Abstract: Embodiments of systems and methods for generating power in the vicinity of a drilling rig are disclosed. During a drilling operation, heat generated by drilling fluid flowing from a borehole, exhaust from an engine, and/or fluid from an engine's water (or other fluid) jacket, for example, may be utilized by corresponding heat exchangers to facilitate heat transfer to a working fluid. The heated working fluid may cause an ORC unit to generate electrical power.

Abstract: A deep-sea low-cost long-endurance collaborative navigation and positioning system. A shore-based monitoring center transmits a route planning solution to a wave glider. The wave glider follows an underwater vehicle to travel and feeds back state information of the wave glider and state information of the underwater vehicle to the shore-based monitoring center in real time. The shore-based monitoring center adjusts the route planning solution according to the state information in real time. The wave glider and the underwater vehicle are respectively equipped with an underwater acoustic communication machine.

Abstract: A modular junction box device that houses port sub-housings which each contain electrically-conductive connector clips that facilitate quick, push-in electrical connection of the hot, neutral and ground wires within a supply wire cable leading from a power source with the corresponding distribution wires leading to each of any number powered devices. The invention utilizes internalized push-in connectors to allow a single supply electrical wire cable (line in) to be connected to multiple distribution wire cables (lines out) without the need for a proportionate amount of internal wiring that ordinarily connects supply and distribution wires inside of a junction box.

Abstract: An autonomous underwater vehicle including an underwater vehicle main body incorporating a power source, a buoy connected to the underwater vehicle main body through a rope, and an ejector configured to, with the underwater vehicle main body floating on a sea surface, eject the buoy from the underwater vehicle main body by compressed gas in an obliquely upward direction.

Abstract: A real-time metocean sensor array system may include a one or more floating instruments each including geolocation capabilities and connected to a satellite communication network. In some examples, the floating instruments may further include an omnidirectional hydrophone. Motion and acoustical data gathered by the instruments may be converted by onboard processing logic into wave, current, and/or wind-related observations that may be communicated in real time and analyzed via a cloud-based system.

Abstract: Various arrangements relating to on-board autonomous device deactivation systems are presented. In some embodiments, a status signal is output to a transceiver and transmitted via a satellite antenna to a satellite. A timer is executed that indicates a time duration that has elapsed since receiving a previous permissible operation message via the transceiver and the satellite antenna. The time duration is compared with a stored deactivation time. Prior to the time duration reaching or exceeding the stored deactivation time, a permissible operation message indicative of the autonomous device being permitted to continue operation is received. In response to the receipt of such a permissible operation message, the time duration of the timer is reset such that operation of the autonomous device is uninterrupted. In some embodiments, if such a permissible operation message is not received, the autonomous device is disabled.

Abstract: A submersible buoy comprising a body defining a space; a gas compressor in fluid communication with a pressure vessel, where the gas compressor is capable of releasing gas from the pressure vessel into the space and of sucking gas out of the space into the pressure vessel; a battery that powers the gas compressor; and a controller in electronic communication with the gas compressor, where the controller controls the operations of the gas compressor.

Abstract: Unmanned underwater vehicles (1) which can be controlled from a carrier platform (2) by an optical waveguide cable (3) can be used for widely differing missions. For mine countermeasures, the loss of the underwater vehicle (1) is often accepted, with the optical waveguide cable (3) also being destroyed by the explosion. To reduce the costs of a mission of the underwater vehicle, the invention provides for the optical waveguide cable (3) to be connected to the underwater vehicle (1) via a connecting device (4). The connecting device (4) comprises a connecting cable (8) and connecting elements (11, 12) at the ends (9, 10) of the connecting cable (8) for an optical waveguide cable (3) at one end and for an unmanned underwater vehicle (1) at the other end.

Abstract: A cable containing an optical fiber is used to transmit data between an underwater remotely operated vehicle (ROV) and a support vessel floating on the surface of the water. The ROV pulls the cable through the water and as the ROV dives away from the support vessel, the optical fiber is released from the support vessel. Excess tension in the cable can damage the optical fiber and the tension can be highest close to the ROV. To prevent potential damage to the optical fiber, the ROV can store a portion of the cable and release the cable if the detected tension approaches the maximum working load. When the tension drops to a lower safe level, the release mechanism can stop releasing the cable.

Abstract: A coupling head 8, coupled to an autonomous underwater vehicle 4 via a rendezvous head 18 that is connectable to or part of the underwater vehicle 4. The coupling head 8 has an alignment stabilizing arrangement 12 for stabilizing its alignment and position in the water below the water surface. The invention further relates to a coupling device 2 having the coupling head 8 and having a cable 10 which is detachably connectable, mechanically, electrically and in a signal-connecting manner, to the coupling head 8, and to a rendezvous device 16 having the rendezvous head 18. The underwater vehicle 4 has the rendezvous head 18 and/or the rendezvous device 16, and a coupling system 1, which comprises at least the coupling and rendezvous heads. The invention further relates to a coupling method 58 and a deployment method 56 of an autonomous underwater vehicle 4 which includes the coupling method 58.

Abstract: A tethered buoy housing and deployment system includes a housing for disposition in a vessel, a tether for interconnecting a portion of the housing and a buoy, a reel mounted in the housing and rotatable to unwind the tether, means for maintaining tension on the tether as the tether is unwound, and a platform and linkage assembly adapted to support the buoy and move the buoy between a vertical disposition for storage in the housing and an angled disposition for release of the buoy into an external fluid stream.

Abstract: A buoy (1) has a main body (5) and a moveable mass (2) positioned inside the main body. The buoy may be tethered to a submarine vessel and used as a communications buoy. The buoy may be configured for floating in a generally upright orientation at the water surface (7) in a position ready for communication, when the mass (2) is in a first position (FIG. 1a) in which the center of mass is offset from the center of buoyancy to improve stability in the water. The buoy may be configured for being towed underwater at speed, when the mass is in a second position (FIG. 1b), in which the center of mass is closer to the center of buoyancy, to improve towing stability in the water, thereby allowing the buoy to be towed with its long axis substantially aligned with the direction of motion, thereby reducing wake/plume in the water.

Abstract: An underwater investigation system may include a host ship, a UUV including a propulsion device and a steering device, and at least one sonar system. The system may further include a guidance controller configured to initiate sonar range measurements between the host ship and the UUV using the at least one sonar system, and estimate a respective UUV position state relative to the host ship at the initiation of at least some of the sonar range value measurements to define a series of successive UUV position state estimates. The guidance controller may be further configured to update UUV position state estimates in the series based upon completion of their respective sonar range measurements, propagate the updates to subsequent UUV position state estimates in the series, and control the propulsion device and the steering device to guide movement of the UUV relative to the host ship based upon the updated position state estimates.

Abstract: An unmanned submersible vehicle for use in a body of liquid having a top surface and in air overlying the top surface includes a hull, an integral antenna, and an antenna positioning system. The hull has first and second opposed ends. The hull includes a first hull portion adjacent the first end and a second hull portion adjacent the second end. The antenna is disposed within the first hull portion and/or is mounted on the first hull portion. The antenna positioning system is configured to reorient the hull from a transit position to a signal position.

Abstract: This invention relates to a GPS navigation system comprised of a submerged vessel having a navigation processor associated via buoyant cable with a buoy having a GPS device; wherein the cable contains: a data link between the vessel and the GPS device; and a location device for the determination of the location of the cable to the vessel; and wherein the processor computes a GPS position relative to the vessel. The invention also relates to a navigation process comprising the steps of: attaching a cable between a buoy and a submerged vessel; providing a GPS data relative to the buoy and cable location data over the cable to the submerged vessel; and using the GPS position of the buoy and location data to compute the GPS position of the submerged vessel.

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 subsurface deployable antenna array is provided which expands upon deployment and contracts for storage to provide an antenna array that can be stored in a comparatively compact space. Electronically interconnected antenna modules are connected by expandable/contractable connectors. A helically-organized bundle of optical cables and electrical wiring are utilized in the expandable/contractable connectors. Mechanical, electrical, or hydraulic means may be utilized to control the spacing between the antenna modules.

Abstract: A towable antenna system is deployable and retrievable from and tetherable to an underwater vehicle while the underwater vehicle is submerged under water. An underwater vehicle having a towable antenna system is capable of communicating with one or more remote communication systems, the towable antenna system acting as an intermediary for communications between a submerged underwater vehicle and the one or more remote communication systems.

Abstract: A buoy (1) has a main body (5), and a moveable mass (2) positioned inside the main body. The buoy (1) may be tethered to a submarine vessel and used as a communications buoy. The buoy (1) may be configured for floating in a generally upright orientation at the water surface (7) in a position ready for communication, when the mass (2) is in a first position (FIG. 1a) in which the centre of mass is offset from the centre of buoyancy to improve stability in the water. The buoy (1) may be configured for being towed underwater at speed, when the mass (2) is in a second position (FIG. 1b), in which the centre of mass is closer to the centre of buoyancy, to improve towing stability in the water, thereby allowing the buoy (1) to be towed with its long axis substantially aligned with the direction of motion, thereby reducing wake/plume in the water.

Abstract: A deep water operations system includes a submersible vessel including a propulsion system for operating the vessel on and beneath the surface of a body of water. The vessel will operate on the water surface to travel to a designated site and then submerge beneath the surface to a depth sufficient to avoid surface wave and weather conditions. A surface power buoy is deployable from the vessel at the water surface and connected to the vessel by an umbilical cord and includes a propulsion system, RF vessel communication and a GPS receiver. An ROV launch cage is supported by the vessel by a second umbilical cord and stores and deploys an ROV remotely controlled from the vessel for deep water work and repair activities via the second umbilical cord.

Abstract: A system for communicating with a remotely operated underwater vehicle (ROV) includes a winged ROV coupled to a surface buoy by a tether. A controller on a support ship is coupled to the tether and the control signals are then transmitted through the tether to the ROV. Feedback and sensor signals are transmitted from the ROV through the wireless transceivers to the controller. The wings of the ROV produce negative lift which is greater than the buoyant force of the ROV and the vertical tension forces on the tether.

Abstract: A system for communicating with a remotely operated underwater vehicle (ROV) includes an ROV coupled to a surface buoy by a tether. A controller is coupled to a first wireless transceiver and a second wireless transceiver is attached to the surface buoy. Control signals are transmitted from the controller through the first wireless transceiver the second wireless transceiver on the surface buoy. The control signals are then transmitted through the tether to the ROV. Feedback and sensor signals are transmitted from the ROV through the wireless transceivers to the controller.

Abstract: The invention as disclosed is a recoverable tethered optical fiber buoy and winch assembly that is mounted to the back of the sail or the back of an aft non-moving surface of an underwater vehicle and housed in a configuration to provide very little additional drag to the underwater vehicle when the assembly is not deployed. The invention provides a capability to connect ocean surface visual or radio frequency sensors to an underwater mobile platform with a very high data rate link that is retrievable.

Abstract: Apparatus for moving supports carrying sensors displaceable inside fixed guides integral with the towers of submarines, and the like, upon operation of an actuator, the actuator consisting of an electric motor coupled to one end of a screw actuator on which a screw nut integral with a rod is movable, the entire assembly being contained inside a housing with seals, from which the free end of said rod protrudes for fastening to the tube. The housing can include a first bearing and a second bearing or bushing for supporting the rod and the screw actuator coaxially within the housing. The housing can include a top chamber above the first bearing and a bottom chamber below the first bearing. One or both of the chambers can be filled with lubricating oil to dissipate heat and/or dampen noise. The bottom chamber can house the motor and include a dielectric oil. The motor can be controlled by an electronic actuating system using an angular position transducer.

Abstract: An underwater RF signal propagation path is created by utilizing a plurality of individual RF transceivers such as MEMS RF transceivers. Each MEMS RF transceiver has a predetermined buoyancy. A stream of the RF transceivers are released to form a line of RF transceivers underwater such that the individual RF transceivers have an RF transmission and reception distance greater than the distance between the RF transceivers whereby an RF signal can be repeatedly retransmitted down the line of RF transceivers.

Abstract: The invention as disclosed is a recoverable tethered optical fiber buoy and winch assembly that is mounted to the back of the sail or the back of an aft non-moving surface of an underwater vehicle and housed in a configuration to provide very little additional drag to the underwater vehicle when the assembly is not deployed. The invention provides a capability to connect ocean surface visual or radio frequency sensors to an underwater mobile platform with a very high data rate link that is retrievable.

Abstract: A freeze resistant buoy system includes a tail-tube buoy having a thermally insulated section disposed predominantly above a waterline, and a thermo-siphon disposed predominantly below the waterline.

Abstract: An antenna linear extension and retraction apparatus and method of use for a submersible device is provided. The apparatus includes a body having a cavity formed at an external surface. A bladder containing a core material is arranged within the cavity. The core material contracts and expands the bladder depending upon a pressure that surrounds the bladder. An antenna is operatively connected with the bladder and moves between a retracted position and a deployed position as the bladder contracts and expands.

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: An antenna arrangement for a submerged submarine includes an independently unctioning underwater vehicle free of any tethered connection to said submarine, a buoy member having a hydrodynamic shape, an antenna mounted on the buoy member, the antenna enabling collection and transmission of at least global positioning data and radio frequency communications, a releasable connector for securing the buoy member to said underwater vehicle in a primary non-deployed position, and a tether connection the buoy member to the underwater vehicle in a secondary deployed position. Release of the connector deploys the buoy member and the antenna such that the hydrodynamic shape of the buoy member raises the buoy member to a data collection and transmission position at a surface of the water.

Abstract: Apparatus for interconnecting an unmanned underwater vehicle and a free-fting communications pod includes a communications cable depending from the pod and extending to a buoy of less buoyancy than the pod, such that the cable carries communication signals between the pod and the buoy and extends generally vertically in a column of water between the pod and the buoy, the buoy being in communication with a distal station.

Abstract: A decoy capable of assuming the shape of a water craft comprises a maneuvble vessel, having a tubular body portion which defines an enclosed interior region. The vessel further has an opening formed in the body portion and a hatch door which covers the opening. An energy source powers the operation of the vessel, and a drive module propels the vessel under the water. A selectively deployable bladder is stored within the vessel in its interior region and is selectively deployable from a stowed position in which the bladder is contained within the interior region of the vessel to a deployed position in which the bladder exits the vessel through the opening and is inflated with gas for assuming the shape of a water craft. An inflation system inflates the bladder with gas when deploying the bladder. The decoy can also be provided with electromagnetic, infrared and acoustic decoy projectors for projecting the characteristics of the water craft.

Abstract: A device and method for communicating from an underwater vehicle by surfag an antenna in a towed buoy without surfacing the underwater vehicle. The underwater vehicle has control circuitry and sensors allowing the control circuitry to receive data from sensors measuring velocity, acceleration, distance to bottom, depth of vehicle, and ambient acoustic noise. The buoy is towed behind the vehicle on a tether having insulated wires therethrough which link the antenna to the vehicle. The buoy is positively buoyant.

Abstract: Submarines are provided with underwater self-propelled vehicles that are nched from the submarines and guided by trailing fiber optic cables. Each underwater vehicle has a hull that is separable, and that defines a socket for mating with one end of the separable forward hull portion of another identical vehicle. The separable hull portions of one vehicle, when separated remain connected by a fiber optic line so that a homing device on this line can be used to link up with the transponder aboard the other vehicle. Wings on the latter vehicle guide the line toward a socket that accepts or mates with the end of the one vehicle hull portion.

Abstract: Apparatus is provided for interconnecting an unmanned underwater vehicle V) and a free-floating pod, the apparatus comprising a communications cable extending between the pod and a less buoyant buoy, the buoy being in communication with a distal station, a mobile UUV in communication with a control vessel, connector structure on the UUV adapted to intercept the cable and adapted to slide along the cable toward the pod, and complementary engagement structure on the UUV and the pod adapted to cause the UUV to engage the pod in a preselected orientation and azimuth, to place the control vessel in communication with the distal station.

Abstract: Mechanically cooperating assemblies on an undersea vehicle and an instrumation target assure the making of a rigid coupling for passing electrical, optical or fluid information between the vehicle and the instrumentation and reduce the complexity of such a coupling from a three-dimensional to a two-dimensional maneuver by the vehicle. An undersea vehicle locates a pair of spaced-apart vertical cables which are attached to an instrumentation target assembly and engages them anywhere along their length with a converging grabber assembly mounted on the forward moving underwater vehicle. After engaging the cables, the grabber assembly merely slides along the cables toward the instrumentation target assembly.

Abstract: An improved water flotation release device for locating the submerged position of ships that have sunk. The device comprises an improved release buoy that is self contained and communicating and a releasing system that leads to non-violent and reliable release from the sinking ship.