Abstract: A charging system includes a charging station having: a base underwater; a pole extending in an upper-lower direction; and a power supplying portion. An AUV includes: an underwater main body; a power receiving portion; a holding device including a pair of guide and holding portions, the pair of guide portions guides the pole to a holding position after the pole contacts the guide portions from a proceeding-direction, the holding portion holds the pole to be rotatable relative to the pole; a thrust generating apparatus generates in a horizontal direction; and a control device controls the thrust generating apparatus. A light emitter at one of the base and the underwater main body, and a light receiver is provided at the other. The control device controls the thrust so the underwater main body reaches a rotational position where the light receiver receives light emitted, the rotational position set relative to the pole.

Abstract: A method for controlling a thruster of a marine vehicle includes a body and a thruster mounted on the body of the vehicle, the vehicle being at least partially immersed in a liquid and moving with respect to the liquid along an axis of displacement in a direction of displacement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster including an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement.

Abstract: A buoyant structure with a hull, a main deck, a lower inwardly-tapering frustoconical side section; a lower generally rounded section extending from the lower inwardly-tapering frustoconical side section; a generally rounded keel; a fin-shaped appendage secured to a lower and an outer portion of the hull proximate the generally rounded keel. In embodiments, the keel has a first frame extending from the keel and a first keel extension connected to the first frame.

Abstract: A buoyant structure has a hull having a main deck. The hull further contains a lower inwardly-tapering frustoconical side section that extends from the main deck, a lower generally rounded section extending from the lower inwardly-tapering frustoconical side section, a generally rounded keel, and a fin-shaped appendage secured to a lower and an outer portion of the exterior of the hull proximate the generally rounded keel, the fin shaped appendage having a shape selected from the group consisting of: a triangular shape, a hump shape and a pair of connected triangular projections shape.

Abstract: A canister that acts as a pressure vessel that contains a payload and that can withstand pressures that may be generated by the payload internal to the canister in order to contain the payload contents. The canister can be launched from a submarine, with the canister being located internal to the pressure hull of the submarine prior to launch and the canister being launchable from the submarine into the surrounding water. After launching, the canister is designed to release or deploy the payload permitting the payload to perform its intended function(s). The payload contained in the canister can be an unmanned underwater vehicle such as an acoustic training target that is powered by one or more lithium batteries.

Abstract: The present disclosure is directed to a skid structure for underwater seismic exploration. The system can include an underwater vehicle comprising a skid structure. A conveyor is provided in the skid structure. The conveyor includes a first end and a second end opposite the first end. A capture appliance is provided at the first end of the conveyor. The capture appliance includes an arm to close to hold a case storing one or more ocean bottom seismometer (“OBS”) units, and to open to release the case. The capture appliance includes an alignment mechanism to align an opening of the case with the first end of the conveyor. A deployment appliance can be at the second end of the conveyor. The deployment appliance can place an OBS unit of the one or more OBS units onto the seabed to acquire seismic data from the seabed.

Abstract: An extended range support module for an undersea vehicle includes an outer hull capable of accommodating the undersea vehicle therein. A navigation module is positioned on the outer hull and capable of being joined to the undersea vehicle. Controllable fins are provided on the outer hull and joined to allow control by the navigation module. A buoyancy control system is positioned within the outer hull and joined to the navigation module. An extended fuel tank is provided inside the outer hull between the outer hull and the undersea vehicle. The extended fuel tank is joined to provide fuel to the undersea vehicle. The navigation module can have GPS, inertial sensors, and sonar sensors to aid in navigation.

Abstract: The present disclosure is directed to loading a helical conveyor for underwater seismic exploration. The system includes a case and a first conveyor having a helix structure provided within the case to support one or more ocean bottom seismometer (“OBS”) units. The case can include a first opening at a first end of the first conveyor and a second opening at a second end of the first conveyor. The system can include a base to receive at least a portion of the case. The system can include a second conveyor positioned external to the case that can move an OBS unit into the first opening at the first end of the first conveyor. The first conveyor can receive the OBS unit and direct the OBS unit towards the second opening at the second end of the first conveyor.

Abstract: The object of the invention is a method for installing and servicing an apparatus module recovering the kinetic energy of water; and the apparatus module itself. The apparatus module with wave energy recovering units is descended into the sea bottom and is kept steady at the sea bottom by the help of its own mass and the mass of the water filled into a plurality of soft and hard compartments and valve compartments in the body of the apparatus module. Correspondingly the apparatus module is lifted into the surface of the water and made floating by the help of air that is blown to the plurality of soft and hard compartments and the valve compartments in order to replace the water.

Abstract: The present invention concerns an apparatus (1) for deployment and retrieval of a measurement system (8) on an ocean bottom, comprising devices for temporary storing the measurement system (8), movable control faces (7), software and devices for manoeuvring and at least one ballast tank (11A) for ballast (11B). The ballast (11B) comprises a slurry consisting of free soluble salt and a saturated solution of the salt in water, or a solid body or insoluble coarse or fine grained material.

Abstract: A drain structure for a corrugated fin-type heat exchanger, the corrugated fin-type heat exchanger being constituted by arranging a plurality of flat heat exchange tubes parallel to one another in a horizontal direction between a pair of opposing header pipes, and joining corrugated fins between the plurality of flat heat exchange tubes, the drain structure including a plurality of water flow passages for inducing water retained between the corrugated fins adjacent to an upper side and a lower side of each of the plurality of flat heat exchange tubes, the plurality of water flow passages being formed on an outer end surface of the each of the plurality of flat heat exchange tubes in a width direction thereof at a pitch along a longitudinal direction of the each of the plurality of flat heat exchange tubes.

Abstract: Systems and methods are described herein for launching, recovering, and handling a large number of vehicles on a ship to enable lower cost ocean survey. In one aspect, the system may include a shipping container based system with an oil services vessel. The vessel may include rolling systems through end to end shipping containers. One or more columns of containers may be accessed using a crane, an A-frame, or any other suitable transportation system. The system may enable the ability to launch or recover more than one vehicle using the launch and recovery system (e.g., AUVs, buoys, seaplanes, autonomous surface vessels, etc.). In one configuration, the system includes a stacking/elevator system to place the vehicles onto a second or higher layer of containers. The system may allow for modularized deployment of the vehicles, launch and recovery system, operation center, and more from self-contained shipping containers.

Abstract: An external payload module or body that is mechanically attached to the exterior of a standard production AUV. The module expands the applications for which the AUV can be utilized and/or enhances an existing application(s), enabling current single or limited use AUV's to have multi-mission capability or enhancing existing capability without requiring complete redesign of the AUV. This approach capitalizes on the advantages of high-volume small AUV production to maintain low manufacturing and handling costs, while enabling greatly improved AUV mission flexibility.

Abstract: Systems and methods for a robust underwater vehicle are described herein. A robust underwater vehicle may include a force-limiting coupler connecting an actuation system to an actuation fin. The force-limiting coupler may be configured to break away from the actuation system upon receiving a threshold force. The robust underwater vehicle may also comprise hull sections connected by a threaded turnbuckle. Carbon-fiber axial strength members may mate with the threaded turnbuckle to pull the hull sections together to a specified preload tension. The robust underwater vehicle may also include a blazed sonar array protected by a carbon fiber bow including a plurality of slits. The plurality of slits may provide significant protection to the sonar array while simultaneously allowing one or more transducers to transmit sonar signals in a two-dimensional plane.

Abstract: Marine vehicle systems and methods are disclosed. The marine vehicle can be buoyancy controlled, enabling efficient, extended use of the marine vehicle. Buoyancy actuation can enable roll, pitch, and yaw of the marine vehicle, as well as translation in any direction. One or more elastic bladders can be disposed on or in the marine vehicle. The bladders can be selectively inflated and deflated to control movement of the marine vehicle.

Abstract: The submarine has a plurality of oil spill detection and removal means, oil/water separating device and oil store tanks. Lights and camera sets are installed in a manner allowing a visual control over the movement of the submarine and over the process of oil removal. A telescopic boom, a sail suction platform and deck suction means are provided to collect the oil spill from the surface of water and from beneath the ice. A bottom suction compartment is provided to collect the oil spill rising from the sea floor to the surface.

Abstract: An underwater base handles an autonomous underwater vehicle. The underwater base includes a storing part configured to store the AUV; a control part configured to control the storing part; and a support part configured to support the control part and the storing part and to prevent a burial of the underwater base into the ocean bottom. The control part is further configured to guide the AUV while approaching a desired target position on the ocean bottom.

Abstract: The invention relates to a workstation (1) for transporting equipment to an underwater position. The workstation (1) comprises a tool (23) and a supply line (22) in order to power the tool (23). The workstation (1) comprises a winch (21) for storing at least part of the supply line (22). The workstation (1) may comprise two or more tools (23, 23?, 23?) and associated supply lines (22, 22?, 22?) in order to power the respective tools (23, 23?, 23?). The workstation (1) comprises two or more winches (21, 21?, 21?) for storing the different supply lines (22, 22?, 22?).A single umbilical combines two or more main supply lines (31, 31?, 31?) associated with the respective supply lines (22, 22?, 22?) stored on the different winches (21, 21?, 21?).

Abstract: An autonomous underwater system for environmental monitoring including a multidisciplinary underwater station including onboard instrumentation, at least one autonomous modular underwater vehicle movable inside an area to be monitored along an assigned route, and at least one external instrumental modulus which can be connected to the vehicle, wherein the multidisciplinary underwater station includes a docking area, an interface system, an equipping system for supplying the vehicle with instrumental moduli, and a management system.

Abstract: A free vehicle suitable to serve as a platform to carry a variety of equipment to the ocean floor, actuate devices at the floor and at intermediate points on the way to and returning from the ocean floor is described. The free vehicle includes standardized power, control electronics, navigation equipment and mechanical release mechanisms that can be used in conjunction with custom experiments. Exemplary experiments include sensors and sampling equipment used for deep-sea exploration. The free vehicle platform provides for scalable designs to meet scientific needs and surface vessel constraints.

Abstract: A submarine is designed for combating oil when submerged. The submarine includes a snout (14, 36) which is conduit-connected to a conduit leading into the submarine. The snout (14, 36) is part of an oil suction device and/or part of a device for bringing out an oil decomposition substance. The snout (14) may be designed in a rigid manner and be pivotable from a position between a pressure hull (6) of the submarine and an outer hull (10) forming an upper deck (12) of the submarine, into a position outside the outer hull (10). The snout (36) may also be designed in a flexible manner, wherein the snout (36) is fastened in a section adjacent to a free end, on an ROV (40).

Abstract: A deployment and retrieval method for ocean bottom seismic receivers, the method employs a remotely operated vehicle (ROV) having a carrier attached thereto to carry a plurality of receivers. The receivers are individually placed on the ocean bottom floor by utilizing a conveyor to move the receivers along a linear path to remove the receivers from the carrier. In one embodiment, multiple linear conveyors may be operated independently to alter the relative positions of the receivers on the respective conveyors to adjust the weight distribution of the receivers within the carrier.

Abstract: An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey. The AUV includes a body extending along an axis X and having a head portion, a middle portion, and a tail portion, wherein the middle portion is sandwiched between the head portion and the tail portion along the X axis; a cross-section of the middle portion, substantially perpendicular on the X axis, having a triangular-like shape; the head portion including a base portion having the triangular-like shape and configured to match the middle portion; the head portion having a tip that, when projected along the X axis on the base portion, substantially coincides with a centroid of the base portion having the triangular-like shape; and a seismic payload located within the body and configured to record seismic signals.

Abstract: Marine vehicle systems and methods are disclosed. The marine vehicle can be buoyancy controlled, enabling efficient, extended use of the marine vehicle. Buoyancy actuation can enable roll, pitch, and yaw of the marine vehicle, as well as translation in any direction. One or more elastic bladders can be disposed on or in the marine vehicle. The bladders can be selectively inflated and deflated to control movement of the marine vehicle.

Abstract: A deployment and retrieval apparatus for ocean bottom seismic receivers, the apparatus being a remotely operated vehicle (ROV) having a carrier attached thereto and carrying a plurality of receivers. The carrier includes a frame in which is mounted a structure for seating and releasing the receivers. The structure includes one or more movable conveyors disposed to move receivers along a linear path relative to the frame in order to discharge and retrieve ocean bottom seismic receivers.

Abstract: An underwater load-carrier is disclosed that includes an underwater-balloon detachably attached to a container that is loaded with ballast. The underwater load-carrier is lowered into the water of an ocean and allowed to descend to the ocean bottom and there connected a mining-vehicle. The mining-vehicle loads mined nodules into the container while the container ejects ballast to maintain the container at a specified altitude above the ocean bottom. When nodule loading is complete, nodules and/or ballast is ejected to allow underwater load-carrier to rise to the ocean surface where mined nodules is unloaded from the container.

Abstract: A weapon storage device (10) which is to be attached to an external face (8) of a hull (4) of a submarine (2) and which is capable of containing weapons (14), such as ammunition or weapon carriers, which are to be deployed from the storage device on receipt of a deployment signal transmitted from inside the submarine, includes a compensation element (16, 18, 30, 40) which allows the variation in mass of the storage device (10) resulting from the deployment of at least one weapon to be compensated for, partially or wholly, by replacing a volume of gas initially contained in the storage device by an identical volume of water introduced into the storage device.

Abstract: The problem of providing a submerged vehicle with above-the-surface communications to a nearby vessel, shore platform, or satellite while traveling at operating speed is solved by an efficiently deployable tethered tow body having a hydrodynamic and buoyant hull body and incorporating a lift-generating wing that provides hydrodynamic lift to efficiently lift the tow body containing antennas and other communications devices to the surface. The tow body allows for stable operation during underwater tow, surface tow, and transitions between underwater tow and surface tow. Disclosed embodiments include communications apparatuses encompassing the principles of the tethered tow body, as well as various underwater systems that incorporate a tethered tow body or communications apparatus for establishing communications with a nearby vessel, shore platform, or satellite.

Abstract: An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey. The AUV includes a body having a flush shape; an intake water element located on the body and configured to take in water; at least one propulsion nozzle located on the body and configured to eject the water from the intake water element for actuating the AUV; at least one guidance nozzle located on the body and configured to eject water to change a traveling direction of the AUV; and a seismic payload located on the body of the AUV and configured to record seismic signals.

Abstract: A stowage unit for a payload such as a weapon, countermeasure or unmanned underwater vehicle (UUV), and a method for using the unit to deploy the payload are described. The unit comprises an inner tube for holding the payload, wherein the inner tube is mounted in an outer vessel and so defines a volume between the outer vessel and inner tube. The volume has a first sealing element, which can be used to open or seal the volume at one end, and a valve enabling fluid communication between the volume and inner tube. After deployment of the payload, a weight of fluid equivalent to the deployed payload can be allowed to enter the volume from the inner tube, thus enabling the weight of the unit to remain substantially unaltered from before deployment to after deployment.

Abstract: An underwater communications system is provided that transmits electromagnetic and/or magnetic signals to a remote receiver. The transmitter includes a data input. A digital data compressor compresses data to be transmitted. A modulator modulates compressed data onto a carrier signal. An electrically insulated, magnetic coupled antenna transmits the compressed, modulated signals. The receiver that has an electrically insulated, magnetic coupled antenna for receiving a compressed, modulated signal. A demodulator is provided for demodulating the signal to reveal compressed data. A de-compressor de-compresses the data. An appropriate human interface is provided to present transmitted data into text/audio/visible form. Similarly, the transmit system comprises appropriate audio/visual/text entry mechanisms.

Abstract: An underwater communications system is provided that transmits electromagnetic and/or magnetic signals to a remote receiver. The transmitter includes a data input. A digital data compressor compresses data to be transmitted. A modulator modulates compressed data onto a carrier signal. An electrically insulated, magnetic coupled antenna transmits the compressed, modulated signals. The receiver that has an electrically insulated, magnetic coupled antenna for receiving a compressed, modulated signal. A demodulator is provided for demodulating the signal to reveal compressed data. A de-compressor de-compresses the data. An appropriate human interface is provided to present transmitted data into text/audio/visible form. Similarly, the transmit system comprises appropriate audio/visual/text entry mechanisms.

Abstract: A payload delivery system for protecting and delivering a payload submerged in a submersion medium includes a containment system. The containment system includes a container and a dehiscing system. The container includes a pressure-resistant shell defining a sealed containment chamber. The dehiscing system is operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

Abstract: A sluice device suitable for a remotely cable operated vehicle. A water tight compartment has a first and a second sluice gate. The sluice device includes a system for enabling launching, operating, and retrieving of the remotely cable operated vehicle. An insert for converting an existing torpedo tube to a sluice device, and a torpedo shaped transport container for an insert.

Abstract: A payload delivery system for protecting and delivering a payload submerged in a submersion medium includes a containment system. The containment system includes a container and a dehiscing system. The container includes a pressure-resistant shell defining a sealed containment chamber. The dehiscing system is operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

Abstract: A subsea vertical glider robot which supports deployment in subsea oilfield activities is disclosed. This vertical glider robot can also be used in oceanographic research exploration. One application of this vertical glider robot is the autonomous delivery of equipment and sensor systems to a precise predetermined location on the sea floor. The vertical glider robot is deployed from a surface ship or any other suitable sea surface platform and allowed to free fall to the bottom of the ocean. The traversal through the body of water is performed primarily by converting initial potential energy of the apparatus into kinetic energy, it does not use propellers. The traversing of the seafloor is controlled with a steering module that refines orientation while processing information about the vertical glider robot's current position and the target where it has to land.

Abstract: A deployment and retrieval apparatus for ocean bottom seismic receivers, the apparatus being a remotely operated vehicle (ROV) having a carrier attached thereto and carrying a plurality of receivers. The carrier includes a frame in which is mounted a structure for seating and releasing the receivers. The structure may include a movable conveyor or fixed parallel rails or a barrel. The structure includes a discharge port on the frame and a discharge mechanism for removing and retrieving the receivers. A method for deployment and retrieval of ocean bottom seismic receivers includes the steps of loading a carrier with a plurality of receivers, attaching the carrier to an ROV, utilizing the ROV to transport the carrier from a surface vessel to a position adjacent the seabed and thereafter utilizing the ROV to remove receivers from the carrier and place the receivers on the seabed.

Abstract: An underwater communications system is provided that transmits electromagnetic and/or magnetic signals to a remote receiver. The transmitter includes a data input. A digital data compressor compresses data to be transmitted. A modulator modulates compressed data onto a carrier signal. An electrically insulated, magnetic coupled antenna transmits the compressed, modulated signals. The receiver that has an electrically insulated, magnetic coupled antenna for receiving a compressed, modulated signal. A demodulator is provided for demodulating the signal to reveal compressed data. A de-compressor de-compresses the data. An appropriate human interface is provided to present transmitted data into text/audio/visible form. Similarly, the transmit system comprises appropriate audio/visual/text entry mechanisms.

Abstract: Embodiments of a submerged launch canister are provided for the remotely-initiated deployment of a waterborne object. In one embodiment, the submerged launch canister includes a pressure vessel and a remotely-triggered deployment system. The pressure vessel has an open end portion and a storage cavity configured to receive the waterborne object therein. The remotely-triggered deployment system is configured to propel the waterborne object from the storage cavity, through the open end portion, and into a body of water when remotely triggered.

Abstract: Embodiments of a submersible transport canister, and embodiments of using a submersible transport canister, are provided. In one embodiment, the submersible transport canister includes a pressure vessel having a storage cavity configured to store at least one item therein, a cap movable to a closed position wherein the cap sealingly engages the pressure vessel, and a diver-adjustable buoyancy system configured to be coupled to the pressure vessel. When coupled to the pressure vessel, the diver-adjustable buoyancy system is configured to displace a volume of water to achieve a substantially neutral buoyancy during underwater transport of the item within the submersible transport canister.

Abstract: A payload delivery system for protecting and delivering a payload submerged in a submersion medium includes a containment system. The containment system includes a container and a dehiscing system. The container includes a pressure-resistant shell defining a sealed containment chamber. The dehiscing system is operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

Abstract: A payload delivery system for protecting and delivering a payload submerged in a submersion medium includes a containment system. The containment system includes a container and a dehiscing system. The container includes a pressure-resistant shell defining a sealed containment chamber. The dehiscing system is operative to dehisce the shell to open the containment chamber to the submersion medium responsive to a prescribed event and/or a prescribed environmental condition.

Abstract: A stowage unit for a payload such as a weapon, countermeasure or unmanned underwater vehicle (UUV), and a method for using the unit to deploy the payload are described. The unit comprises an inner tube for holding the payload, wherein the inner tube is mounted in an outer vessel and so defines a volume between the outer vessel and inner tube. The volume has a first sealing element, which can be used to open or seal the volume at one end, and a valve enabling fluid communication between the volume and inner tube. After deployment of the payload, a weight of fluid equivalent to the deployed payload can be allowed to enter the volume from the inner tube, thus enabling the weight of the unit to remain substantially unaltered from before deployment to after deployment.

Abstract: Provided are, among other things, systems, methods and techniques for water-based material transportation, such as a system that includes: (a) a robotic submersible propulsion unit having: a thruster, a computer controller that is coupled to and configured to control the thruster and that causes the robotic submersible propulsion unit to follow a predetermined course, and an attachment fitting; and (b) a submersible transport barge having: a storage tank, a locking port at a first end of the submersible transport barge that detachably connects to the attachment fitting of the robotic submersible propulsion unit, and a loading/downloading connection at a second end of the submersible transport barge that detachably connects to a transfer connection dock for transferring material between the storage tank and the transfer connection dock.

Abstract: A sluice device suitable for a remotely cable operated vehicle. A water tight compartment has a first and a second sluice gate. The sluice device includes a system for enabling launching, operating, and retrieving of the remotely cable operated vehicle. An insert for converting an existing torpedo tube to a sluice device, and a torpedo shaped transport container for an insert.

Abstract: An underwater vehicle including a housing, an internal guidewire dispenser for storing and deploying a guidewire, and a splice cavity defining a storage space, for carrying and deploying a splice between the internal guidewire and an external guidewire and excess guidewire resulting from splicing the internal and external guidewires.

Abstract: An underwater operations support system facilitates underwater exploration, monitoring, maintenance and construction operations associated with development of natural resources. The operations support system may include energy generation subsystems, energy accumulation subsystems, communication subsystems, docking stations, repair and maintenance robots, housings for divers, and video subsystems. Supported equipment includes ROVs, HROVs, AUVs, and other autonomous and semi-autonomous mobile robots which move materials, perform manual tasks, and survey the environment. Operational efficiency is enhanced by recharging, repairing and reconfiguring vehicles, and transferring data and commands between vehicles and a control station, without moving the vehicle to and from the surface, and without need for a surface ship to remain on site for the duration of operations.

Abstract: A submergible container that includes a plurality of fluid passages formed through a container body to allow a chamber of the container to fill when submerged in water to form a live well is described. In embodiments described, the container is formed of an oval or egg shaped body to provide a streamline contour for towing through the water. In an illustrated embodiment, the container includes a wheel assembly and pull handle to transport the container over the ground. The illustrated container includes a closure that is operable between an open position and a closed position to insert items into the container.

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: An underwater vehicle comprising, a housing, an internal guidewire dispenser (20) for storing and deploying a guidewire (30), and a splice cavity (40) defining a storage space (42), for carrying and deploying a splice between the internal guidewire and an external guidewire and excess guidewire resulting from splicing the internal and external guidewires.