Abstract: A manufacturing system includes a plurality of manufacturing process stations for processing a workpiece, and at least one drone for transferring the workpiece among the manufacturing process stations. It is preferable that the manufacturing system includes a detecting station for detecting contamination or corrosion of the at least one drone, and a washing station for washing the at least one drone.

Abstract: Buoyant sensor networks are described, comprising floating buoys with sensors and energy harvesting capabilities. The buoys can control their buoyancy and motion, and can organize communication in a distributed fashion. Some buoys may have tethered underwater vehicles with a smart spooling system that allows the vehicles to dive deep underwater while remaining in communication and connection with the buoys.

Abstract: A system and method are provided for launching and recovering an unmanned, water-born vehicle (UWBV) from a mother ship. The UWBV mimics the behavior of dolphins and is positioned ahead of the ship in preparation for bow riding. The UWBV uses a guidance system to position and keep in the bow wave. A high-frequency (HF) sonar transceiver array aboard the ship computes and sends course corrections to maintain the UWBV within the bow wave. The frequency range of the HF array can be 100 kHz or higher due to the short distance between the ship and the UWBV. Accordingly, the HF array can have a small aperture allowing for accurate bearing resolution. Course corrections can be sent on a near-continuous basis such that changes in thrust and rudder angle can be minimized to allow for accurate control of the UWBV.

Abstract: A system includes a support structure having a compressed air tank therein, a pneumatic launch assembly coupled to the support structure, and an inflatable bladder disposed around at least a portion of a region defined by the support structure and the pneumatic launch assembly. The angle of the pneumatic launch assembly with respect to the support structure is adjustable. The pneumatic launch assembly comprises a launch tube, a compressed air manifold contained within the launch tube and in fluid connection with the compressed air tank, the compressed air manifold having an air outlet, a telescoping guide rod connected to the compressed air manifold, and a shuttle slidably coupled to the telescoping guide rod and at least partially disposed over the air outlet. The system may include a collapsible stabilizing weight coupled to the support structure, as well as communications and control circuitry within the launch tube.

Abstract: Methods and apparatus for marine deployment according to various aspects of the present invention may operate in conjunction with a floatable housing adapted to be deployed by a marine vehicle. The floatable housing may be adapted to be launched from a marine vehicle and rise to the surface. Assets, such as an unmanned aerial vehicle, may be deployed from the surfaced floatable housing.

Abstract: An inflatable buoy launch and retrieval system comprises an underwater platform, a launch/retrieval tube within the underwater platform, and a mechanism for ejecting and retrieving an inflatable buoy from the launch/retrieval tube. The ejection mechanism comprises a reel within the tube for unwinding a length of a tether attached to the buoy and a mechanism for introducing a high pressure gas into the tube.

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: A launcher for torpedoes and underwater vehicles includes an inlet recess in fluid communication with a shutterway recess. A primary shutterway is provided both for ejection of the vehicle and for supplying fluid intake to the launcher. A pump circulates fluid from the inlet recess to the shutterway recess, and a launch tube houses a vehicle such as a weapon, within the launcher prior to launch thereof. A slide valve and impulse tank combination are positioned intermediate the pump and the launch tube, such that the slide valve controls a flow of fluid to the launch tube. A guide can is positioned at the shutterway recess for guiding the vehicle from the launch tube to an exterior of the launcher and fluid within the launcher is continually moderated to enable selective launch of the vehicle with a fluid force.

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: An elastomeric disk for use in an elastomeric ejection system in which a thickened curvature protrudes from both sides of a central plane of the disk. Integral to each curvature is an annulet which dovetails from the curvatures to a periphery of the disk. The thickness of the annulet in regard to the central plane is greater on the fluid pressure side of the disk thereby shifting material strain to the center of the disk during expanding deformation. The annulet shape is attachable to the elastomeric ejection system by a clamp of the system.

Abstract: An apparatus for controlling fluid pressure recovery includes an elongated housing having an opening at a first end thereof, an opening at a second end thereof, an inner peripheral surface, and a fluid flow passageway therethrough. The apparatus further includes a plurality of choke members fixed to the inner peripheral surface of the housing, each of the plurality of choke members being spaced from an adjacent choke member and projecting a predetermined distance into the fluid flow passageway of the longitudinal housing. The plurality of choke members sequentially produce a reduced turbulent free shear fluid layer from the first end to the second end of the elongated housing.

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: A flexible nose assembly for an underwater vehicle provides increased energy-absorbing capabilities and facilitates recovery and handling of the vehicle. The flexible nose assembly includes a flexible nose cap, at least one retrieval device, and at least one cable that is strong in tension, yet weak in compression which is coupled between the retrieval device and the UUV body. The flexible nose cap has a gap formed therein allowing the communication of environmental water into the region between the vehicle body and the nose cap. Optionally, the retrieval device may be recessed into the flexible nose assembly, thereby reducing hydrodynamic drag and overall vehicle length. Energy-absorbing ballast can be positioned within the nose cap in order to further enhance survivability.

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 launching apparatus including a launch tube having fore and aft ends, each end having an opening formed therein. A muzzle cap is fitted to the fore end and a breech mounting is formed at the aft end. A primary housing is seated in the aft end, the primary housing having fore and aft ends. A first telescoping cylinder containing a first telescoping piston is positioned within the fore end of the housing and a second telescoping cylinder containing a second telescoping piston is positioned within the aft end of the housing. A ram plate and a breech mounting are connected to the first and second pistons respectively. A gas generator is provided within the housing and a projectile is seated between the ram plate and muzzle cap. The first and second cylinders and the first and second pistons expand from the housing and propel the projectile.

Abstract: A retrofitable breech is disclosed for use on existing tubes for launching vehicles, such as torpedoes. The breech utilizes gas generators such as commercial off the shelf automotive airbag inflators, for propelling the torpedo from the tube. A plurality, typically three or four, generators are used and are fired in sequence with a controlled time delay. A retrofitable device is also disclosed for activating the weapons securing mechanism to release the torpedo. In addition, a release mechanism is disclosed for pulling the electrical connector plug on the torpedo. The sequence of releasing the torpedo, retraction of the plug and firing the inflators is controlled by a controller upon initiation of the firing sequence.

Abstract: The invention relates in particular, to a torpedo tube having supporting devices able to support the torpedo and limit its friction when launched, such as slides. These supporting devices may be variable-geometry devices able to assume at least two positions, namely one through which there passes a circle whose diameter is equal to the maximum permissible diameter of the torpedo, and a second through which there passes a circle with a smaller diameter than the permissible diameter. These supporting devices may include inflatable bladders.

Abstract: A countermeasure launcher system, for use by a submarine, reducing any detectable signature by preventing the escape of pressurized gas into seawater at the forward end of the system's launch tube upon launching a countermeasure. The pressurized gas that is used in launching the countermeasure is trapped within the launch tube by a unique arrangement of specific components. The pressurized gas is then permitted to slowly exit at a later time via a pressure relief valve in the launch tube's wall.

Abstract: The invention provides a system for attaching one or more unmanned, hydroamically shaped, autonomous, undersea platforms to the bow of a submarine. An array of depressions, each matching the shape of the platforms, is provided in the bow of the submarine, equally spaced about the circumference of the submarine. Once seated in the depressions and attached to the submarine, the platforms provide a smooth, hydrodynamic shape to the bow of the submarine. Additionally, conformal arrays on the platforms mate with conformal arrays on the bow of the submarine to form a continuous conformal array and the platforms' weapons systems provide the submarine with forward deployed weapons when the platforms are attached. A platform is launched by detaching it from the submarine bow and raising the leading edge of the platform slightly into the water flow around the bow. Hydrodynamic forces lift the platform away from the submarine for an acoustically quiet launch.

Abstract: An unmanned undersea vehicle system comprises a remote-controlled, unmanned ndersea vehicle and a mother vehicle interconnected by a communication link. The unmanned undersea vehicle includes a weapon compartment and a control element. Within the weapon compartment are a weapon and buoyancy chamber positioned axi-symmetrically therein. The buoyancy chamber is initially empty and has sufficient capacity so that it can be loaded with seawater whose mass approximates mass of the weapon. The weapon compartment further includes a controllable valve for enabling seawater surrounding the vehicle to fill the buoyancy chamber. The control element controls the deployment of the weapon by expelling the weapon from the weapon compartment and thereafter controls the firing of the weapon. The control element further controls the valves during weapon deployment to enable filling of the buoyancy chamber to maintain a predetermined distribution of mass as the weapon is deployed.

Abstract: An unmanned undersea vehicle system comprises a remote-controlled, unmanned ndersea vehicle and a mother vehicle interconnected by a communication link. The unmanned undersea vehicle includes a weapon compartment, an erectable observation mast and a control element. Within the weapon compartment are a weapon and a buoyancy chamber positioned axi-symmetrically therein. The buoyancy chamber is initially empty and has sufficient capacity so that it can be loaded with seawater whose mass approximates mass of the weapon. The weapon compartment further includes controllable intake valving for enabling seawater surrounding the vehicle to fill the buoyancy chamber. The erectable observation mast obtains environmental information. The control element controls the deployment of the weapon by expelling the weapon from the weapon compartment and thereafter controls the firing of the weapon. The control element cooperates with the intake valving to maintain a predetermined distribution of mass as the weapon is deployed.

Abstract: An unmanned undersea vehicle system includes an axi-symmetrical cylindricy-shaped self-propelled undersea deployment vehicle of predetermined diameter having an amidships undersea weapon bay. The amidships undersea weapon bay includes a number of weapon deployment devices symmetrically disposed about a central core, each weapon deployment device having a weapon canister for carrying a weapon. The weapon deployment devices are pivotable between a retracted, non-deployed position and an extended, deployed position, and have a surface which, when the weapon deployment devices are in their retracted, non-deployed positions, conforms to the vehicle's cylindrical shape, and when in their extended, deployed positions place the weapon canisters beyond the vehicle's diameter. Each weapon canister has a sidewall conforming to the shape of the weapon contained therein, and end caps at opposing ends.

Abstract: An unmanned undersea vehicle system comprises an axi-symmetrical cylindrily-shaped self-propelled undersea deployment vehicle of predetermined diameter, the undersea deployment vehicle having an amidships undersea weapon compartment. The weapon compartment includes elements for receiving a weapon and a buoyancy chamber positioned axi-symmetrically within the weapon compartment. The buoyancy chamber is initially empty and has sufficient capacity so that it can be loaded with seawater whose mass approximates the mass of the weapon. The weapon compartment further includes controllable valves for enabling seawater surrounding the vehicle to fill the buoyancy chamber. A control element controls the deployment of the weapon by expelling the weapon from the weapon compartment and thereafter controlling the firing of the weapon, contemporaneously controlling the valves during weapon deployment to enable filling of the buoyancy chamber to maintain an axi-symmetrical distribution of mass as the weapon is deployed.

Abstract: A weapons-handling and discharge system for a submarine which comprises a rotatable rack for attachment around the exterior of the pressure hull of a submarine, canisters to contain weapons, an exterior casing provided around the pressure hull, forward or rearward facing apertures in the casing, and a mechanism for discharging the weapon from the canister and through the aperture. The canisters are located between the pressure hull and the exterior casing and are locked to the rack.

Abstract: A system for launching a weapon from a submarine comprises a tube for receiving the weapon, a ram assembly for launching the weapon, an actuator for actuating the ram assembly, and a volume within which water is received, the weight of the water received in the volume being approximately equal to the weight of the expended weapon. The ram assembly includes a ram head for transmitting a launching force to the weapon and a plurality of telescoping cylinders, the telescoping cylinders extending within the tube when the weapon is launched. The volume within which the water is received is formed between the tube and the telescoping cylinders in their extended position.

Abstract: An apparatus for pressurizing a submarine launch tube in order to launch a evice therefrom includes a weighted first piston received in a vertically disposed first cylinder member, a second piston received in a second cylinder member, a connecting rod mechanically connecting the first and second pistons and a conduit connecting the second cylinder member to a launch tube. The first piston member is constructed such that downward gravitational movement thereof in the first cylinder member is operative for moving the second piston member in the second cylinder member in order to force water received in the second cylinder member outwardly under pressure through the conduit and into the launch tube.

Abstract: A positioning assembly for a torpedo having a projection thereon including support mounted on the torpedo tube adjacent the projection, and a control member movable on the support transversely of the torpedo tube. The control member has a control surface with a series of abutment surfaces for the projection to limit motion of the torpedo within the tube. A first transverse abutment surface limits movement of the torpedo towards the muzzle end of the tube during loading, and a second transverse abutment surface cooperates with a portion of the first abutment surface to limit movement of the torpedo in either direction axially in the tube.

Abstract: A submarine weapon launch system utilizing an external impulse tank. A surine has at least one cylindrical torpedo tube that has a breechward section residing within the pressure hull of the submarine and a muzzleward section residing outside the pressure hull. An impulse tank is mounted outside the pressure hull provides impulse water to the breechward section of the torpedo tube. A hull insert encases a space about a portion of both the breechward and muzzleward sections of the torpedo tube. The hull insert provides for venting of the encased space to the impulse tank outside the pressure hull and for venting of the encased space to the breechward section within the pressure hull. The hull insert protects the torpedo tube from pressure hull distortions while the encased space transports impulse water from the impulse tank to the breechward section of the torpedo tube.

Abstract: A submarine weapon handling system and method includes a storage tray, ramming tray, and transfer tray. Each tray has a plurality of rotatable bands received in grooves in the trays and are movable between an open weapon receiving position and a closed weapon clamping position. The storage tray and ramming tray are stationary and the transfer tray is movable. The transfer tray is moved into contact with a weapon secured in the storage tray, the bands of the transfer tray are rotated around the weapon, and the bands in the storage tray are rotated from closed to open position permitting the transfer tray to move a selected weapon into the bands of the ramming tray which are then rotated into weapon clamping position while the bands of the transfer tray are opened permitting the transfer tray to be moved away from the ramming tray.

Abstract: A launching mechanism is provided for ejecting a small buoy from a high sd deep depth submersible. The buoy is held in place and constrained by a pair of latch levers that lock into a groove in the buoy tail piece. The latch levers are held in place by locking pins. On launch a solenoid valve is operated allowing ambient sea pressure to actuate a release system. The sea pressure retracts a release piston assembly to which the locking pins are attached. Upon withdrawal of the locking pins, the latch levers are released by the force of neg'ator ejection springs. The ejection springs accelerate an open ended cage containing the buoy through a four foot displacement. The buoy strikes a plunger actuating a muzzle plug release mechanism that permits ejection of the buoy from the launch cage.