull comprises air bladders, thereby avoiding the engineering complexity, weight and cost of constructing a pressure hull.

Abstract: An ROV comprising a topside, a fish and an umbilical cable for connecting the topside and the fish together. The fish is adapted to be powered by an onboard battery inductively coupled to the fish. The cable is of a fine diameter to reduce drag through the water. RF transmissions carry control and return signals to and from the fish and topside. The fish has two cameras. The front facing camera is located behind a dual layer flooded dome. A pan and tilt mechanism is fitted to one of the cameras and uses a pivotable gimbal frame driven by a lead nut moving along an arcuate bolt.

Abstract: A platform assembly of circular plates are yieldably held positioned by a support mounted on an underwater vehicle propelled under remote control within seawater to a location below an underwater surface such as the bottom of a ship hull, for surface measurement survey of such surface through sensors that are projected upwardly from the positioned platform assembly into contact with the surface under spring bias pressure established during survey measurement.

Abstract: A health monitoring system for an unmanned underwater vehicle (UUV) is disposed within a submerged docking station. The health monitoring system receive signals representative of performance of the docking station equipment and uses the data to determine the health status of the docking station equipment, to generate health status data representative thereof, and transmits the health status data to a remote station. The health monitoring system also retrieves health status data from UUVs that are periodically docked in the docking station, and transmits this data to the remote station.

Abstract: The simulator of the present invention comprises a submersible structure to be used in a body of water, for instance a pool. This structure comprises a bell defining a main chamber. An escape tower is provided over the bell. This escape tower defines an escape chamber communicating with the main chamber. The escape tower has a lower hatch between the main chamber and the escape chamber, and an upper hatch separating the escape chamber from outside the submersible structure. The simulator also comprises a mechanism for vertically moving the submersible structure relative to the water surface. A method of performing underwater submarine escape training is also disclosed. The simulator allows such training to be conducted in a safe and controlled environment.

Abstract: A submersible craft for water purification is provided. The submersible craft includes an annular hollow housing which contains a plurality of guide vanes for directing water flow through the housing when the submersible craft is submersed in a body of water and also a plurality of filters for filtering contaminants from the water. The craft includes a drive system and a navigation system for allowing a user control over thrust, depth and navigation through the body of water. Both the drive system and navigation system may be remote controlled by the user, or controlled by a pre-programmed guidance system mounted within the hollow housing. The submersible craft is powered by rechargeable batteries, which may be recharged by solar panels mounted on the craft, in order to minimize pollutants generated by the on-board systems of the craft.

Abstract: A corrosion resistant connection system including a base structure, a threaded orifice in the base structure, a seal about the threaded orifice and a threaded stud with a distal end, a proximal end, and an intermediate shoulder defining a sealing surface opposing a support surface. The distal end of the threaded stud is received in the orifice of the base structure driving the sealing surface of the shoulder to engage the seal to prevent corrosion of the threaded orifice, while maintaining electrical continuity. A terminal is disposed about the proximal end of the threaded stud seated on the support surface of the shoulder. A threaded nut is disposed about the proximal end of the stud engaging the terminal.

Abstract: The submarine is equipped with a fluid gas pressure container, in particular for storing liquid oxygen. The liquid gas pressure container is arranged within the pressure hull of the submarine and is surrounded by an outer pressure container which is likewise stored within the pressure hull of the submarine. A device is provided which on exceeding a predefined pressure within one pressure container leads fluid from the pressure container out of the pressure hull.

Abstract: The method of constructing a hull for ocean profiling or gliding vehicles which reduce the energy required to make vertical excursions. Composite materials are used in constructing the hull, specifically a fiber reinforced matrix, wherein the choice of the fiber material and orientation allows a balance of strength and elastic properties optimized for oceanic profilers and gliders thereby allowing operations with minimum energy expenditure.

Abstract: The invention comprises a method of using a scalable, configurable “propulsor” system to move and navigate a submersible device through a fluid medium. A propulsor system is an assembly of individual propulsors that act in concert to form a substantially continuous control surface that undulates in a working fluid. Each propulsor is driven and configured by computer-controlled actuators so that the control surface undulates in various wave forms. Optional actuators that may refine the surface shape include an “orientation” actuator that drives rotation about the propulsor's longitudinal axis, and a “geometry” actuator that controls each propulsor's geometric configuration.

Abstract: A charging system for an unmanned underwater vehicle (UUV) is disposed within a submerged docking station. The charging system includes a battery, one or more generators, and a charge controller. The battery supplies electrical power to an electrical distribution bus in the docking station. The charge controller monitors the charge state of the battery and, when needed, activates one or more of the generators to recharge the battery. The charge controller also activates one or more of the generators when a UUV is docked in the docking station for recharging of its power plant.

Abstract: A method is disclosed for operating an underwater vehicle. According to the method, the pressure difference between a container which can be filled with water and/or gas, especially air, in order to alter the weight of the vehicle and the water pressure outside the vehicle, is regulated to a predeterminable set value. A suitable device for carrying out this method, includes a circuit for regulating pressure difference between the pressure inside the container an the water pressure outside the vehicle to a predeterminable set value.

Abstract: An air bag launch assembly is disclosed which allows for modular loading onto a submarine, the launch of weapons or vehicles external to the submarine pressure hull, while also achieving greater packing density. The air bag launch assembly includes a large, watertight pressure container; one or more smaller, watertight canisters used to contain the weapon or vehicle. The canisters are sized to fit within the larger pressure container. An air bag inflator is attached to the top and/or sides of the small canister to buoy the canister out of the container.

Abstract: Embodiments of the present invention provide a gliding submersible transport system. Exemplary submersible gliders have wings capable of providing sufficiently high lift-to-drag ratios such that the submersible gliders of may be used for transporting large volumes of military or commercial hardware, equipment, personnel, or the like. According to one exemplary embodiment of the present invention, a submersible glider has a step-wise glider range. The glider includes a substantially cylindrical hull having a bow and a stern. A generally planar lifting surface is disposed toward the stern. The lifting surface has a pair of generally planar stabilizer surfaces that extend generally perpendicular to a plane of the lifting surface from ends of the lifting surface. A nose cone and at least one steering device are disposed toward the bow.

Abstract: A novel concept for a hydrodynamically and aerodynamically improved leading edge and trailing edge structure is primarily suited for high-speed motion, such as near Mach 1 and above, but also for slow-speed motion and for stationary operation, where stationary structures are subjected to fluid flow. The configuration incorporates the model of the natural wave behavior. The leading edge of the aircraft, of the train, of the submarine, or the like, has a sharp tip which merges smoothly into a cylindrical or rectangular body. The merging segment from the tip to the cylinder may be defined with a tangent function. The rounding of the surfaces promote proper fluid sheet formation along the surface and to reduce undesirable vortice formation and thus to reduce the value of several drag factors.

Abstract: A remote operated vehicle system comprises a topside, a fish equipped with a GPS receiver, a transmitter for transmitting GPS position data, and a receiver operable to receive the transmitted position data. Transmission may be from the fish to the topside or from the topside to the fish. Alternatively, a second transmitter and receiver give two-way transmission. These arrangements allow the position of the fish to be monitored or tracked, so that it can be readily rescued in the event of damage or breakdown. Alternatively, predetermined position data can be sent to the fish, allowing it to automatically navigate a desired route. Particular embodiments include an umbilical cable for connecting the fish and the topside together and operable to carry signals, including position data, between the two, an additional GPS receiver on the topside so that the fish can navigate to the topside unaided, and a buoyancy control device which brings the fish to the surface.

Abstract: Devices for navigating in a fluid medium having a solid boundary include a vehicle body and a fin attached to the vehicle body. The fin is configured to oscillate relative to the body such that interaction between the fin and the fluid medium produces propulsive forces that propel the vehicle body in a desired direction in the fluid medium. The fin is also configured to rotate relative to the body along a transverse axis such that engagement between the fin and the solid boundary propels the vehicle body in a desired direction on the solid boundary.

Abstract: An ROV comprising a topside, a fish and an umbilical cable for connecting the topside and the fish together. The fish is adapted to be powered by an onboard battery inductively coupled to the fish. The cable is of a fine diameter to reduce drag through the water. RF transmissions carry control and return signals to and from the fish and topside. The fish has two cameras. The front facing camera is located behind a dual layer flooded dome. A pan and tilt mechanism is fitted to one of the cameras and uses a pivotable gimbal frame driven by a lead nut moving along an arcuate bolt.

Abstract: A submersible vehicle comprising a plurality of rigid submersible vessels 2, 3, some of which, 2, include propulsion means and some of which, 3, do not include propulsion means, the rigid submersible vessels being coupled by resilient couplings which are adapted to transmit pulling and braking forces between adjacent rigid submersible vessels. Steering means and position sensing means is provided on at least some of the submersible vessels whereby to ensure that the following submersible vessels follow exactly the lead vessel to avoid fixed obstructions.

Abstract: A vessel hull that does not create bow, stern, or transverse waves when moving through the water having an exterior surface that has a substantially constant cross-section along the length of the hull, and an interior surface that substantially encloses a flow channel for the length of the hull, the interior surface forming a converging-diverging diffuser. One standing half wave is contained within the hull, and no waves are generated outside the hull. The hull operates most efficiently at higher speeds, and has broad applications, including icebreaker, hybrid displacement and waveless hull, and other hull types.

Abstract: A remotely controlled submersible vehicle comprises a fore section and an aft section. In use, they are held apart from each other, such as by telescopic arms, in order to define a gap within which a payload is received. This keeps the payload near the center of the vehicle, improving the balance of the vehicle and minimizing any threat of disruption to the wash path of thrusters.

Abstract: A system and method autonomously clears obstacles and mines from an approach lane. A ship is distantly located from an approach lane spanning a surf zone and beach portion, and the ship has operator control station software in an onboard computer. At least one system delivery vehicle having a storage bay and propulsion system transits from the ship to the approach lane in response to instructions from the operator control station. A line charge is disposed in each bay and has one end coupled to the system delivery vehicle. A line charge delivery vehicle in the bay is connected to another end of the line charge to pull the line charge from the bay and emplace it in a straight path in the approach lane in response to instructions from the operator control station. Explosives in all line charges are detonated to clear the approach lane.

Abstract: An assembly for launching bodies from an underwater platform having a pressure hull, and an outer hull subject to free flooding. The assembly includes a module having a proximal end outboard of the pressure hull portion of the platform, a distal end disposed proximate and in alignment with a launch opening in the outer hull portion, and a chamber in the module extending from the distal end of the module to proximate the proximal end of the module, the module chamber being adapted to receive and retain one of the bodies. Support structure on the platform retains the module. A pump on the platform is in communication with water outside the pressure hull, and an impulse tank on the platform is in communication with the pump. A manifold is in communication with the impulse tank for directing outflow of water from the impulse tank to the chamber to eject the body from the chamber.

Abstract: The method of providing in excess of 60 kilowatts of electrical power to the electrical motor of a subterranean electric drilling machine through a substantially neutrally buoyant composite umbilical containing electrical conductors to reduce the frictional drag on the neutrally buoyant umbilical. Drilling and casing subterranean monobore wells are contemplated to distances of 20 miles from a wellsite. For drilling applications, the umbilical possesses a drilling fluid conduit. The umbilical also possesses high speed data communications such as a fiber optic cable or a coaxial cable that is used in the feedback control of the downhole electric drilling motor. Such umbilicals are also useful to provide power to remotely operated vehicles for subsea well servicing applications.

Abstract: The apparatus comprises a generally cylindrical or sleeve-like or tubular housing 2 having an opening at one end which is locatable to be in sealing engagement with the outer surface of part of the hull 3 of a submarine with said housing 2 forming a water evacuable space around the propulsor unit 1 of the submarine, and access passages or ducts 4,5 for work personnel in communication with said space and extending upwardly from said housing 2 such as to, in use, to be above the surface of the water in which the submarine is floating.

Abstract: An assembly of underwater bodies and a launcher therefor. The assembly is adapted for mounting on a submarine outside the pressure hull. The assembly includes a launcher having a housing for enclosing an underwater body, a body support structure within the housing for supporting the body, a pressure regulator system in communication with the housing for imposing a selected pressure on an interior of the housing, a hatch pivotally mounted on the housing, and an actuator for opening the hatch to permit the body to exit the hatch, and for closing the hatch. The underwater body is a self-propelled body adapted to exit by gravity from the launcher. A release device is disposed on the launcher for releasing the body from the launcher to permit the exit of the body from the launcher by gravity.