Abstract: The present invention provides an underwater acoustic target ranging method based on feature extraction and a neural network, including: acquiring underwater acoustic signals transmitted by an underwater acoustic target at different distances, dividing data by seconds, and using data of one second as one sample; performing framing on each sample; and separately calculating a zero-crossing rate of a time domain waveform, the second, fifth, and eighth coefficients of MFCC, a spectral centroid, a spectral skewness, a spectral entropy, and a spectral sharpness for each frame of data of each sample. In the underwater acoustic target ranging method based on feature extraction and a neural network provided in the present invention, the received underwater acoustic signal data is directly processed, so that the real-time performance is high and the reaction speed is fast.

Abstract: A projectile based targeting system for underwater objects includes a trainable gun terminal mounted in a waterproof housing. The gun terminal includes plural gun barrels terminating in waterproof breeches. Noise generating projectiles are launched from the gun barrels, and a fire control system selectively fires the projectiles from each of the plural gun barrels in a noise pattern. A host controller detects and processes noise generated by a launched pattern of the noise generating projectiles to give information about the objects. The projectiles each include a void region connected to an outer surface of the projectile by a hole formed in a neck of the projectile. Launching of the projectile creates a vaporous cavity around the projectile and thus the hole, thereby causing the void region to resonate at a noise generating frequency.

Abstract: A submarine is equipped with an extending apparatus on whose free end a container (4) resistant to underwater pressure is arranged, in which an essentially recoil-free gun (5) lies. The container (4) in the submerged condition of the submarine may be brought to the water surface (15) by way of the extending apparatus, and pivoted out so that one may also shoot in the submerged condition.

Abstract: An appended pod underwater gun mount for a submersible host vessel includes a strut member having a base end fixed to an outer hull of the submersible host vessel and a distal end protruding outwardly from the host vessel, the distal end being angled with respect to the base end, and an ammunition housing moveably fixed to the distal end of the strut member. A train control mechanism is positioned between the strut member and the ammunition housing for controlling the horizontal rotation of the ammunition housing with respect to the host vessel, and a tilt control mechanism is positioned between the strut member and the ammunition housing for controlling the vertical rotation of the ammunition housing with respect to the host vessel. A flexible boot is connected to the ammunition housing and surrounds each of the train control mechanism and the tilt control mechanism to protect the mechanisms from an underwater environment.

Abstract: A floating device is provided, which allows an entire robot main body to float at a site. Mounted on the floating device are an image sensor which captures image data of persons around the robot main body; an information processing device which recognizes a specified person based on the image data captured by the image sensor, calculates a position of the specified person, and outputs a control signal for moving the robot main body toward the position of the specified person; a propulsion device which moves, based on the control signal, the entire robot main body to a close position close to the specified person so that the robot main body can be seen by the specified person; and an image display device, which displays image information useful for the specified person using the site when the robot main body reaches the close position. The information can be supplied to a specified object in a bi-directional fashion.