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: Disclosed is a device used to maneuver a vehicle consisting of a tubular y with suction circumferential slots adjacent its forward end and exhaust circumferential slots adjacent its aft end on both the outer and inner peripheral surfaces. Fluid is conveyed between the forward slots on one surface of the tubular body to the aft slots on the other surface of the body to produce asymmetrical pressure on the tubular body while traveling through a fluid medium.

Abstract: An underwater vehicle such as a torpedo has a jet pump propulsion system. A high speed pump is located inside a rigid cylindrical housing of the torpedo near an end thereof. A water inlet communicates with the pump as does a water outlet provided at the aft end of the rigid housing via a water passage. A high speed electrical motor, on the order of 10,000 rpm, is provided inside an inner cylindrical housing disposed within the outer cylindrical housing. The electric motor is provided aft of the pump and the electric motor shaft is directly coupled to the pump rotor. Only one bearing and one water seal is provided between the electric motor and pump rotor. A water exit passage is provided between the inner cylindrical housing containing the high speed motor and the rigid outer cylindrical housing. Water passing through the exit passage cools the electric motor by dissipating heat therefrom.

Abstract: A submarine propulsion system for a submersible vehicle has two motors mounted on respective support arms able to rotate about two axes relative to the submersible vehicle. Rotation of each arm about its first axis moves its respective motor out of a storage recess, in which it is stored when not in use, into an operating position and rotation of the same arm about the other axis moves its respective motor between two operating positions in which it generates vertical and horizontal thrust respectively.

Abstract: A torque balanced propulsor unit for a submersible vehicle of the type having a bow, a stern, a longitudinally extending central section axisymmetric about a longitudinal axis of the vehicle and including therein a maximum diameter of the vehicle, and a tapered aft section axisymmetric about the longitudinal axis is provided. The torque balanced propulsor unit includes a rotor for providing a forward thrust to the vehicle. The rotor includes a central axisymmetric hub and a plurality of circumferentially spaced apart impeller blades extending radially from the central hub. The rotor is rotationally mounted to the tapered aft section of the vehicle. The rotor has a first torque associated therewith. The torque balanced propulsor unit further includes a stator for producing a second torque on the vehicle. The stator is secured to the vehicle at a location aft of the rotor.

Abstract: A submersible boat is provided which utilizes a planing boat hull with a sharp bow and blunt stern. The submersible boat performs as a planing boat until it nears the target location. Then, the boat submerges in order to avoid detection. After this vessel submerges, it travels with the blunt end forward and the sharp end aft.

Abstract: A propeller driven underwater propulsion system for use by a scuba diver, comprising at least one elongate air tank to be carried on the back of the diver, with the longitudinal centerline of the tank residing in a plane approximately perpendicular to the plane of the shoulders of the diver. A propeller is operatively mounted for rotation at a location closely adjacent the rear end of the tank, but it is neither rigidly connected to nor directly supported by the tank. A motor mounting arrangement operatively supports a motor adjacent the tank, with a motor output shaft being operatively connected by a torque transmitting device for continuously supplying rotative power to the propeller, such that the propeller provides a line of thrust at a location directed essentially rearwardly of the tank.

Abstract: A propulsion system for a submerged vehicle which operates at a relatively low RPM includes a pair of coaxial drive shafts for producing counterrotating torques. A first propeller unit is attached for rotation with one of the drive shafts and a second propeller units is attached for rotation with the other drive shaft. Each propeller unit includes a plurality of arcuate propeller blades which are deployed upon rotation of their respective drive shaft. Specifically, this deployment is from a first configuration wherein the blades are disposed along the surface of the vehicle and into a second configuration wherein the blades are extended from the surface of the vehicle.

Abstract: A system is provided for deploying a propulsor unit from the hull of a water vehicle, such as a submarine. The system comprises an opening in a submerged portion of the hull that leads to a chamber for storing the propulsor unit, a cover for covering the hull opening to render the surface of the hull substantially continuous and fluid-dynamic, the cover having first and second sides, each of which conforms to the contour of the hull and the propulsor unit being mounted on the second side of the cover, and a pivotal mounting that hingedly connects the cover and the propulsor unit attached thereto across the opening in the hull for allowing the propulsor unit to move from a first stored position within the storage chamber to a second deployed position in the ambient water surrounding the hull. A drive assembly is provided for pivotally moving the cover and its attached propulsor unit between stored and deployed positions.

Abstract: A watercraft having positive static buoyancy is provided which is operable both as a hydrofoil and submersible vessel. It is generally shaped in the form of a dolphin or porpoise, with the equivalent of fins acting as both navigation and attitude control mechanisms. Pectoral or forward fins provide hydrofoil struts when manipulated into one position and then are operable as diving planes when displaced into an alternate position. A dorsal fin provides supplemental rudder control. A pair of flukes or rear fins provide for pitch and/or dive control while the vessel operates in the submerged mode. These fins and a propulsion system are either manually or computer controlled by way of hand held joysticks and foot rudders. Submerged operation is achieved with an internal combustion motor by including an air compressor and air storage tank(s) with an air intake arrangement having automatically operable devices serving to open and close an air intake in response to exposure to water.

Abstract: The submersible vehicle system of the present invention comprises a unitary ndersea vehicle composed of a rigid hull submersible mated to an inflated auxiliary submersible. Both the rigid hull submersible and the auxiliary submersible may be initially stored aboard a mother vessel. The auxiliary submersible is provided with one or more compartments for storing fuel and/or ballast, either positive or negative.

Abstract: This invention is an articulatable mechanism applicable to a wide variety of situations. The device provides a rotational component as well as a pivotal component providing practical propulsion in polar coordinates instead of customary linear transmission. This device could be used for steering propulsion devices by controlling the orientation and direction of a propeller shaft or rocket exhaust. Another application of this device might be orienting and directing devices such as fire hoses and lasers.

Abstract: A system is provided for deploying a propulsor unit from the hull of a water vehicle, such as a submarine. The system comprises an opening in a submerged portion of the hull that leads to a chamber for storing the propulsor unit, a cover for covering the hull opening to render the surface of the hull substantially continuous and fluid-dynamic, the cover having first and second sides, each of which conforms to the contour of the hull and the propulsor unit being mounted on the second side of the cover, and a pivotal mounting that hingedly connects the cover and the propulsor unit attached thereto across the opening in the hull for allowing the propulsor unit to move from a first stored position within the storage chamber to a second deployed position in the ambient water surrounding the hull. A drive assembly is provided for pivotally moving the cover and its attached propulsor unit between stored and deployed positions.

Abstract: A marine propulsor for submersible vessels or surface vessels powered by underwater propulsion units. A shaftless motor with disk-shaped rotor and stator(s) is mounted in the vessel structure with a blade hub mounted on the rotor, the hub including propeller blades extending beyond the circumference of the vessel housing. The motor is substantially iron-free with much of the rotor/stator volume being occupied by windings, thus providing sufficient power without taking up substantial space or adding burdensome weight. The rotor is journal mounted in the vessel and circumferential thrust bearing assemblies are provided around the rotor/blade hub assembly. A water cooling/lubricating system is provided for the bearings and rotor/stator(s). Power is supplied individually to two stators mounted on either side of the rotor to control electromagnetic forces on the rotor to offset thrust forces and to reduce the magnitude of propulsor induced structural vibration.

Abstract: A control surface design for submerged vehicles. The control surfaces are vably mounted or radially extending support members such that the wake created by the deflection of the control surfaces will not be transmitted to the propeller. The support members have a cross section that minimizes flow disturbances in the region of the propeller.

Abstract: A remotely operated vehicle (ROV) provided with not less than three thrusters arranged in the longitudinal direction of a vehicle body. The center of gravity G of the vehicle body excluding a pendulum and the center of buoyancy B of the vehicle body including the pendulum are set in agreement with each other, and the pendulum is provided so that it can be turned around a Y-axis extending in the lateral direction of the vehicle body and passing the center of gravity G thereof.

Abstract: A self-propelled manned submersible vehicle of the type comprising a pressure-resistant capsule (1) serving as a cabin, ballast tanks (3, 8), releasable ballast (7), propulsion units (4) having propellers driven by electric motors, and storage batteries (42), the pressure-resistant capsule (1) comprises a peripheral window constituted by a vertical cylindrical sleeve (19) which is entirely transparent, the sleeve is of sufficient diameter to house a plurality of people sitting side-by-side, and extends upwardly from a hemispherical bottom (14) and downwardly from a spherical cap (16) which is extended by a cylindrical conning tower (21) which is closed by a hatch (22).

Abstract: A generally tubular-shaped or cylindrical vehicle for operation in a fluid medium is formed with a bluff or stubby afterbody and utilizes an actuator disc type propeller of approximately one-half to three-fourths of the diameter of its housing at its rear for propulsion. The propeller, in addition to driving the vehicles, is spaced from the body such that it inducts half or more of the boundary layer flow, thereby acting to draw the flow smoothly over the after part of the vehicle with a minimum of flow separation and turbulence and drag caused thereby. Steering in pitch and yaw is provided by a plurality of fins located just forward of the bluff rear surface of the vehicle. In this location the fins are more than usually effective, hence smaller than customary, because they are exposed to a fluid velocity which is near or above free stream velocity rather than at a lower velocity which is usual in vehicles having tapered afterbodies.

Abstract: A steering apparatus for steering propulsion devices such as a propeller shaft and rocket exhaust and for aiming devices such a fire hoses and lasers. The steering apparatus provides a rotational component and a tilting component to the orientation of the steered device.

Abstract: A motorized propulsion device for swimmers and scuba divers which is to be attached to the user's forearms. The battery, motor, propeller and propeller shroud are arranged in a compact, linear, hydrodynamic manner. The watertight housing may have one or more integrally shaped nesting protuberances to comfortably accommodate the user's forearm and thereby prevent slippage. The front end surface of the housing has a control panel within reach of the user's fingers.

Abstract: A propulsion mechanism for an underwater device and, more particularly, a mobile mine having directional control provided by a pair of positionable fins each independently positionable by an associated fluid cylinder having a piston rod extending therefrom with a rack engaging with a pinion gear on a rotatable shaft supporting the fin. Control valve structure independently controls delivery of fluid under pressure to the two fluid cylinders for separate movement of the fins to produce the desired direction of travel. The propulsion mechanism utilizes a gas turbine which is supplied with hot gas under pressure from a gas propellant chamber which burns solid fuel and the gas turbine is located to enable substantially straight flow-through of gas from the gas propellant chamber through the turbine and through a tubular propeller shaft for exhaust aft of the mobile mine.

Abstract: A plurality of blades extend radially from a hub which is rotated by a motor about a drive axis. Each blade has a root which is rotatably connected to the hub so that it can be independently twisted to vary the pitch thereof relative to the drive axis. A plurality of electromagnets are annularly positioned adjacent the hub so that permanent magnets connected to the roots of corresponding blades can be attracted and/or repelled to induce twisting motion in the blades as the hub rotates about its drive axis. A control circuit receives input commands for a manual control device and causes predetermined electrical signals to be applied to the electromagnets for simultaneously varying the pitch of the blades. The pitch of the blades can be varied cyclically and collectively in accordance with any real continuous function, and not just sinusoidally as in the case of prior mechanical linkages employing swash plates.

Abstract: A bottom anchor connector for securing the tension legs of a tension leg platform (10) having a flexible joint (26) between a first body member (22) and a second body member (24) including a latch carrier (44) having latch segments (46) thereon which react with an anchor receptacle recess (18) to provide the connection between the connector (10) and the anchor receptacle (R) when the bottom connector (10) is lowered into the anchor receptacle (R). The latch carrier forms part of a self-actuating installation and release mechanism and includes, in one embodiment, keys (46) which cooperate with the receptacle recess (18) to position the dogheads (50) of the latch segments (46) to be free of the receptacle recess (18) so that the dogheads may move within the inner wall of the receptacle without reacting to the recess (18) to release the bottom connector from the receptacle.

Abstract: A self-propelled spherical vehicle (10) for operation in a fluid medium utilizes an impeller (12) of approximately half the diameter of the sphere for propulsion. In addition to driving the vehicle, the impeller acts to draw the flow of fluid smoothly over the after part of the sphere, thus avoiding or minimizing the tendency of the fluid flow to separate from the surface and create turbulence. Compensation for impeller torque is effected in one embodiment by a series of non-rotating stator blades (14) carried coaxially of and immediately aft of the impeller and which are curved to counter the torque of the impeller on the vehicle. The stator structure is supported at the rear of the housing by brackets (18) including pivotal supports providing support in the vertical plane.

Abstract: A spherical vehicle for operation in a fluid medium utilizes an actuator disk or propeller of approximately half the diameter of the sphere for propulsion. In addition to providing the energy for driving the sphere, the actuator disk acts to draw the flow of fluid smoothly over the after part of the sphere, thus avoiding or minimizing the tendency of the flow to separate from the surface of the sphere and create turbulence. For aircraft launch, a heavy shroud protects the actuator disk propeller and assures that the vehicle will sink rapidly after impact. The shroud is jettisoned at a desired depth. Steering in pitch and yaw planes is effected through the use of a plurality of powered thrusters located at or just behind the circle of maximum diameter (with respect to the direction of motion) and selectively actuated by a guidance or control system. Alternatively a single reversible thruster may be used for steering in yaw combined with a movable internal weight for pitch control.

Abstract: A propulsion system for an underwater vehicle includes a solid propellant gas generator producing gas which drives a gas turbine. The turbine drives one, or alternately two, centrifugal pumps which induct sea water from intake ports and supply it under pressure through a passage to passages leading to tip nozzles in the blades of a propeller which drives the vehicle, thereby using the reaction force from the tip nozzles to drive the propeller. Exhaust gas, after driving the turbine, is conducted through a conduit and to an annular chamber where it is cooled by means of a spray of sea water, thus condensing the steam present and reducing the volume of exhaust gas.

Abstract: A spherical vehicle for operation in a fluid medium utilizes an impeller of approximately half the diameter of the sphere for propulsion. In addition to providing the energy for driving the sphere, the propeller acts to draw the flow of fluid smoothly over the after part of the sphere, thus avoiding or minimizing the tendency of the flow to separate from the surface of the sphere and create turbulence. Steering in pitch and yaw planes is effected through the use of a plurality of drag pins located just behind the circle of maximum diameter (with respect to the direction of motion) and selectively actuated by a guidance or control system. A plurality of stub vortex generators are also located on the after side of the sphere and are angled to oppose the torque created by the propeller. The center of gravity is located substantially below the geometric center of the sphere.

Abstract: A submarine vehicle for collecting and raising materials resting on the sea bed at great depths, of the type comprising a load-bearing structure, collecting elements for the materials, storage silos for storing the materials collected and/or the ballast material, transfer means between said collecting elements and said silos, and main propellers for advancing the vehicle on the sea bed, said vehicle being characterized in that said load-bearing structure is made of a buoyancy material, said structure being in the form of a ring having a longitudinal plane of symmetry and defining the stem, stern and sides of said vehicle, and defining between them a free central space, the outer surface of said structure forming the hull of said vehicle, said storage silos being arranged in the free central space and fixed to said load-bearing structure, said collecting elements being arranged in front of and below said stem, said main propellers also being fixed to the lower surface of said load-bearing structure.

Abstract: Polymetallic nodules are collected by means of a plurality of self-propelled vehicles which move upwards and downwards between the sea floor and a surface platform under the action of excess ballast which is partially and progressively released as the vehicle approaches the bottom. The vehicles are propelled along the sea floor by means of at least two supporting units each having at least one helical propulsion fin, the remainder of the ballast being released in order to return the vehicles upwards for docking, unloading and energy-recharging in the surface platform.

Abstract: A steering apparatus for a marine vessel comprising a propeller assembly connected to a driveshaft imparting power to the propeller through a joint on the shaft and further including hydraulic cylinders for permitting the angle of the propeller assembly to be varied in both the vertical and horizontal planes allowing the vessel to change direction.

Abstract: An underwater cruise device is disclosed which is mounted to a vessel by a vertical telescoping boom. The device includes a diving chair mounted to the vertical boom which can be selectively submerged during diving operations or completely withdrawn from the water for long distance, surface cruising. A concave, transparent shell canopy is mounted to the diving chair, forming an enclosed upper cavity which can contain a breathable gas ambient to surround the head of the seated diver. Controls are provided on the diving chair to enable the submerged diver to control the extension of the vertical boom into the water and the propulsion and steering of the vessel itself. Radio and television communication with the surface can be provided so that the diver can monitor surface conditions while cruising in the submerged diving chair.

Abstract: Polymetallic nodules are collected by means of a plurality of self-propelled vehicles which move upwards and downwards between the sea floor and a surface platform under the action of excess ballast which is partially and progressively released as the vehicle approaches the bottom. The vehicles are propelled along the sea floor by means of at least two supporting units each having at least one helical propulsion fin, the remainder of the ballast being released in order to return the vehicles upwards for docking, unloading and energy-recharging in the surface platform.

Abstract: A submarine system comprising a submarine device for operation within a fluid environment. The device is provided with a self-contained source of energy, propulsion components coupled to the energy source, maneuvering components and an environment observation device. A control station located remote from the submarine device is connected to it by means of a transmission cable, the cable being the sole means of transmitting command signals to the device and receiving observation results therefrom.

Abstract: The invention relates to a self-propelled shark-proof cage which is provided with at least one access opening and a propeller mounting frame having pivot means coupling it to the cage so that the propeller mounting frame is pivotal about two axes at right angles to each other, and the propeller mounting frame carries on it an air motor and a propeller. The frame is provided with buoyancy means so that it can be made to be of approximately the same gravity as sea-water, and the air motor is driven by compressed air so that the cage can be propelled through the water, thereby enabling abalone divers to collect abalone without fear of predators and, beacause of less exertion, for longer periods of time.

Abstract: A submersible boat is provided which utilizes a planing boat hull with a sharp bow and blunt stern. The submersible boat performs as a planing boat until it nears the target location. Then, the boat submerges in order to avoid detection. After this vessel submerges, it travels with the blunt end forward and the sharp end aft.