Abstract: A transparent/translucent flexible resilient plastic scooper container for operation by underwater remotely operated vehicle jaws, having a flat-bottomed lower portion hollow bowl and an upper inverted bowl lid rearwardly hinged thereto and resiliently insertable into and withdrawable from the hollow of the lower portion by the closing and opening of the jaws.

Abstract: A transparent/translucent flexible resilient plastic scooper container for operation by underwater remotely operated vehicle jaws, having a flat-bottomed lower portion hollow bowl and an upper inverted bowl lid rearwardly hinged thereto and resiliently insertable into and withdrawable from the hollow of the lower portion by the closing and opening of the jaws.

Abstract: The invention involves underwater vehicles utilizing submersible electricity generation and storage systems involving flywheel devices. These underwater vehicles include autonomous underwater vehicles, remotely operated vehicles, and supporting mobile and stationary tools, stations, and equipment. The underwater vehicle utilizes a pressurizable waterproof enclosure that contains a novel combination of: electricity generation devices, flywheel power sources, energy collection control circuitry and power distribution control circuitry. The underwater vehicle combines these elements to generate and store electricity underwater or at the surface of the water to meet the dynamic electrical requirements of autonomous underwater vehicles, remotely operated vehicles and stationary underwater structures.

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: The present invention is a double-hull submersible tanker with a surround-the-hull multi-propulsion system comprised of the revolving front-drive propulsion unit in the bow, three rudders and three propellers connected over the hull to three vertical ducts integrated in the hull by their lower ends and connected by upper ends to three ballast tanks/drilling and landing platforms floating over the hull, with the stern having the rudder, propeller and a jet thruster, propelling the water pumped in by the front-drive unit. The article is a combined floating/submerged system, which travels simultaneously on the water surface and below the water level, i.e. the hull is fully submerged after the loading and remains in said suspended position due to three ballast tanks/drilling and landing platforms floating on the water surface and used for oil exploration and to refuel helicopters and VTOL aircrafts.

Abstract: The present invention is a semicircular, sharp bow submarine with a revolving front drive propulsion unit used to create a vortex to accelerate the invention, and to emit compressed air and insulating bubble-creating substances to reduce friction and prevent sonar detection. The invention has a double, steering-propelling system consisting of the rotating fin-superstructure carrying two jet engines adjustable at variable angles, and four water tanks—jet propulsion devices in the bottom, the middle section of which slides downward to launch underwater vehicles, submersible aircrafts and torpedoes and retracts after retrieving underwater vehicles and submersible aircrafts. This invention is a new means in underwater travel.

Abstract: The present invention is a semicircular, sharp bow submarine with a rotating front drive propulsion unit, rear dock, top fin with a horizontally rotating wheel-shaft, and four water tanks—jet propulsion devices in the bottom. This invention is a new means in underwater travel.

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: Methods and apparatus for hull attachment for submersible vehicles are disclosed. In one embodiment, a submersible apparatus includes a hull having an elongated channel, a sliding member moveably disposed in the channel, and a mounting assembly attached to the sliding member. The mounting assembly includes an engagement member selectively engageable between a first position wherein the mounting assembly is moveable along the channel, and a second position wherein the mounting assembly is secured in a fixed position along the channel. The apparatus advantageously permits a wide variety of equipment or devices (e.g. tow point assemblies, wing assemblies, tail assemblies, propulsion units, illumination devices, imaging devices, instrumentation, sensors, etc.) to be adjustably attached to the hull, and provides improved adjustability, maintainability, integrity, reliability, and overall improved mission performance.

Abstract: A submersible vehicle of diverse use that eliminates the compartments of ballast, and at the same time, has a horizontal displacement system and new direction.

Abstract: A submersible article comprises a buoyancy body formed from polyurethane foam having a first density, which is at least partly overmolded with a protective skin of polyurethane foam having a second density higher than the first density. The lower density foam of the body gives the article buoyancy, while the higher density protective skin strengthens the article and gives impact resistance. The protective skin can be stiffened, either uniformly or locally, by the addition of glass fiber or other reinforcing material which is arranged over the buoyancy body prior to the overmolding. The article can be made by a two-stage molding process.

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's hull has an outer wall that is at least partially constructed of a multi-wall fabric having a sealed space between at least two walls thereof. The sealed space is controllably filled with one of air, water, and a combination of air and water in order to control the buoyancy of the hull formed from the multi-wall fabric. Means are provided for propelling and steering the hull in the water. The interior volume of the hull can remain dry or can be filled with water for a wet mode of operation.

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 torpedo, submarine, destroyer, freighter, tanker, and other hull types.

Abstract: An air-delivered submersible vehicle system has a monocoque-construction shell made from a fiber-reinforced plastic material selected from the group consisting of thermoplastics and thermoset plastics. The shell is equipped with a wing kit so that it can be deployed from an aircraft and fly through the air to a destination at a surface of a body of water. The shell is further equipped as a submersible vehicle so that it can be propelled through the water once it has reached its water destination.

Abstract: The invention involves underwater vehicles utilizing submersible electricity generation and storage systems involving flywheel devices. These underwater vehicles include autonomous underwater vehicles, remotely operated vehicles, and supporting mobile and stationary tools, stations, and equipment. The underwater vehicle utilizes a pressurizable waterproof enclosure that contains a novel combination of: electricity generation devices, flywheel power sources, energy collection control circuitry and power distribution control circuitry. The underwater vehicle combines these elements to generate and store electricity underwater or at the surface of the water to meet the dynamic electrical requirements of autonomous underwater vehicles, remotely operated vehicles and stationary underwater structures.

Abstract: A system and method is disclosed for retrieving an untethered submarine tube-retrievable UUV in which the untethered submarine tube-retrievable UUV may be retrieved through the torpedo tube of a submarine. The untethered submarine tube-retrievable UUV has a capture cable extending therefrom with a transducer to produce a homing signal. A tethered homing signal seeking UUV is guided toward the homing signal. Capture arms on the tethered homing signal seeking UUV engage the capture cable and guide the capture cable to one of several cable snagging eye-members. The winching cable is then winched back into the torpedo tube thereby drawing the untethered submarine tube-retrievable UUV into the torpedo tube.

Abstract: An underwater or submersible vehicle including an elongated body having a substantially ellipsoidal forward section, a substantially cylindrical mid-section, and a tapered aft section having an internal vectored thrust propulsion system for propelling and maneuvering the vehicle through a fluid operating environment. At least two discharge nozzles are located along a horizontal beam on opposite sides of a longitudinal centerline in the aft section for providing differential and/or vectored thrust for propelling and maneuvering the vehicle through the fluid operating environment. The vehicle can also includes at least two backing nozzles capable of one or more of differential and vectored thrust for providing a backing and/or athwartships thrust to slow, stop, reverse, and maneuver the vehicle. The vehicle can also includes secondary thrust-driven propulsion system located in the forward section for providing a secondary differential and/or vectored thrust.

Abstract: A method is provided to process system test data to determine certification parameters of the system based on the test data. For a torpedo launch system, the velocity data is generated by a Pressure/Velocity/Displacement housing interfaced with a computer based data acquisition system and known launch system and test parameters, such as sample rate, muzzle exit length, time of acquisition, decimation factor and low pass cutoff frequency are provided as inputs. The method forces assigns a value of zero to any data less than a predetermined threshold in order to eliminate non-zero levels contributed by ambient noise. The method then passes the data through a filter chosen to agree with hand fit smoothing methods, so as to obtain a smoothed velocity profile. The smoothed data is processed to obtain and display an acceleration profile and a displacement profile, as well as data points for peak acceleration, time at peak, acceleration pulse width, muzzle exit velocity and time at exit.

Abstract: An assembly for an underwater vehicle that includes a motor, a duct assembly, and an actuator. The duct assembly includes a duct and a propeller mounted within the duct, where the propeller is driven by the motor. The actuator is connected to the duct assembly and the vehicle. The actuator pivots the duct assembly with respect to the vehicle. Alternatively, the assembly includes a motor, a duct having a generally cylindrical shape oriented about a longitudinal axis, and a propeller having an axis of rotation. The propeller is mounted within the duct and is driven by the motor. The propeller and the duct are connected such that the axis of rotation and the longitudinal axis have a fixed orientation with respect to one another. The assembly includes a configuration for changing an orientation of the axis of rotation and the longitudinal axis with respect to the vehicle.

Abstract: A system for providing pressurized fluid for a small device launch system is shown. The system includes a piston housing an air source aperture, a launcher bore, and a shaft aperture. A piston and piston shaft slide in the chamber with the piston shaft extending out the shaft aperture. A hydraulic control cylinder is connected to the piston shaft and a controller is joined to control the cylinder. In a preferred embodiment, the controller controls flow through a variable restriction valve positioned in hydraulic communication between sides of the hydraulic cylinder. A position indicator can also be provided for communicating the position of the piston shaft to the controller.

Abstract: A substitutive model is no more than one-third the size and weight of the archetypical model as originally built or conceived, hence is more wieldy and affordable, yet yields comparable UNDEX test data. The substitutive model comprises two congruous accordion-like “concertina” components and an intermediate smooth cylindrical sectional hull component. The concertina components each have circumferential pleats, generally describe a cylindrical shape, are coaxially joined with the intermediate hull component, and are thus so configured and arranged as to imbue the substitutive model with underwater explosion response (e.g., flexural) properties which approximate those of the archetypical model.

Abstract: A system of sensors and weapons in the form of individual cells forming a multi-functional cellular skin is provided to cover the outer surface of an underwater vehicle. The cells are engineered to have specific functional capabilities, e.g., acoustic sensing cells, communications cells, munitions cells, control cells and motive cells, and are electromagnetically attached to the vehicle. The functional arrangement of the cells types and the number of layers will be dependent on the desired capabilities and the overall mission of the vehicle. Cells may be deployed from the vehicle individually or in functional groups by decoupling appropriate cells from the vehicle. Once decoupled, motive cells can transport themselves and other cells as necessary, to positions remote from the vehicle. Groups of cells can be deployed to specific locations and arrayed in specific configurations by motive cells, allowing the vehicle to remain in a standoff position.

Abstract: A system for providing pressurized fluid for a small device launch system is shown. The system includes a piston housing an air source aperture, a launcher bore, and a shaft aperture. A piston and piston shaft slide in the chamber with the piston shaft extending out the shaft aperture. A hydraulic control cylinder is connected to the piston shaft and a controller is joined to control the cylinder. In a preferred embodiment, the controller controls flow through a variable restriction valve positioned in hydraulic communication between sides of the hydraulic cylinder. A position indicator can also be provided for communicating the position of the piston shaft to the controller.

Abstract: A reduced drag marine vessel providing a mechanism that will reduce or even eliminate the drag along the water-solid interface at the hull of the marine vessel. This mechanism is made up of a revolving elastic shell which is similar to a donut shaped belt. This belt forms an interior volume which houses rollers and a framework to support the tubular belt which can be further inflated with a gas to counter the hydraulic pressure of the water outside. Finally, this belt may be housed within a rigid outer tubular shell and contain a propeller within its center so as to form a marine nozzle.

Abstract: A system for recovering submerged devices uses two recovery tubes of an underwater recovery vehicle. A recovery member is disposed within a first recovery tube. A second recovery tube receives the submerged device. To recover the submerged device, the recovery member is extended from the first recovery tube. A capture arm, which is pivotally attached to the end of the recovery member is extended. The extended capture arm is engaged with the submerged device. The capture arm is adjusted to align the submerged device with the second recovery tube. The recovery member is retracted to recover the submerged device into the second recovery tube. Because the recovery member is not disposed within the same recovery tube that is used to house the retrieved submerged device, the submerged device may have an outer diameter approximately equal to the inner diameter of the recovery tube.

Abstract: A system and method is provided to replenish a submarine's tactical capabilities, e.g., weapons, sensors and communications, while the submarine remains within a hostile environment. One or more Underwater Combat Vehicles (UCV's) are pre-positioned at strategic locations or are launched from a surface and/or airborne platform. The UCV's include full tactical capabilities, which can attach to and be integrated with a submarine's capabilities. To initiate replenishment, a submarine broadcasts a signal, or dispatches one of the UCV's under its direct control, to make contact with one of the pre-positioned UCV's or with a central command platform. The pre-positioned UCV's are programmed to search for and locate the submarine. This can either be accomplished using signals broadcast from the submarine, or using UCV internal navigation systems and a last known position for the submarine.

Abstract: An underwater or submersible vehicle including an elongated body having a substantially ellipsoidal forward section, a substantially cylindrical mid-section, and a tapered aft section having an internal vectored thrust propulsion system for propelling and maneuvering the vehicle through a fluid operating environment. At least two discharge nozzles are located along a horizontal beam on opposite sides of a longitudinal centerline in the aft section for providing differential and/or vectored thrust for propelling and maneuvering the vehicle through the fluid operating environment. The vehicle can also includes at least two backing nozzles capable of one or more of differential and vectored thrust for providing a backing and/or athwartships thrust to slow, stop, reverse, and maneuver the vehicle. The vehicle can also includes secondary thrust-driven propulsion system located in the forward section for providing a secondary differential and/or vectored thrust.

Abstract: An underwater nuclear material reconnaissance system includes an underwater vehicle propelled/steered by a plurality of propulsion pods distributed thereabout. The underwater vehicle includes nuclear material sensors for generating sensor data indicative of the presence of nuclear material, a tunnel thruster for providing vertical thrust for the underwater vehicle, and a bi-directional communications cable deployable from the underwater vehicle. A remotely-located communications base station coupled to the bi-directional communications cable transmits control commands to the underwater vehicle and receives sensor data transmitted from the underwater vehicle.

Abstract: A system of sensors and weapons in the form of individual cells forming a multi-functional cellular skin is provided to cover the outer surface of an underwater vehicle. The cells are engineered to have specific functional capabilities, e.g., acoustic sensing cells, communications cells, munitions cells, control cells and motive cells, and are electromagnetically attached to the vehicle. The functional arrangement of the cells types and the number of layers will be dependent on the desired capabilities and the overall mission of the vehicle. Cells may be deployed from the vehicle individually or in functional groups by decoupling appropriate cells from the vehicle. Once decoupled, motive cells can transport themselves and other cells as necessary, to positions remote from the vehicle. Groups of cells can be deployed to specific locations and arrayed in specific configurations by motive cells, allowing the vehicle to remain in a standoff position.

Abstract: A system and method is provided to replenish a submarine's tactical capabilities, e.g., weapons, sensors and communications, while the submarine remains within a hostile environment. One or more Underwater Combat Vehicles (UCV's) are pre-positioned at strategic locations or are launched from a surface and/or airborne platform. The UCV's include full tactical capabilities, which can attach to and be integrated with a submarine's capabilities. To initiate replenishment, a submarine broadcasts a signal, or dispatches one of the UCV's under its direct control, to make contact with one of the pre-positioned UCV's or with a central command platform. The pre-positioned UCV's are programmed to search for and locate the submarine. This can either be accomplished using signals broadcast from the submarine, or using UCV internal navigation systems and a last known position for the submarine. Once located, communication between the submarine and UCV allows docking of the UCV onto the submarine.

Abstract: Arcuate-winged submersible vehicles having improved hydrodynamic stability and maneuverability for use in, for example, underwater payload delivery and data acquisition. In one embodiment, a submersible vehicle includes a body having a pair of outwardly projecting at least partially arcuate wings, an adjustably positionable wing steering flap hingeably attached to each wing, at least one wing flap actuator coupled to the hull and to the wing steering flaps to controllably adjust the position of the wing steering flaps, an adjustably positionable hingeable tail steering flap attached to the hull, and at least one tail flap actuator coupled to the hull and to the tail steering flap to controllably adjust the position of the tail steering flap. The arcuate wings provide improved stability and maneuverability characteristics of the vehicle. In alternate embodiments, a vehicle may include arcuate wings having a swept leading edge or a swept trailing edge, or both.

Abstract: A method and vehicle to deploy and retrieve seismic apparatus to and from the ocean bottom and to acquire data from the seismic apparatus. Submersible robotic vessels deploy and retrieve the seismic apparatus to the ocean bottom to depths of up to 5,000 meters. The vessel can separate from the seismic apparatus and return to resume seismic operations. A robotic arm manipulates the seismic apparatus and attaches them to the ocean bottom utilizing fasteners to actively couple the seismic apparatus to the ocean bottom.

Abstract: A device for launching and recovering an underwater vehicle 20 comprises a submersible assembly comprising a lower chassis 24 and an upper chassis 25, the lower 24 and upper 25 chassis being connected by a flexible connection so that the distance between the said upper 25 and lower 24 chassis is adjustable. The flexible connection and the lower 24 and upper 25 chassis form a receiving cage 23 provided with an opening 28, the vertical dimension of which can be adjusted. Moving the lower 24 and upper 25 chassis apart makes it possible to enlarge the vertical dimension of the said opening 28 so that the underwater vehicle 20 can enter or leave the cage 23 without the movements of the cage 23 due to the heave impeding the entry or departure of the underwater vehicle 20.

Abstract: Methods and apparatus for hull attachment for submersible vehicles are disclosed. In one embodiment, a submersible apparatus includes a hull having an elongated channel, a sliding member moveably disposed in the channel, and a mounting assembly attached to the sliding member. The mounting assembly includes an engagement member selectively engageable between a first position wherein the mounting assembly is moveable along the channel, and a second position wherein the mounting assembly is secured in a fixed position along the channel. The apparatus advantageously permits a wide variety of equipment or devices (e.g. tow point assemblies, wing assemblies, tail assemblies, propulsion units, illumination devices, imaging devices, instrumentation, sensors, etc.) to be adjustably attached to the hull, and provides improved adjustability, maintainability, integrity, reliability, and overall improved mission performance.

Abstract: A submersible system is provided for isolating a volume of water located above an underwater substrate and for analyzing the volume of water. The system includes a tent having a shape enclosing an area of underwater substrate and a volume of water immediately above the substrate. A support frame formed by frame members each including plural detachable sections for maintaining the shape of the tent. A securing assembly, comprising a peripheral flap held down by weights in the form of sandbags or a heavy chain serves to secure the tent to the substrate. A circulation system, located at least partially within the tent, provides circulation of the volume of water within the tent so as to maintain a circulating flow pattern within the tent. A flow through analytical system is provided for removing a portion of water from the enclosed volume of water and for analyzing at least one property of the portion of water.

Abstract: An air-delivered submersible vehicle system has a monocoque-construction shell made from a fiber-reinforced plastic material selected from the group consisting of thermoplastics and thermoset plastics. The shell is equipped with a wing kit so that it can be deployed from an aircraft and fly through the air to a destination at a surface of a body of water. The shell is further equipped as a submersible vehicle so that it can be propelled through the water once it has reached its water destination.

Abstract: A modularized unmanned marine surface vehicle contains control section and propulsion section. The control section is composed of bow section, control cabin, probing module, communication module and conjunction module. The propulsion section contains an energy cabin and a power plant cabin. The conjunction module can be combined with the energy cabin as a complete unmanned marine surface vehicle. The probing module can be the option of combining with probing instruments and equipment. The probing module's possible tasks include obtaining information on the depth of water, water quality assessment, temperature analysis and even underwater photography. The propulsion section can be battery-powered, gasoline-powered or diesel-powered. The propulsion section can be equipped with a propeller, a water jet or a turbine jet propeller of high power or low power as the power source assembly. By the modularized design, the length of the vehicle can be shrunk, for easy carry and loading.

Abstract: A device for performing yo-yo seismic shooting on the sea bed by means of a sled. An umbilical traction cable connecting the vessel to this sled passes over a set of sheaves whose relative distances apart are controlled by an actuator enabling a determined length of cable to be let out or to be taken in so as to obtain discontinuous movement of the sled.

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: An assembly for an underwater vehicle that includes a motor, a duct assembly, and an actuator. The duct assembly includes a duct and a propeller mounted within the duct, where the propeller is driven by the motor. The actuator is connected to the duct assembly and the vehicle. The actuator pivots the duct assembly with respect to the vehicle. Alternatively, the assembly includes a motor, a duct having a generally cylindrical shape oriented about a longitudinal axis, and a propeller having an axis of rotation. The propeller is mounted within the duct and is driven by the motor. The propeller and the duct are connected such that the axis of rotation and the longitudinal axis have a fixed orientation with respect to one another. The assembly includes a configuration for changing an orientation of the axis of rotation and the longitudinal axis with respect to the vehicle.

Abstract: An algorithm method of predicting estimated sea energy, wave directions and other seastate data with respect to submerged sea-going vessels, based on inputs derived from signal processed measurements of keel depth, pitch, roll and forward speed applied to three neural networks for heading detection and to a fourth neural network for seastate estimations.

Abstract: An undersea streamline vehicle having a unique system for gliding ascent, gliding descent, both with and without engine power, and for hovering in the sea for exploratory or research purposes by the provision in the vehicle of buoyancy chambers or bladders offset from the vehicle center of gravity, wherein the chambers include a piston element in a cylinder open to the sea environment. A control system effects selected positioning of the piston, thereby to regulate inflow of the sea into the cylinder or expulsion of sea water from the cylinder, thereby to vary the buoyancy of the vehicle vis-à-vis its center of gravity to control the rate of glide of the vehicle upwardly or downwardly, or to attain a stationary hover position. Ailerons and tail planes facilitate controlled direction of travel. A compressed air system precludes leakage of seawater into the buoyancy chamber.

Abstract: A drone vessel for an ROV. The drone vessel utilizes dynamic positioning. The drone vessel is remotely controlled by radio telemetry, preferably modular in construction, and may be semi-submersible. The vessel contains a radio telemetry package, one or more generators, an umbilical winch for lowering and raising an ROV, space for receiving and storing an ROV, and ballast control. The central compartment in the drone vessel is free flooding and houses the drum for storing umbilical line and the winch for paying out umbilical line to the ROV. The central compartment also includes space for the ROV.

Abstract: A method and system for inhibiting or weakening the formation of hurricanes, by detecting the onset of a hurricane in a region of open water and immediately cooling the surface water in the open water region. In the decribed preferred embodiments, the surface water is cooled by using one or more nuclear-powered submarines to pump cooler water at a depth in the open water region to the surface of the open water region.

Abstract: Arcuate-winged submersible vehicles having improved hydrodynamic stability and maneuverability for use in, for example, underwater payload delivery and data acquisition. In one embodiment, a submersible vehicle includes a body having a pair of outwardly projecting at least partially arcuate wings, an adjustably positionable wing steering flap hingeably attached to each wing, at least one wing flap actuator coupled to the hull and to the wing steering flaps to controllably adjust the position of the wing steering flaps, an adjustably positionable hingeable tail steering flap attached to the hull, and at least one tail flap actuator coupled to the hull and to the tail steering flap to controllably adjust the position of the tail steering flap. The arcuate wings provide improved stability and maneuverability characteristics of the vehicle. In alternate embodiments, a vehicle may include arcuate wings having a swept leading edge or a swept trailing edge, or both.

Abstract: An underwater craft having a buoyancy control system, multi-sealed passenger chamber and emergency shut-off for external operation using inherent buoyancy of the craft.

Abstract: The amphibious robot mine locator may be used in water-based and land-based environments to locate mines and other hazards. In a water-based environment a diver controls movement of the amphibious robot mine locator. In a land-based environment movement of the mine locator is via remote control. Mine locator includes a pair of oppositely rotating propellers which propel the mine locator through the water with a ruder being provided to control the direction of movement of amphibious robot mine locator as it travels through the water. There is also a control panel which includes the controls for allowing the diver to steer amphibious robot mine locator and control the depth of mine locator. When amphibious robot mine locator switches to a land-based mode of operation, the propellers function as wheels rotating in the same direction to move amphibious robot mine locator along a programmed path to continue its search for mines and other obstacles and hazards.

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 and also to limit the maximum angle between the axis of adjacent submersible vessels to 10.

Abstract: An umbilical constraint mechanism. The mechanism keeps the umbilical line near the center of the payload bay opening when the umbilical line is deployed. The mechanism will transfer lateral umbilical loads into the drone vessel frame near the bottom of the payload bay. A modified cone shaped structure is provided in the payload bay above the normal storage position of the ROV. The cone is mounted on a frame that is capable of sliding up or down in the drone vessel.