Abstract: A submersible vehicle for use in water includes a vehicle body and a hybrid vehicle propulsion system to propel the vehicle body through the water. The hybrid vehicle propulsion system includes a passive thrust system and an active thrust system. The passive thrust system includes a force redirector and a buoyancy control system. The buoyancy control system is operable to selectively generate vertical thrust by varying a buoyancy of the submersible vehicle and the force redirector is configured to generate a glide thrust responsive to changes in the elevation of the submersible vehicle in the water. The active thrust system includes a thruster mechanism operable to selectively propel and/or steer the vehicle body through the water.

Abstract: An hybrid unmanned underwater vehicle comprises a body housing a controller; a vector thruster for propelling the body; deployable wings allowing the unmanned underwater vehicle to traverse by gliding as the unmanned underwater vehicle ascends and descends; a center-of-mass shifter for shifting a center-of-mass of the vehicle to allow the unmanned underwater vehicle to pitch up and pitch down; and one of a multi-stage buoyancy control system within the body and configured to adjust an apparent displacement of the unmanned underwater vehicle and an expandable outer shell configured to adjust an apparent displacement and therefore a buoyancy of the unmanned underwater vehicle.

Abstract: An underwater vehicle includes systems for harvesting ambient hydrostatic pressure and storing the same as a gas pressure in a compressed gas system and as a water pressure in a pressurized electrolysis system. The gas pressure is used to perform mechanical work or to generate electrical power via a prime mover. The water pressure is used to release pressurized hydrogen and oxygen gases via electrolysis. The pressurized hydrogen and oxygen gases are used in a combustion chamber to generate propulsion power for the underwater vehicle.

Abstract: Designs and techniques for fluid thrusters and vehicles that are powered by propelling fluids with fluid thrusters. Multiplex-thruster (MT) systems are disclosed that include a single thruster and a flow multiplexer with multiple channels to deliver thrusting flow in various directions.

Abstract: A method for detecting anomalies on a submarine object, in particular in the submarine region on a hull of a moored warcraft, which method carries out very reliable sensing of the submarine object by way of an unmanned small submarine vehicle that is equipped with simple sensor equipment, such as an acoustic sensor for measuring distances and a barometric cell for determining depth, and which method obtains a profile of the submarine object by navigating the small submarine vehicle with a constant transversal distance to the submarine object, in which profile an anomaly present on the submarine object becomes is apparent from the profile line.

Abstract: A water navigable vessel or glider can transport cargo across oceans and other bodies of water without the use of fossil or nuclear fuels. The vessel includes a housing, a cargo or payload area within the housing, one or more control fins attached to the housing, a ballast within the housing, an expandable and contractible container configured to receive a clathrate and maintain a minimum amount of pressure on the clathrate within the housing in proximity to the ballast, and an intake valve coupled to the ballast. The clathrate changes state, thereby changing the buoyancy of the glider, and causing the glider to move through the body of water.

Abstract: A multiple stage buoyancy changing system, or variable buoyancy device, for an underwater vehicle. The multiple stage buoyancy changing system comprises: a pressure hull containing a flexibly-sized internal fluid reservoir; a flexibly-sized external fluid reservoir attached to the pressure hull and connected to the internal reservoir; a system of devices and channels configured to move fluid between the internal fluid reservoir and the external fluid reservoir to change a displaced volume of the vehicle. Each stage of the variable buoyancy device can be optimized for maximum energy efficiency while changing the vehicle's displaced volume within an ambient pressure range. A control system for the variable buoyancy device engages different stages depending on ambient external pressure such that maximum energy efficiency is achieved over a large range of pressures/depths.

Abstract: A buoyancy control system comprises a housing and first and second pistons movably supported by the housing. In a shallow mode, displacement of the first piston alters a buoyancy of the buoyancy control system. In a deep mode, displacement of the first and second pistons alters the buoyancy of the buoyancy control system.

Abstract: A water craft (10) includes a hull (12) defining two cavities (18). An inflatable chamber (22) is arranged in each cavity (18), for displacing water from hull (12), in use, to increase the buoyancy of the craft (10). As the chamber (22) is inflated, it expands to reduce the free space available for water in the cavity (18), so as to directly expel water from the cavity (18). The chamber (22) can be deflated, in order to flood the cavity and thereby sink the craft (10). The craft (10) is intended to be operated in a normal buoyant mode and in a submarine mode, and includes propeller means (34). The craft may be in the form of a catamaran-type vessel, a jet-ski, or a submersible tank.

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

Abstract: A buoyancy control system for a submersible object submerged in an ambient fluid, comprising a piston housing, a piston member, a pump, control fluid, and working fluid. The piston housing is supported by the submersible object. The piston member defines a piston portion and a shaft portion. The piston member is supported within the piston housing such that the piston portion and the piston housing define a control chamber and an ambient chamber and the shaft portion and the piston housing define a working chamber. The pump is operatively connected to the working chamber. The control fluid is arranged within the control chamber. At least a portion of the working fluid is arranged within the working chamber. Operation of the pump displaces working fluid within the working chamber to displace the piston member to alter a volume of the control chamber.

Abstract: Disclosed are apparatuses and methods for the adaptation of a subsea vehicle, such as an ROV, and in particular a hydraulically powered construction or maintenance work ROV. In one embodiment the vehicle is provided with a module or modules which provide further propulsion means that have reduced noise at high speed in comparison to the vehicle's main propulsion means. The module or modules also optionally provide greater performance and decreased drag. An ROV adapted in such a way is therefore suitable for high speed survey work. In another embodiment a hydraulic ROV is adapted to enable it to be able to directly drive electrically powered tools.

Abstract: A method of using a buoyancy fluid presenting density that is less than that of sea water, and that is confined in a rigid or flexible leaktight casing, so as to constitute an immersed buoyancy element, wherein the buoyancy fluid is a compound that is naturally in a gaseous state at ambient atmospheric temperature and pressure, and in a liquid state at the underwater depth to which the buoyancy element is immersed. A method is also disclosed for placing a buoyancy element in place between the surface and the bed of the sea, wherein fluid is stored in a tank on a surface ship as a liquid in the cooled or compressed liquid state, and is injected in the liquid state into a pipe from the surface where it is stored to an immersed casing at an underwater depth at which the underwater pressure is not greater than the vapor pressure of the gas corresponding to the compound at the temperature at the depth.

Abstract: A buoyancy system includes a chamber having a volume associated therewith, and bladders within the volume of the chamber. Each bladder contains a clathrate mixture in a liquid state. The chamber includes an opening to allow surrounding water to circulate within the volume and contact the bladders. As the chamber is submerged in the surrounding water, the bladders expand based on the clathrate mixture changing from the liquid state to a solid state. This changes buoyancy by allowing less water to circulate within the volume of the chamber.

Abstract: A control device or “bird” for controlling the position of a marine seismic streamer is provided with an elongate, partly flexible body which is designed to be electrically and mechanically connected in series with a streamer. In its preferred form, the bird has two opposed wings which are independently controllable in order to control the streamer's lateral position as well as its depth.

Abstract: A submersible pump apparatus comprising a housing containing all the components of the pump assembly for using the submersible pump apparatus in a body of water. A float or a plurality of floats are attached to the top side of the housing for providing a positive buoyancy to the submersible pump apparatus. The float is provided with a channel for slidably receiving a single weight or a plurality of weights. The weight is used to overcome the positive buoyancy of the float and achieve a negative buoyancy for submerging the submersible pump apparatus to the bottom of the body of water. A sled is attached to the bottom side of the housing and comprises the combination of both legs and feet for supporting the submersible pump apparatus at the bottom of a body of water. A finder float floating at the water surface level is attached using a rope to both the weight and the housing. By removing the weight or weights from the float, a positive buoyancy is restored to raise the submersible pump apparatus.

Abstract: Technologies such as stealth buoys and underwater gliders need to modify their own buoyancy in order to operate. Strategies such as pumping fluid are typically used to change the device's net volume. This in turn requires a mechanically sophisticated apparatus, increasing the cost of the vehicle while diminishing its reliability. The concept of a buoyancy engine that exploits the enormous volume and pressure changes accompanying the reversible electrochemical interconversion of water to hydrogen and oxygen gases is applied to stealth buoys and underwater gliders.

Abstract: An elongate article (100) such as a prefabricated pipeline of several kilometres length is towed through water. The article is provided along its length with buoyancy adjusting material (102) fitted closely to the article. The buoyancy adjusting material is sufficient to give the article overall a positive buoyancy so that it will not sink to the seabed, and is distributed unevenly along the length of the article so as to create regions of negative buoyancy. This causes the article to adopt a wave profile with peaks (+) and troughs (?) along its length. The article is connected at its extremities to lead and trail tugs (104, 106) for controlling movement of the article through the water. Intermediate peaks are optionally coupled to intermediate tugs (108) or buoys (702) via self-adjusting ballast chains (110). The wave profile allows the towed structure to extend without undue tension on the article itself.

Abstract: An electronic pet and a system therewith are provided herein. The electronic pet includes a driving device, a sensing device used to sense light, sound and contact/non-contact stimulations from an external environment, a signal transceiver device used to transceive signals to and from devices other than the electronic pet, and a processor. The pet interaction system includes an electronic pet, a system sensing device used to sense a position of the electronic pet and a physiological status of a user, a dummy, a system signal transceiver device used to transceive signals to and from the electronic pet and the dummy, and a system processor.

Abstract: An open-ocean fish-growing platform has a submersible cage structure for growing fish, an antenna for receiving positioning signals transmitted from an external source, a position-correction apparatus for calculating a position error signal from a target geostatic position, and an ocean thermal energy conversion (OTEC) system for generating electric power for thruster units to maintain the cage structure in the target geostatic position. The OTEC system inducts colder ocean water from a deeper ocean depth for driving its heat exchange cycle, and is also of hybrid type using a fuel-fired unit as a heat source. The cold water effluent from the OTEC system is directed into the cage for flushing wastes generated by the growing fish. The self-positioning, self-powered open-ocean platform enables unmanned, extended marine deployment in deeper ocean waters without the need for tethering or anchoring to the ocean floor.

Abstract: A buoyancy control system for a submersible object submerged in an ambient fluid, comprising a piston housing, a piston member, a pump, control fluid, and working fluid. The piston housing is supported by the submersible object. The piston member defines a piston portion and a shaft portion. The piston member is supported within the piston housing such that the piston portion and the piston housing define a control chamber and an ambient chamber and the shaft portion and the piston housing define a working chamber. The pump is operatively connected to the working chamber. The control fluid is arranged within the control chamber. At least a portion of the working fluid is arranged within the working chamber. Operation of the pump displaces working fluid within the working chamber to displace the piston member to alter a volume of the control chamber.

Abstract: In a method for detection and neutralization of underwater objects which are present in a sea region, in particular mines, a two-dimensional or three-dimensional image of the seabed is created by means of an unmanned first underwater vehicle during a reconnaissance mission in a sea region section by means of optical and/or acoustic sensors, and this image is evaluated for the presence of underwater objects, after completion of the reconnaissance mission. At least one underwater object which is present is marked in the image, and the image which has been provided with the object marking is stored in an unmanned second underwater vehicle, which is equipped with the same sensors and additionally with a neutralization unit. During a neutralization mission by the second underwater vehicle in the same sea region section, image elements of the seabed are created continuously by means of the sensors and are compared with the stored image of the seabed.

Abstract: The present invention provides a system and a method, including a gas supply proximate to a worksite, for repetitively recharging the ballast tank of an underwater vehicle as required to control its buoyancy while moving underwater payloads.

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

Abstract: A closed loop buoyancy system wherein a device housing the system is submerged in a liquid filled container, the device dives to the bottom of the container, remains for a regulated amount of time, and then floats back to the surface of the liquid.

Abstract: A combination pressure relief valve system and undersea vehicle vents pressurized gas from lithium batteries to ambient. An undersea vehicle having an interior has a pair of hollow pylons each having a passageway fluidly communicating with the interior. A pressure relief valve is mounted on each pylon, and each pressure relief valve has a body portion having an inner bore fluidly communicating with a passageway. An elongate valve plug in the body portion is interposed between each passageway and ambient and the valve plug has a lateral bore and a circumferentially disposed O-ring. A nose portion is secured to the body portion, and the nose portion has a pair of laterally aligned bores aligned with the lateral bore of the elongate valve plug. A wire extends through the laterally aligned bores and lateral bore. The O-ring and wire retain the valve plug interposed between a passageway and ambient.

Abstract: A method of deploying cable in a body of water comprising an autonomous underwater vehicle (AUV) capable of converting vertical motion into horizontal travel, and placing cable in the body of water with the AUV. The cable, usually a cable sensor array, is released from a cable storage section of the AUV as the AUV glides horizontally. Vertical motion can be provided by buoyancy change, by dropping the AUV into the water, or by release of the AUV from a weighted bunker at the bottom.

Abstract: An apparatus for deploying cable in a body of water comprising an autonomous underwater vehicle (AUV) capable of converting vertical motion into horizontal travel, having a housing and means to deploy cable in a body of water. The cable, usually a cable sensor array, is released from a cable storage section of the AUV as the AUV glides. Vertical motion can be provided by buoyancy change, by dropping the AUV into the water, or by release of the AUV from a weighted bunker at the bottom.

Abstract: Gas storage is provided for a subsea gas-lifted riser during offshore drilling and/or production operations. One or more gas storage chambers positioned along and about the subsea riser are connected to a gas conduit. Each chamber has at least one valve for controlling passage of gas out of the chamber and into the gas conduit. The valves serve to allow the gas from the storage chambers to be injected as lift gas as needed.

Abstract: A device controlling the depth and motion of an object underwater by using a processor to accurately control the volume of gas within, and thereby the buoyancy, depth, and motion (rate of ascent and descent) of, a buoyancy chamber that is attached to the object. The device has a central component incorporating a processor and associated memory, the processor being in communication with: a buoyancy chamber and a means for measuring the volume or level of gas within, at least one gas control mechanism(s) to input and remove gas from the buoyancy chamber; a depth measuring sensor, a power source; a gas source, and an input device to instruct the processor. By manipulating the volume of gas within the buoyancy chamber, using the gas source and the at least one gas control mechanism(s), the processor is able to control the rate of ascent, rate of descent, level of buoyancy, and depth of itself and the object to which it is attached.

Abstract: The present invention relates generally a method and apparatus for adjusting the buoyancy of towed seismic arrays comprising a plurality of streamers and specifically to the dynamic buoyancy control of the buoyancy of a towed array of streamers by means of applying current to electroactive polymers (EAP) incorporated within the towed array of seismic streamers. The bulk density of the streamer array is electrically altered to accomplish neutral buoyancy for a towed array of streamers within the full range of water-densities from fresh to extremely dense seawater.

Abstract: A device for controlling the position of an underwater cable comprises a body, first and second actuators, and a pair of wings. The body is stationarily mountable to the underwater cable and the first and second actuators are disposed in the body. Each wing has an axis of rotation and the wings are coupled to the first and second actuators to control the depth and the horizontal position of the underwater cable in the water.

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: 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: A depth control device (1) for a subsmersible body comprises a depth monitor (5) and depth controller (6). A variable volume buoyant body operates under the control of the depth controller and comprises three chambers, the first (10) containing air and the second and third chambers (7, 8) containing hydraulic fluid. The second and third chambers (7, 8) communicate reversibly with one another by means of a tube (13) and bypass valve (12) in a pump (3), so that a piston (9) at the entrance to the first chamber (10) is displaced in response to movement of fluid between the second and third chambers. Thus, the volume of the buoyant body is varied and hence the buoyancy of the subsmersible body which it controls. To keep the submersible body at a particular depth, a depth trigger value is set in the depth controller (6), so that a reversible change in the volume of the buoyant body is initiated in response to a change in depth sensed by the depth monitor (5) by pumping fluid between the two chambers (7, 8).

Abstract: The present invention generally relates to apparatus and methods for buoyancy compensation. More particularly, the present invention is directed to a selectively deformable buoyancy device and method for its use.

Abstract: An underwater vehicle having a negative buoyancy and thrust units by which it can hover is described. Slow speed maneuverability while hovering is achieved by moving the position of a mass fore and aft and/or side to side such as to cause the vehicle to pitch or roll and thereby vector the otherwise vertical thrust such that the vehicle is propelled in the direction in which the mass has moved.

Abstract: A ballast weight system for releasably attaching a ballast weight to an urwater vehicle is disclosed where the system comprises a ballast weight, a housing disposed about the ballast weight, a fairing connected to the ballast weight to facilitate a flush connection of the ballast weight to the underwater vehicle, and a bolt coupler where one end of the bolt receives a lanyard pin therethrough and the second end connects a spring loaded bolt connected to the ballast weight. A linear actuator is connected to the lanyard pin. The lanyard pin placed through the bolt maintains the spring loaded bolt in spring compression such that when the pin is removed, the spring compression propels the ballast weight away from the housing.

Abstract: A submersible unit having thrusters for changing a diving position based on a total work quantity, which is the sum of a first work quantity and a second work quantity. A proportional controller generates and outputs the first work quantity based on a difference between a position quantity indicating a desired target diving position and a diving position. A network controller uses a neural network data processing system to learn movement characteristics of the submersible unit based on the first work quantity and a diving position sampled over a plurality of times. The network controller generates a second work quantity using control coupling coefficients learned by minimizing an evaluation quantity determined from a difference between the learned movement characteristics and target movement characteristic values.

Abstract: Submersible boat is capable of navigating both on the water surface and submerged, the diving taking place by dynamic effect when the operator requires it, the boat having a catamaran type structure, comprising two side floats which are maintained partially under the water-line while its cabin is kept totally above the water-line when the boat navigates at the water surface. Fins situated between the floats provide for the steerability of the boat, both submerged and at the water surface, while the thrust is generated by a pair of propellers situated at the lower end of the floats and actuated by diesel engines when the boat navigates on top of the water or is submerged in shallow waters, but in deep waters the engines are substituted by electric motors run by batteries.

Abstract: A vehicle towed by a submerged vehicle is surfaced with improved speed, rability and efficiency by displacing water from within the towed vehicle with gases evolved by electrolysis within the towed vehicle. Positive buoyancy is thus derived and the attitude of the towed vehicle is controllably altered so that hydrodynamic lift is also produced to rapidly surface the towed vehicle.

Abstract: A compressed gas buoyancy generator powered by temperature differences in a fluid medium having a thermal gradient which includes a body having an inflatable chamber connected thereto for rendering the body buoyant at a surface of the fluid medium and a mechanism for inflating the inflatable chamber with a gas, the inflating mechanism including a mechanism for inflating the inflatable chamber with the gas by obtaining energy from the thermal gradient within the fluid medium. The inflating mechanism includes a mechanism for absorbing heat at a surface portion of the fluid medium and for converting the absorbed heat at a predetermined depth of the fluid medium into a mechanical work for inflating the inflatable chamber when the body is at the surface of the fluid medium.

Abstract: Energy is collected from temperature differentials in a volume of fluid and the energy is used for autonomous propulsion in the fluid.

Abstract: There is disclosed a portable free drifting oceanographic instrument package for cyclically collecting oceanic and/or fresh water environmental data over a range of depths.

Abstract: This subsea exploration apparatus comprises a ballast tank and a shuttle (7) with a watertight enclosure (10) which contains instrumentation for measurement, control and transmission of signals to a surface buoy. The enclosure is guided along a cable (1) fixed to the ballast tank and is provided with a chamber (26) whose lower opening is equipped with a hatch (29). When the shuttle is in high position, a load of ballast is transferred from the tank (5) into the chamber (26), causing the shuttle to descend. This load is jettisoned in a low position of the shuttle, by opening the hatch (29), in order to permit it to reascend.

Abstract: A two-level sea-land creeping vehicle formed by three main parts: a frustoconical bow portion which is movable independently but connected to the central part or compartment in the form of a drop of water, which is flat in the lower part and which is fixed with respect to the rear part which comprises the drive and steering assembly, as well as the breathing and safety zone.The vehicle is displaced on land by means of two rollers disposed in the lower region and by the drive of the motor, and it is likewise displaced on the surface of water due to its buoyancy and it is also displaced in a condition of dynamic immersion by the drive of the motor linked to positioning of the bow portion and hydroplanes; the air required is picked up from the surface by means of an appropriate telescopic arrangement and it has the particularity of not being hermetically sealed in the immersed condition. It is totally safe since it rises automatically to the surface when the motor stops.

Abstract: A gas control valve (802) has an inlet needle jet (812) and an outlet (816), the communication between which is controlled by a valve member (808) carried by a rod (807) connected to a diaphragm (804) which divides a chamber (806), open to ambient pressure, from a chamber (805) which has an inlet connected to a buoyancy chamber (100) of buoyancy apparatus in which the valve is incorporated. The inlet (816) is also connected to the buoyancy chamber (100). By the inclusion of an ascent sensing control valve (801) sensing to trigger a venting valve (106), the buoyancy control apparatus is capable of producing hovering in water.

Abstract: A towline depressor (2) having forward and rearward ends with a main body portion (4) at the forward end. Wings (6) and (8) extend from the body with stabilizing fins (10) and (12) depending from the wings. A dorsal fin (14) having holes (16), (18) and (20) extends from the top center of the body for attaching the depressor to a towline. The holes permit attaching the towline at varying points relative to the center of gravity of the depressor.

Abstract: An unmanned, self-propelled minesweeping apparatus, capable of sweeping at ubstantial depths, is described, comprising a torpedo-like submarine vehicle that deploys and tows a string of explosive mooring cable cutters terminating in a sea anchor. The sea anchor serves as a carrier for the cutters and the towline and, after ejection as a package from the vehicle, is actuated to an expanded condition and displaces the cutters and coils of towline therefrom.