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Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

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Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

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Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
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Применить Всего найдено 4515. Отображено 100.
01-03-2012 дата публикации

Remotely Operated Submersible Vehicle

Номер: US20120048172A1
Автор: Jeffrey Paul Lotz
Принадлежит: Individual

A remotely controlled submersible with a circular profile. A shaft crosses the submersible at the center on the pitch axis that is fixed to the external shell holding the thrusters. From this shaft the framework of the submersible hangs with all of the essential components and any additional weight required gaining the desired buoyancy. A motor such as a servo motor is mounted to the framework and is coupled to a gear, sprocket or pulley that is fixed on the center shaft. When activated the motor rotates the shell of the submersible along with the thrusters to the desired pitch while the internal frame remains low. The design of the submersible external body in relation with the internal body allows the submersible to pitch and maintain stability with a fixed center of buoyancy and center of gravity.

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Номер записи: 1
14-06-2012 дата публикации

Docking Apparatuses and Methods

Номер: US20120145064A1
Автор: Alexander V. Roup, Daniel N. Dietz, Douglas E. Humphreys, Stacy J. Hills, Thomas F. Tureaud
Принадлежит: Vehicle Control Technologles Inc

An intercepting vehicle, which is being towed by a towing vehicle, may home in on and attach to a retrievable vehicle that catches up to the intercepting vehicle from behind. Then, the intercepting vehicle, with the retrievable vehicle docked thereto, may be brought to the towing vehicle by reeling in the intercepting vehicle with the retrievable vehicle docked thereto.

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Номер записи: 2
23-08-2012 дата публикации

Linear cutting assembly, linear cutting system, and net penetrating method

Номер: US20120210836A1
Автор: Chris Norkoski, Conrad Zeglin, James Wiggins, Walter Allensworth
Принадлежит: Adaptive Methods Inc

The problem of penetrating through nets and other objects is solved by cutting the object using a linear cutting assembly having a linear cutter arm that moves in an arc and pivots about an attachment point. The object is cut by a severing action caused by a moveable blade of the linear cutting arm moving back and forth across a stationary blade of the linear cutter arm. An underwater vehicle modified to incorporate an embodiment of the linear cutting assembly can cut a sufficiently large opening in the object to allow the vehicle to pass through.

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Номер записи: 3
06-03-2014 дата публикации

Wave glider with streamer orientation sensor

Номер: US20140064026A1
Автор: David J. Monk, Michael S. Bahorich
Принадлежит: Apache Corp

A wave glider system includes a float having geodetic navigation equipment for determining a geodetic position and heading thereof. The glider includes an umbilical cable connecting the float to a sub. The sub has wings operable to provide forward movement to the float when lifted and lowered by wave action on the surface of a body of water. At least one geophysical sensor streamer is coupled to the sub. The at least one geophysical sensor streamer has a directional sensor proximate a connection between the sub and one end of the at least one geophysical sensor streamer to measure an orientation of the streamer with respect to a heading of the float.

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Номер записи: 4
13-03-2014 дата публикации

Method and Apparatus to Facilitate Cleaning Marine Survey Equipment

Номер: US20140069313A1
Автор: Arnt M. Bjorno, Einar Nielsen, Erling Vageskar, Jan Terje Rødseth, Kenneth Karlsen, Rune Tønnessen
Принадлежит: PGS GEOPHYSICAL AS

Techniques are disclosed relating to using a remote operated vehicle (ROV) to facilitate cleaning of a submerged geophysical equipment (e.g., a streamer) being towed behind a tow vessel. The ROV may, in one embodiment, attach a streamer cleaning unit (SCU) to the streamer, where the SCU is configured to clean the streamer. In another embodiment, the ROV may facilitate cleaning by cleaning the streamer itself using a cleaning attachment coupled to the ROV.

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Номер записи: 5
27-03-2014 дата публикации

Attachment/release device and assemblies and systems using same

Номер: US20140083282A9
Автор: Kim Perrin, Roy Jones
Принадлежит: ECS Special Projects Ltd

An impact initiated attachment device for attachment to a target, comprises a housing having a front face which abuts against the target in use, one or more fasteners, a drive mechanism for driving the fasteners(s) from a first position within the housing to a second position protruding from the front face of the housing, and a trigger mechanism for triggering activation of the drive mechanism comprising a trigger extending from the front face of the housing. The device is particularly useful in Explosive Ordnance Disposal (EOD) and demolition for attaching one or more disrupters to a target for disposal.

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Номер записи: 6
01-01-2015 дата публикации

METHODS AND UNDERWATER BASES FOR USING AUTONOMOUS UNDERWATER VEHICLE FOR MARINE SEISMIC SURVEYS

Номер: US20150000582A1
Автор: BRIZARD Thierry, Lelaurin Antoine
Принадлежит: CGG SERVICES SA

A recovery underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The recovery underwater base includes a storing part configured to store the AUV; an inlet part configured to control access to the storing part; a control part configured to control the inlet part; and a support part configured to support the control part, the storing part and the inlet part and to prevent a burial of the recovery underwater base if deployed on the ocean bottom. The control part is further configured to guide the AUV from the ocean bottom to the inlet part. 1. A recovery underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey , the recovery underwater base comprising:a storing part configured to store the AUV;an inlet part configured to control access to the storing part;a control part configured to control the inlet part; anda support part configured to support the control part, the storing part and the inlet part and to prevent a burial of the recovery underwater base into the ocean bottom,wherein the control part is further configured to guide the AUV from the ocean bottom to the inlet part.2. The recovery underwater base of claim 1 , wherein the control part comprises:an acoustic system configured to generate acoustic signals for guiding the AUV to the inlet part; anda control system configured to control the acoustic system.3. The recovery underwater base of claim 2 , wherein the acoustic system comprises:first and second transducers (T1, T2) configured to emit the acoustic signals.4. The recovery underwater base of claim 2 , wherein the acoustic system comprises:only first and second transducers (T1, T2) configured to emit the acoustic signals.5. The recovery underwater base of claim 3 , wherein the first and second transducers (T1 claim 3 , T2) are located on a central ...

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Номер записи: 7
01-01-2015 дата публикации

UNDERWATER POWER SUPPLY SYSTEM

Номер: US20150002092A1
Автор: Niizuma Motonao
Принадлежит:

An underwater power supply system is provided with an ascending/descending station that ascends and descends underwater between the water depth at which an underwater moving body works and the vicinity of the water surface, and a charging station that supplies electrical power wirelessly to the ascending/descending station in the vicinity of the water surface. At the aforementioned water depth, the underwater moving body moves adjacent to the ascending/descending station, and electrical power is supplied wirelessly from the ascending/descending station to the underwater moving body.

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Номер записи: 8
07-01-2016 дата публикации

OCEAN EXPLORATION APPARATUS AND OCEAN EXPLORATION METHOD

Номер: US20160001860A1
Автор: MIZUNAGA Hideki, Yamaguchi Satoru
Принадлежит:

An ocean exploration apparatus including: a probe body; a buoyancy adjusting section that adjusts buoyancy generated in the probe body; a posture adjusting section that adjusts a posture of the probe body; a position information acquiring section that acquires position information of the probe body; a wing section that moves the probe body using a lifting force applied from seawater; a sensor section that is provided in the probe body and measures an electromagnetic field; and a control section that controls operations of the buoyancy adjusting section, the posture adjusting section, the position information acquiring section, and the sensor section according to predetermined conditions. 1. An ocean exploration apparatus comprising:a probe body;a buoyancy adjusting section that adjusts buoyancy generated in the probe body;a posture adjusting section that adjusts a posture of the probe body;a position information acquiring section that acquires position information of the probe body;a wing section that moves the probe body using a lifting force applied from seawater;a sensor section that is provided in the probe body and measures an electromagnetic field; anda control section that controls operations of the buoyancy adjusting section, the posture adjusting section, the position information acquiring section, and the sensor section according to predetermined conditions.2. The ocean exploration apparatus according to claim 1 ,wherein the sensor section includes an MI sensor.3. The ocean exploration apparatus according to claim 1 ,wherein the wing section is formed as a glider type.4. The ocean exploration apparatus according to claim 1 ,wherein the sensor section detects the electromagnetic field through an electrode provided at an endpoint of an arm that protrudes from the probe body in a horizontal direction, andat least a part of the arm overlaps the wing section in a vertical direction.5. The ocean exploration apparatus according to claim 1 ,wherein the position ...

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Номер записи: 9
04-01-2018 дата публикации

SUBSEA CARRIER

Номер: US20180001970A1
Автор: SCHRAMM Rainer
Принадлежит:

A subsea carrier () for transporting a fluid, e.g. CNG or crude, comprises a main body () for containing the fluid at a predetermined internal pressure, wherein the main body () preferably is made of concrete and designed to operate at a water depth where the external pressure substantially counteracts the internal pressure. The subsea carrier has a floating element () connected to the main body () by a stabilising cable (), wherein the stabilising cable () comprises a first rope () for transmitting force and is attached to a first connector () that is movable with respect to the main body (). A system wherein the subsea carrier is towed by a surface vessel () or is self-propelled and controlled remotely is also disclosed. The subsea carrier () reduces operational costs relative to subsea carriers with traditional control surfaces and ballasting systems at large cargo volumes, e.g. 150 000 mor more. 117-. (canceled)18. A subsea carrier for transporting a fluid comprising:a main body for containing the fluid at a predetermined internal pressure, wherein the main body is designed to operate at a water depth where the external pressure substantially counteracts the internal pressure;a stabilising cable; anda floating element connected to the main body by the stabilising cable, wherein the stabilising cable comprises a first rope for transmitting force and is attached to a first connector that is movable with respect to the main body.19. The subsea carrier according to claim 18 , wherein the length of the stabilising cable exceeds the water depth.20. The subsea carrier according to claim 18 , further comprising a bridle for distributing a towing and lifting force.21. The subsea carrier according to any claim 18 , wherein the main body comprises a ballast element connected under a tank element.22. The subsea carrier according to claim 18 , wherein the main body comprises a first cargo compartment separated from a second cargo compartment by a movable gas tight sealing ...

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Номер записи: 10
04-01-2018 дата публикации

UNDERWATER REMOTELY OPERATED VEHICLE

Номер: US20180001981A1
Автор: Boss John
Принадлежит: Fathom Drones, Inc.

A remotely operated underwater vehicle system includes a hull having a front end and a tail positioned to the rear of the front end. The remotely operated underwater vehicle may include a first and second side thrust module configured to drive the vehicle in forward and reverse directions and removably connected to the hull, and a rear thrust module configured to drive the tail up and down and removably connected to the tail. The vehicle may include a tether and buoy to facilitate communication with a remote input device. A power source, such as a battery, may be positioned in the hull to power the vehicle and the buoy. The buoy may house a communication source configured to communicate with the input device. The tether is configured to transfer power and communication signals from the buoy to the hull. The buoy may float on a water surface to relay communication between the input device and the hull. 1. A remotely operated underwater vehicle system comprising:a hull including a front end and a tail positioned to the rear of the front end;a first side thrust module connected to a first side of the hull, the first side thrust module configured to drive the hull in a forward or reverse direction;a second side thrust module connected to a second side of the hull, the first side thrust module configured to drive the hull in a forward or reverse direction;a rear thrust module connected to the tail of the hull, the rear thrust module configured to drive the tail in an upward or downward direction, approximately perpendicular to the direction of the first and second side thrusters.2. The remotely operated underwater vehicle system of claim 1 , wherein the first and second side thrust modules are removably connected to the hull.3. The remotely operated underwater vehicle system of claim 2 , wherein the removable first side thrust module includes a multi-pin receptacle configured to engage pins on the hull to transfer power and control signals from the hull to the side ...

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Номер записи: 11
02-01-2020 дата публикации

SYSTEM AND METHOD FOR TRANSPORTING METHANE

Номер: US20200001957A1
Автор: Tillotson Brian J.
Принадлежит:

A methane transportation system is provided. The system may include a methane source configured to dispense methane at a first location, and an underwater vehicle. The underwater vehicle may include a propulsion system configured to transport the underwater vehicle underwater from the first location to a second location and a vessel defining a storage chamber configured to receive water and the methane from the methane source. The storage chamber of the vessel may have a pressure exceeding one atmosphere and a temperature during transport from the first location to the second location sufficient to form methane clathrate in the storage chamber. The system may further include a methane receiver configured to receive the methane released from the storage chamber at the second location. Related methods are also provided. 18-. (canceled)9. A methane transportation method , comprising:positioning an underwater vehicle comprising a vessel defining a storage chamber at a first location;at least partially filling the storage chamber with water;dispensing methane into the storage chamber at the first location;providing the storage chamber of the vessel with a pressure exceeding one atmosphere and a temperature that forms the methane and the water into methane clathrate;transporting the underwater vehicle from the first location to a second location; anddispensing the methane from the vessel at the second location.10. The methane transportation method of claim 9 , wherein providing the vessel with the pressure exceeding one atmosphere and the temperature that forms the methane and the water into methane clathrate comprises positively pressurizing the vessel with the methane to produce the methane clathrate.11. The methane transportation method of claim 10 , wherein dispensing the methane into the storage chamber at the first location comprises sealing an outlet of a supply conduit with an inlet port of the vessel.12. The methane transportation method of claim 9 , wherein ...

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Номер записи: 12
03-01-2019 дата публикации

AUTONOMOUS UNDERWATER VEHICLE

Номер: US20190002070A1
Автор: MUKAIDA Minehiko, Okada Takashi, OKAYA Noriyuki, SAKAUE Hiroshi, TACHINAMI Fumitaka
Принадлежит: KAWASAKI JUKOGYO KABUSHIKI KAISHA

An autonomous underwater vehicle includes: an underwater vehicle main body incorporating a power source; a buoy connected to the underwater vehicle main body through a rope; and an injector configured to, with the underwater vehicle main body floating on a sea surface, inject the buoy from the underwater vehicle main body by compressed gas in an obliquely upward direction. 1. An autonomous underwater vehicle comprising:an underwater vehicle main body incorporating a power source;a buoy connected to the underwater vehicle main body through a rope; andan injector configured to, with the underwater vehicle main body floating on a sea surface, inject the buoy from the underwater vehicle main body by compressed gas in an obliquely upward direction.2. The autonomous underwater vehicle according to claim 1 , wherein:an opening portion is provided at an upper portion of the underwater vehicle main body; andthe injector is arranged inside the underwater vehicle main body and injects the buoy through the opening portion.3. The autonomous underwater vehicle according to claim 1 , wherein: an extended portion connected to the buoy and extended by the injected buoy and', 'a lift portion connected to the underwater vehicle main body and used to lift the underwater vehicle main body; and, 'the rope includes'}the extended portion is smaller in diameter than the lift portion.4. The autonomous underwater vehicle according to claim 1 , wherein a tail unit extending in a forward/rearward direction is provided at a rear side of an upper portion of the underwater vehicle main body.5. The autonomous underwater vehicle according to claim 1 , further comprising a receiver configured to receive an injection signal based on which the injector injects the buoy.6. The autonomous underwater vehicle according to claim 5 , wherein:the injector is configured to release the compressed gas to an atmosphere by an electric signal; andthe receiver receives a discharge signal based on which the injector ...

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Номер записи: 13
14-01-2016 дата публикации

SYSTEM AND METHOD FOR RECOVERING AN AUTONOMOUS UNDERWATER VEHICLE

Номер: US20160009344A1
Автор: GUTHMANN Pierre, JOURDAN Michaël, TOM Albert
Принадлежит:

A recovery system for recovering an autonomous underwater vehicle from a ship, the underwater vehicle comprising a front portion referred to as the nose, the system comprising: a receiving device comprising a stop on which the nose of the underwater vehicle is capable of bearing, blocking means making it possible to secure the underwater vehicle to the stop, a flexible link intended to provide the interface between the receiving device and the ship, the flexible link being arranged so the ship pulls the assembly formed by the receiving device and the underwater vehicle on the front of the underwater vehicle when the latter is rigidly connected to the stop, stabilization means configured to make it possible to control the depth and the attitude, in particular the list and trim of the assembly formed by the receiving device and the underwater vehicle when the latter is rigidly connected to the stop. 1. A recovery system for recovering an autonomous underwater vehicle from a ship , said underwater vehicle comprising a front part called the nose , said system comprising:a receiving device comprising a stop, the nose of the underwater vehicle being capable of bearing thereagainst,blocking means making it possible to fix the underwater vehicle to the stop,a flexible connection designed to provide an interface between the receiving device and the ship, the flexible connection being arranged such that the ship pulls the assembly formed by the receiving device and the underwater vehicle on the front of the underwater vehicle when said vehicle is fixed to the stop,stabilization means configured so as to permit the depth and the attitude, in particular the list and the trim of the assembly formed by the receiving device and the underwater vehicle when said vehicle is fixed to the stop to be monitored.2. The recovery system as claimed in claim 1 , comprising a plate which is arranged so that the plate extends below the underside of the underwater vehicle when the nose of the ...

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Номер записи: 14
14-01-2021 дата публикации

PILE LEG WALKING TYPE MINING ROBOT

Номер: US20210009248A1
Автор: LENG Dingxin, LIU Guijie, Pan Wei, TIAN Xiaojie, WANG Honghui, Xie Yingchun
Принадлежит:

Disclosed is a pile leg walking type manganese nodule mining robot. The robot includes a body, a pile walking mechanism, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism. The invention involves a stable and efficient deep-sea mining robot which can complete the mining task on the geological layer where the manganese nodule are located, and effectively protects the marine life and living environment in the deep-sea mining area. The existence environment of manganese nodule is also protected. After mining, the regeneration environment of living or other resources on the deep-sea floor will not be affected, thus greatly resolving the sharp contradiction between resource exploitation and environmental protection. 1. A pile leg walking type mining robot , comprising:a body, pile walking mechanisms, a vector propulsive mechanism, a negative pressure suction mechanism and a manganese nodule cutter suction mechanism;wherein a number of the pile walking mechanisms is three; the pile walking mechanisms comprise a plurality of drive components and a plurality of lifting piles; three drive components are respectively provided on two sides of a middle wall of the body and the center of a tail of the body; the lifting piles and the drive components are respectively connected such that a horizontal or a vertical arrangement is achieved under the driving of the drive components; when the lifting piles are vertically arranged, the drive components drive the lifting piles to move back and forth in vertical and horizontal directions;the vector propulsive mechanism comprises a plurality of vertical vector propellers and horizontal vector propellers evenly provided around the body;the negative pressure suction mechanism is provided on the head of the body and configured for suction and transfer of benthic organisms; andthe manganese nodule cutter suction mechanism is provided on the head of the body and located between ...

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Номер записи: 15
10-01-2019 дата публикации

MODULAR RAPID DEVELOPMENT SYSTEM FOR BUILDING UNDERWATER ROBOTS AND ROBOTIC VEHICLES

Номер: US20190009870A1
Автор: Williams Eddie Hugh
Принадлежит:

A modular system for building underwater robotic vehicles (URVs), including a pressure vessel system, modular chassis elements, a propulsion system and compatible buoyancy modules. The pressure vessel system uses standardized, interchangeable modules to allow for ease of modification of the URV and accommodation of different internal and external components such as sensors and computer systems. The system also includes standard, reconfigurable connections of the pressure vessel to the modular chassis system. A standardized, modular propulsion system includes a magnetic clutch, and a magnetic sleeve used to power the URV on or off. 2. The underwater pressure vessel system of claim 1 , wherein the plurality of component mounting holes are located in a circular arrangement proximate to a perimeter of the internal portion.3. The underwater pressure vessel system of claim 2 , wherein the component mounting holes are evenly spaced.4. The underwater pressure vessel system of claim 1 , wherein the plurality of component mounting holes comprises twelve holes.5. The underwater pressure vessel system of claim 1 , wherein the component mounting holes are configured to receive threaded fasteners.6. The underwater pressure vessel system of claim 1 , further comprising a standoff having a first end and a second end claim 1 , the first end coupled to the end cap via one of the plurality of component mounting holes.7. The underwater pressure vessel system of claim 6 , wherein the component mounting holes are configured to receive threaded fasteners claim 6 , and wherein the first end of the standoff is threaded wherein the coupling of the standoff to the end cap includes screwing the first end into the component mounting hole.8. The underwater pressure vessel system of claim 6 , wherein a pressure vessel component is coupled to the end cap via the standoff.9. The underwater pressure vessel system of claim 8 , wherein the pressure vessel component is a circuit board.10. The ...

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Номер записи: 16
09-01-2020 дата публикации

Method and Apparatus for Unmanned Aerial Maritime Float Vehicle That Sense and Report Relevant Data from Physical and Operational Environment

Номер: US20200010193A1
Автор: ALEXANDER DWIGHT DARWIN
Принадлежит:

Method and apparatus for unmanned aerial maritime float vehicle that sense and report relevant data from physical and operational environment. The apparatus is comprised of an unmanned aerial vehicle and cabled unmanned underwater vehicle. The method wherein a end-user's controller is coupled wirelessly to the unmanned aerial vehicle transceiver to allow relevant live data to be collected from sky and ground, Upon landing on a water's surface the cable is repelled and control signals and data are transmitted to the cabled unmanned underwater vehicle transceiver, thus high speed feedback and sensor signals can be transmitted from the cabled UUV back to the UAV then both the UUV and UAV high speed feedback and sensor signals are wirelessly sent back to the user's controller through the UAV. 1. A apparatus for unmanned aerial maritime float vehicle that sense and report relevant data from physical and operational environment vehicle comprising A propulsion system for allowing ascent, descent and travel of a UAMFV above a ground surface, also across water surface;', 'A landing gear structure mounted to said main body, said landing gear includes floats to allow stabilization to main body upon landing on surfaces;', 'A winch to ascend and descend the cable from a UAV;', 'A cable to enable a position at which a towing force is applied;', 'A winch attachment point for allowing ascent, descent of a cabled UUV between positions;', 'A power supply to provide electricity to wireless vehicle/vehicles;', 'A UUV housing to allow the encase sensors protection during submersion in water and a attachment point for a cable;', 'A UAV housing sensors to allow relevant data to be collected from above water;', 'A UUV housing sensors to allow relevant data to be collected from under water;', 'A controller to allow wireless commands to be communicated to the vehicles and receive feedback from vehicles;', 'A transceiver on a UAV for communication signals to be sent or received from a UUV;', ...

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Номер записи: 17
10-01-2019 дата публикации

Sampling container for a remotely operated vehicle

Номер: US20190011335A1
Автор: Durval M. Tavares, Michael Aprea
Принадлежит: Aquabotix Technology Corp

A sampling container apparatus for a remotely operated vehicle (“ROV”) is disclosed. An example sampling container includes a tank configured to hold a sample collected from an underwater environment. The tank includes at least one opening that contains a plunger therein. The plunger includes a contraction or retraction mechanism that pulls the plunger into the tank causing the plunger to actuate from an open position to a closed position. The plunger is retained in the open position by a retainer plate. To enable the plunger to actuate to the closed position, the tank is rotated relative to the retainer plate, causing the plunger to traverse a travel channel in the retainer plate. The travel channel includes a plunger window, which when reached by the plunger, enables the plunger to be pulled through the retainer plate, thereby sealing the opening of the tank and preserving the collected sample.

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Номер записи: 18
10-01-2019 дата публикации

UNDERWATER OPTICAL POSITIONING SYSTEMS AND METHODS

Номер: US20190011565A1
Автор: Embry Carl W., Hardy Mark, Manning Neil, Pierce Derek D.
Принадлежит: 3D at Depth, Inc.

Systems and methods for positioning objects in underwater environments are provided. The geolocation of a target for an object is determined, and a light source provided as part of a positioning system is operated to project a visible target at that location. The determination of the target location relative to the positioning system can include determining a location of the positioning system using information obtained from a laser system included in the positioning system. The light source used to project the visible target can be the same as a light source included in the laser system. A location of an object relative to the target location can be tracked by the laser system as the object is being moved towards the target location. The described methods and systems utilize one or more non-touch subsea optical systems, including but not limited to laser systems, for underwater infrastructure installation, measurements and monitoring. 1. A method for placing an object at a desired location in an underwater environment , comprising:determining a target location for an object, wherein the target location is in the underwater environment;operating a positioning system to project a visible target at the target location, wherein the positioning system is in the underwater environment.2. The method of claim 1 , further comprising:geolocating the positioning system, wherein the target location for the object is geolocated relative to the positioning system.3. The method of claim 2 , wherein geolocating the positioning system includes operating a laser system to geolocate the positioning system.4. The method of claim 2 , wherein the positioning system is geolocated by detecting a location of a monument claim 2 , structure claim 2 , or feature relative to the positioning system.5. The method of claim 2 , wherein the positioning system is geolocated using underwater acoustic beacons with or without an Inertial Navigation Unit in conjunction with the positioning system.6. The ...

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Номер записи: 19
09-01-2020 дата публикации

UNDERWATER OPTICAL METROLOGY SYSTEM

Номер: US20200011992A1
Автор: Embry Carl W., Manning Neil, Moore Cory S., Pierce Derek D., Rickards Julian Peter
Принадлежит: 3D at Depth, Inc.

Described herein are methods and devices for improved location of any and all underwater structures or equipment installed underwater. In particular, systems are disclosed that combine optical and acoustic metrology for locating objects in underwater environments. The systems allow for relative positions of objects to be determined with great accuracy using optical techniques, and support enhanced location of devices that utilize acoustic location techniques. In addition, location information can be provided by the system even in conditions that make optical metrology techniques impossible or impractical. 1. A method for locating objects underwater , comprising:placing a first metrology device at a first approximate location;operating an optical metrology system provided as part of the first metrology device to determine a location of the first metrology device relative to an object having a known location;placing a first acoustic transponder at a second approximate location;operating the optical metrology system of the first metrology device to determine a location of the first acoustic transponder relative to the known location.2. The method of claim 1 , further comprising:prior to placing the first acoustic transponder at the second approximate location, applying a target to the first acoustic transponder, and determining dimensional control data concerning a relationship between the applied target and an acoustic transducer of the first acoustic transponder.3. The method of claim 2 , further comprising:operating the first acoustic transducer to output at least one of an identification and a ranging signal.4. The method of claim 3 , further comprising:operating the optical metrology system of the first metrology system to point at the acoustic transducer of the first acoustic transponder over time and to measure a vibration of the acoustic transducer and thus acquire the acoustic signal output from the acoustic transponder while the optical metrology system is ...

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Номер записи: 20
03-02-2022 дата публикации

A MARINE STRUCTURE COMPRISING A LAUNCH AND RECOVERY SYSTEM

Номер: US20220033042A1
Автор: Alcocer Peñas Alex, Hjelmstad Ole Petter, Santana Lima Felipe
Принадлежит:

The present invention relates to a marine structure comprising a launch and recovery system for a submersible vehicle, and methods of operating the marine structure. The system comprises: a docking receiver, a towing head comprising a locking mechanism and being connectable to the docking receiver (), a towing arrangement adapted to mechanically connect the towing head to the marine structure and being adapted to control the distance between the towing head and the docking receiver, and a lifting device connected to the docking receiver and being adapted to move the docking receiver relative to the marine structure. The lifting device can arrange the docking receiver in a towing head receiving and/or releasing position in which the docking receiver: (i) is completely submerged into the body of water, and (ii) is prevented from moving relative to the marine structure. 1. A marine structure comprising a launch and recovery system for a submersible vehicle , said marine structure being adapted to be located in and/or by a body of water , said launch and recovery system comprising:a towing head comprising a locking mechanism adapted to lock said submersible vehicle to said towing head,a docking receiver, said docking receiver and said towing head being such that they can assume a connected condition in which said towing head is connected to said docking receiver,a towing arrangement adapted to mechanically connect said towing head to said marine structure, said towing arrangement being adapted to control the distance between said towing head and said docking receiver, anda lifting device, wherein a first portion of the lifting device is connected to said docking receiver, said lifting device being adapted to move said docking receiver relative to said marine structure, said docking receiver is completely submerged into said body of water, and', 'said docking receiver is prevented from moving relative to said marine structure., 'wherein the lifting device is configured ...

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Номер записи: 21
03-02-2022 дата публикации

ROBOTIC FISH WITH MULTIPLE TORQUE REACTION ENGINES

Номер: US20220033043A1
Автор: Garthwaite Martin Spencer
Принадлежит: Fishboat Incorporated

A robotic fish comprises one or more torque reaction engines and a fish body, wherein the torque reaction engine cyclically oscillates and causes a wave to propagate across the fish body, including through a flexible wing, accelerating thrust fluid and propelling the robotic fish. 1. A robotic fish comprising a wing and a plurality of torque reaction engines (“TREs”) secured to the wing, wherein the TREs cause the wing to translate through and accelerate a surrounding thrust fluid. This application is a continuation of and claims the benefit of and incorporates by reference the content and subject matter of U.S. patent application Ser. No. 16/731,038, titled, “Robotic Fish with Multiple Torque Reaction Engines”, filed 2019 Dec. 31; U.S. patent application Ser. No. 16/731,038 is a non-provisional of U.S. provisional patent application Ser. No. 62/787,253, filed 2018 Dec. 31, titled, “Robotic Fish with Multiple Torque Reaction Engines”; this application is a continuation in-part of U.S. patent application Ser. No. 17/160,215, filed 2021 Jan. 27, titled, “Robotic Fish with One or More Torque Reaction Engines”; U.S. patent application Ser. No. 17/160,215 claims priority from U.S. provisional patent application Ser. No. 62/966,081, filed 2020 Jan. 27; this application further is a continuation-in-part of U.S. patent application Ser. No. 17/222,965, filed 2021 Apr. 5, titled, “Robotic Eel”; U.S. patent application Ser. No. 17/222,965 is a continuation of U.S. patent application Ser. No. 15/942,545, filed 2018 Apr. 1, titled, “Robotic Eel”; U.S. patent application Ser. No. 15/942,545 was a non-provisional of U.S. provisional patent application Ser. No. 62/480,167, filed 2017 Mar. 31. This application claims the benefit of and incorporates by this reference the subject matter of the foregoing applications.illustrates an example of a robotic fish including at least one torque reaction engine.illustrates the robotic fish of , with a section view of internal components. ...

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Номер записи: 22
03-02-2022 дата публикации

Subsea Fluid Storage Unit

Номер: US20220033177A1
Автор: Daasvatn Sigbjorn, Saeterdal Morten
Принадлежит:

A modular subsea fluid storage unit comprises a variable-volume inner tank having a rigid top panel and a peripheral wall that is flexible by virtue of concertina formations. The peripheral wall is extensible and retractable vertically while the horizontal width of the tank remains substantially unchanged. A side wall of a lower housing part surrounds and is spaced horizontally from the peripheral wall of the inner tank to define a floodable gap between the peripheral wall and the side wall that surrounds the tank. An upper housing part extends over and is vertically spaced from the top panel of the inner tank and overlaps the side wall to enclose the inner tank. The floodable gap and the upper housing part enhance thermal insulation and trap any fluids that may leak from the inner tank. 1. A subsea fluid storage unit , comprising:a variable-volume inner tank having a rigid top panel and a peripheral wall that is extensible and retractable in a vertical direction;a side wall that surrounds and is spaced from the peripheral wall of the inner tank in a horizontal direction to define a floodable gap that surrounds the tank between the peripheral wall and the side wall; andan upper housing part that extends over and is spaced from the top panel of the inner tank in the vertical direction and cooperates with the side wall to enclose the inner tank;wherein the upper housing part overlaps the side wall in the horizontal direction and wherein a skirt of the upper housing part extends substantially parallel to the side wall on an external side of the side wall.2. The unit of claim 1 , wherein the upper housing part overlaps the inner tank in the horizontal direction.3. The unit of or claim 1 , wherein the upper housing part is substantially continuous across a full width of the inner tank in the horizontal direction.4. The unit of any preceding claim claim 1 , wherein the skirt adjoins a ledge that projects outwardly from the side wall.5. The unit of any preceding claim ...

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Номер записи: 23
19-01-2017 дата публикации

METHODS AND UNDERWATER BASES FOR USING AUTONOMOUS UNDERWATER VEHICLE FOR MARINE SEISMIC SURVEYS

Номер: US20170015395A1
Автор: BRIZARD Thierry, Lelaurin Antoine
Принадлежит:

An underwater base for handling plural underwater vehicles equipped with seismic sensors for recording seismic signals during a marine seismic survey. The underwater base including a storing part configured to store the plural underwater vehicles; an inlet part located above the storing part and configured to control access of the plural underwater vehicles to the storing part; a control part configured to acoustically guide the plural underwater vehicles to the inlet part; and a support part configured to support the control part, the storing part and the inlet part. The storing part is further configured to receive the plural underwater vehicles as the plural underwater vehicles fall from the inlet part into the storing part. 1. An underwater base for handling plural underwater vehicles equipped with seismic sensors for recording seismic signals during a marine seismic survey , the underwater base comprising:a storing part configured to store the plural underwater vehicles;an inlet part located above the storing part and configured to control access of the plural underwater vehicles to the storing part;a control part configured to acoustically guide the plural underwater vehicles to the inlet part; anda support part configured to support the control part, the storing part and the inlet part,wherein the storing part is further configured to receive the plural underwater vehicles as the plural underwater vehicles fall from the inlet part into the storing part.2. The underwater base of claim 1 , wherein the control part comprises:an acoustic system configured to generate acoustic signals for guiding an underwater vehicle to the inlet part; anda control system configured to control the acoustic system.3. The underwater base of claim 2 , wherein the acoustic system comprises:{'b': 1', '2, 'first and second transducers (T, T) configured to emit the acoustic signals.'}4. The underwater base of claim 1 , wherein the control part is further configured to control a movement ...

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Номер записи: 24
03-02-2022 дата публикации

NONRESIDENT SYSTEM AND METHOD FOR DEPRESSURISING SUBSEA APPARATUS AND LINES

Номер: US20220034200A1
Автор: Bandeira Ribeiro Carlos Alberto, Da Rocha Nascimento Everton, De Freitas Soares Renato, Monteiro Pimentel Daniel, RODRIGUES Roberto
Принадлежит:

The present invention provides a nonresident system for depressurizing subsea apparatus and lines comprising a depressurizing tool () adapted for being coupled to an ROV interface () of a subsea apparatus, wherein the depressurizing tool () is coupled to an ROV (), wherein: the ROV interface () comprises a first pipeline () for connection to a first hydrocarbon transport line (), a second pipeline () for connection to second hydrocarbon transport line (), and a connection mandrel (); and the depressurizing tool () comprises a suction line () adapted for being connected to the first pipeline () for connection to the first hydrocarbon transport line; a discharge line () adapted for being connected to the second pipeline () for connection to the second hydrocarbon transport line; a pump (); and a connector () adapted for being connected to the connection mandrel () of the ROV interface (). A method is also provided for depressurizing subsea apparatus and lines, comprising the steps of: removing a blind cap () from an ROV interface () with aid of an ROV (); coupling a depressurizing tool () to the ROV interface () of a subsea apparatus (); suction and removal of fluid from a first hydrocarbon transport line, wherein the first hydrocarbon transport line comprises hydrate formation; and pressurizing and reinjecting the fluid into a second hydrocarbon transport line. 1. A nonresident system for depressurizing subsea apparatus and lines comprising a depressurizing tool adapted for being coupled to an ROV interface of a subsea apparatus , characterized in that the depressurizing tool is coupled to an ROV , wherein:the ROV interface comprises a first pipeline for connection to a first hydrocarbon transport line, a second pipeline for connection to a second hydrocarbon transport line, and a connection mandrel; andthe depressurizing tool comprises a suction line adapted for being connected to the first pipeline for connection to the first hydrocarbon transport line; a discharge ...

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Номер записи: 25
21-01-2016 дата публикации

Autonomous Underwater Vehicle Hover Apparatus, Method, and Applications

Номер: US20160016649A1
Автор: Jewell Stephen W.
Принадлежит: FAIRFIELD INDUSTRIES INCORPORATED D/B/A FAIRFIELDNODAL

An autonomous underwater vehicle (AUV) including a deployable anchor and a method for operating an AUV having a deployable anchor in a hover mode.

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Номер записи: 26
18-01-2018 дата публикации

GLIDING ROBOTIC FISH NAVIGATION AND PROPULSION

Номер: US20180015991A1
Автор: Tan Xiaobo, Thon John, WANG Jianxun, Zhang Feitian
Принадлежит: BOARD OF TRUSTEES OF MICHIGAN STATE UNIVERSITY

A robotic submersible includes a housing having a body and a tail. In another aspect, a pump and a pump tank adjust the buoyancy of a submersible housing. In a further aspect, a first linear actuator controls the pump and/or a buoyancy, and/or a second linear actuator controls a position of a battery and/or adjusts a center of gravity. Another aspect includes a pump and at least one linear actuator that control gliding movements of the housing. In still a further aspect, a motor couples a tail with a body, such that the motor controls the movements of the tail to create a swimming movement. Moreover, an additional aspect provides a controller selectively operating the pump, first actuator, second actuator, and motor to control when swimming and gliding movements occur 1. A robotic submersible comprising:a housing including a body and a tail;a pump and a pump tank adjusting a buoyancy of the housing;a first linear actuator controlling the pump;a battery powering a plurality of electronics;a second linear actuator controlling a position of the battery and adjusting a center of gravity;a controller controlling the pump and second linear actuator;the pump, first linear actuator and second linear actuator controlling gliding movements of the housing;at least one motor coupling the tail with the body, the motor controlling the movements of the tail to create a swimming movement; andthe controller selectively operating the pump, first linear actuator, second linear actuator, and motor to control when the swimming and gliding movements occur.2. The robotic submersible of claim 1 , further comprising at least one sensor collecting environmental data.3. The robotic submersible of claim 2 , further comprising a first sensor and a second sensor claim 2 , wherein the first sensor and second sensor collect different types of data and are interchangeable on the housing.4. The robotic submersible of claim 3 , wherein the linear actuator moves the battery to reposition the center of ...

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Номер записи: 27
17-01-2019 дата публикации

UNDERWATER SYSTEM AND METHOD

Номер: US20190016424A1
Автор: Erell Ehud, Farber Amit
Принадлежит:

Systems and methods are provided for underwater use. In one example the system includes an autonomous mother unmanned underwater vehicle (AMUV) and one or more auxiliary unmanned underwater vehicles (UUV). The AMUV is configured for autonomously searching for and detecting undersea objects potentially present in an undersea region of interest (ROI), for generating object information relating to the objects detected thereby to enable identification of at least one object of interest (OOI) among the detected objects, and for selectively transporting the UUV to at least within a predetermined distance from a location of the OOI. The UUV is configured for interacting with the OOI at least within the predetermined distance. Such a system is further configured for providing verification information indicative of the interaction between the UUV and the OOI. The AMUV includes a communications system at least configured for transmitting at one or both of the verification information and the object information. 150-. (canceled)51. A system for underwater use , comprising:an autonomous mother unmanned underwater vehicle (AMUV) and at least one auxiliary unmanned underwater vehicle (UUV),the AMUV being configured for autonomously searching for and detecting undersea objects potentially present in an undersea region of interest (ROI), for generating object information relating to the objects detected thereby to enable identification and location of at least one object of interest (OOI) among the detected objects, and for selectively transporting said at least one UUV to at least within a predetermined distance from said location of said at least one OOI;wherein said AMUV is configured for autonomously identifying at least one said OOI among the detected objects in said ROI by processing said object informationsaid at least one UUV being configured for autonomously interacting with said at least one OOI at least within said predetermined distance, responsive to said control ...

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Номер записи: 28
17-01-2019 дата публикации

Mobile Underwater Docking System

Номер: US20190016425A1
Автор: Mahmoudian Nina, Page Brian
Принадлежит: The Government of the United States of America, as represented by the Secretary of the Navy

A docking system has flat funnel and a slotted ramp at the end of the flat funnel. The ramp has a plurality of inclined planes, each on a respective side of the slot. A docking adapter, fitted over an underwater vehicle, includes a guide plane and a mask. The funnel guides the guide plane to the top of the ramp during docking/charging of the underwater vehicle. Another aspect of the invention is a highly maneuverable glider including a forwardly mounted buoyancy module followed, in order, by a pitch module, a processing module, and a roll module, mounted concentrically with respect to each other. The glider may be attached to any docking system. When used in conjunction with the docking system of the present invention, the glider may be attached to either the flat funnel or the docking adapter of the docking system of the present invention. 1. A system comprising: a flat funnel, and', 'a ramp at a narrow end of the flat funnel and defining a slot and comprising a plurality of inclined planes, each on a respective side of the slot; and, 'a docking station, comprising a guide plane, and', 'a mast,, 'a docking adapter, fitted over an underwater vehicle, comprisingthe flat funnel guiding the mast to the slot of the ramp, and the inclined planes of the ramp guiding the guide plane to a top of the ramp during a docking operation.2. An autonomous underwater vehicle comprising: a buoyancy module mounted forward of the center of gravity of said vehicle, said buoyancy module comprising a ballast tank of variable volume and a pump, located behind said ballast tank, that adds and removes water from said ballast tank, thereby changing the buoyancy of said vehicle;', 'a pitch module located behind said buoyancy module, said pitch module comprising a mass and an actuator to drive said mass forward and backward with respect to said rail; and', "a roll module located behind said pitch module, said roll module comprising a servomotor, mounted to said rail, said roll module ...

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Номер записи: 29
18-01-2018 дата публикации

JOINING DEVICE, SYSTEM AND METHOD FOR JOINING TWO FACING AND ALIGNED PIPELINE SECTIONS

Номер: US20180017185A1
Автор: Cavallini Francesco, Lazzarin Diego, Michelazzo Luca
Принадлежит:

A joining device configured to join two facing and aligned pipeline sections presents two coupling members selectively couplable to respective pipeline sections at two respective facing flanges located at the ends of respective pipeline sections; a pulling mechanism suitable to move the coupling members towards each other in abutment against the flanges and to temporarily tighten the flanges by moving the coupling members towards each other; and a tightening mechanism suitable to definitively tighten the coupling members while the pulling mechanism keeps the flanges tight. 118-. (canceled)19. A joining device comprising:a first annular coupling member configured to be selectively coupled to a first pipeline section in proximity to a first flange located at an end of the first pipeline section, said first coupling member including two partial-rings hinged and pivotable around a first hinge axis from an open position to a closed position in which the first coupling member is operable to slide along the first pipeline section,a second annular coupling member configured to be selectively coupled to a second pipeline section in proximity to a second flange located at an of end the second pipeline section, said second coupling member including two partial-rings hinged and pivotable around a second hinge axis from an open position to a closed position in which the second coupling member is operable to slide along the second pipeline section, wherein said second flange of the second pipeline section faces and is aligned with the first flange of the first pipeline section,a pulling mechanism configured to move the first and second coupling members towards each other to temporarily tighten the first and second flanges to each other, anda tightening mechanism configured to definitively tighten the first and coupling members while the pulling mechanism maintains the first and second flanges tight.20. The joining device of claim 19 , wherein the pulling mechanism includes a ...

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Номер записи: 30
21-01-2021 дата публикации

ATTACHMENT MECHANISMS FOR STABILZATION OF SUBSEA VEHICLES

Номер: US20210016453A1
Автор: Abdellatif Fadl, Arab Abdullah, Outa Ali, Patel Sahejad, Trigui Hassane
Принадлежит:

Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments. 1. (canceled)2. (canceled)3. (canceled)4. (canceled)5. (canceled)6. (canceled)7. A remotely operated vehicle (ROV) having an attachment mechanism suitable for securing the ROV to a subsea structure , the attachment mechanism comprising:a plurality of linked segments connected in series by a plurality of pin joints disposed between each pair of adjacent linked segments, each pair of adjacent linked segments having a mechanical stop configured to prevent the plurality of linked segments from rotating through a certain angle;a flexible extension wire connected to an extension pulley at one end and supported through the plurality of linked segments above the plurality of pin joints;a flexible contraction wire connected to a retraction pulley at one end and supported through the plurality of linked segments below the plurality of pin joints; anda first locking mechanism disposed at the extension wire and a second locking mechanism disposed at the retraction wire, the first and second locking mechanisms being configured to lock the plurality of linked segments in place by locking the extension wire and the contraction ...

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Номер записи: 31
16-01-2020 дата публикации

REBALANCING OF UNDERWATER VEHICLES

Номер: US20200017180A1
Автор: AXELSSON Olle, ELIAS Feras Faez, Johansson Nicklas
Принадлежит: SAAB AB

A rebalancing device for rebalancing of an underwater vehicle comprises at least one thruster and at least one storage space. The rebalancing device comprises control circuitry. The control circuitry is configured to receive sensor data comprising information relating to a depth and an attitude of the underwater vehicle, and thruster data comprising information relating to thrust and orientation of thrust of the at least one thruster. The control circuitry is further configured to determine a difference between a centre of gravity, CoG, of the underwater vehicle and a centre of buoyancy, CoB, of the underwater vehicle based on the sensor data and the thruster data, and to determine a difference between a gravitational force acting on the underwater vehicle and a buoyancy of the underwater vehicle based on the sensor data and the thruster data. 1. Rebalancing device for rebalancing of an underwater vehicle comprising at least one thruster and at least one storage space , the rebalancing device comprising control circuitry , the control circuitry being configured to receivesensor data, the sensor data comprising information relating to a depth and an attitude of the underwater vehicle, andthruster data comprising information relating to thrust and orientation of thrust of the at least one thruster,characterized in that the control circuitry being further configured todetermine a difference between a centre of gravity, CoG, of the underwater vehicle and a centre of buoyancy, CoB, of the underwater vehicle based on the sensor data and the thruster data,determine a difference between a gravitational force acting on the underwater vehicle and a buoyancy of the underwater vehicle based on the sensor data and the thruster data, andgenerate rebalancing information relating to a deviation of a current load distribution from an ideal load distribution based on the determined differences.2. The rebalancing device according to claim 1 , wherein the control circuitry is further ...

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Номер записи: 32
16-01-2020 дата публикации

MODULAR ROBOTIC SYSTEM

Номер: US20200017209A1
Автор: Lacaze Alberto, Murphy Karl
Принадлежит:

The modular robotic system disclosed herein may comprise a central body that houses various essential components, a plurality of propulsion arms, and a plurality of quick-detach mechanisms. The combination is designed to be assembled, have individual components replaced, and be converted from one embodiment to another without the use of any tools. The plurality of propulsion arms may be designed for any mission-specific task or may be designed to perform multiple tasks, such as ground or aerial movement, depending on their orientation. The system is also designed to be quickly disassembled for storage and carrying in a backpack. 1. A modular robotic system , comprising:a central body;a plurality of electronic drone components;a power sourcea plurality of propulsion arms; anda plurality of quick-detach mechanisms;wherein said plurality of electronic drone components is contained within said central body; andwherein said plurality of propulsion arms are connected to said central body via said plurality of quick-detach mechanisms.2. The invention of claim 1 , further comprising:a plurality of means for articulation; anda plurality of motors;wherein said plurality of means for articulation cause said plurality of propulsion arms to articulate relative to said central body;wherein said plurality of motors are attached to said plurality of propulsion arms; andwherein said plurality of motors articulate relative to said plurality of propulsion arms such that said plurality of motors remain in an upright orientation.3. The invention of claim 2 ,wherein said central body further comprises a plurality of propulsion arm receivers and a plurality of body articulation points;wherein said plurality of propulsion arms further comprise a plurality of central body receivers, a plurality of arm articulation points, a plurality of motor mount receivers, and plurality of foot pads;wherein said plurality of central body receivers on said plurality of propulsion arms are connected to ...

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Номер записи: 33
21-01-2021 дата публикации

POWER SAVING SYSTEM FOR UNDERWATER VEHICLES

Номер: US20210016862A1
Автор: LEE Wen-Sung
Принадлежит:

A power saving system for underwater vehicles includes a control system, a power unit and a battery. The control system controls the power unit to drive the underwater vehicle, and generates an output driving value. The control system includes a calculation unit, a three-axis accelerometer and gyro and an underwater vehicle weight value. The calculation unit creates a correspondent acceleration value by the output driving value and the underwater vehicle weight value. The three-axis accelerometer and gyro detects the acceleration of the underwater vehicle by every less than 0.5 second interval, and generates an acceleration value. The control system compares the correspondent acceleration value and the acceleration value to control the output driving value so as to save battery power and elongate the range of travelling of the underwater vehicles. 1. A power saving system for underwater vehicles , comprising:an underwater vehicle having a control system, a power unit and a battery, the battery providing electric power to the power unit, the control system controlling the power unit to drive the underwater vehicle, and generating an output driving value, andthe control system including a calculation unit, a three-axis accelerometer and gyro and an underwater vehicle weight value which is built in the control system, the calculation unit creating a correspondent acceleration value by the output driving value and the underwater vehicle weight value, the three-axis accelerometer and gyro detecting an acceleration of the underwater vehicle at interval of less than 0.5 second, and generating an acceleration value, the control system comparing the correspondent acceleration value and the acceleration value, when the correspondent acceleration value is larger than the acceleration value, the control system judges that an resistance applied to the underwater vehicle increases, and the output driving value is increased, when the correspondent acceleration value is smaller ...

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Номер записи: 34
21-01-2021 дата публикации

MAGNETIC DRIVE WITH REMOVABLE FINS AND WEIGHT BALANCE FOR AN UNMANNED UNDERSEA VEHICLE

Номер: US20210016863A1
Автор: Aiello Jason D., Charles David F.
Принадлежит:

An unmanned undersea vehicle including a magnetic coupler drive. The magnetic coupler drive is incorporated into a hull section, such as a tail section of the unmanned undersea vehicle. The magnetic coupler drive includes a motor shaft magnet, a titanium housing disposed about the motor shaft magnet, and a propeller shaft magnet magnetically coupled to the motor shaft magnet, but physically separated from the propeller shaft magnet by the titanium housing. 1. An underwater vehicle comprising:a hull section, wherein the hull section further comprises:a motor, wherein the motor comprises a motor shaft;a motor shaft magnet coupled to the motor shaft;a housing disposed about the motor shaft magnet, the housing configured to prevent direct physical contact between the motor shaft magnet and a propeller shaft magnet, but sized and shaped based on magnet strengths of the motor shaft magnet and the propeller shaft magnet to allow for a magnetic coupling to exist between the motor shaft magnet and the propeller shaft magnet;the propeller shaft magnet magnetically coupled to the motor shaft magnet;a propeller shaft coupled to the propeller shaft magnet; anda propeller coupled to the propeller shaft.2. The underwater vehicle of claim 1 , wherein the motor is a 200-Watt motor.3. The underwater vehicle of claim 1 , wherein the housing disposed about the motor shaft magnet is comprised of titanium.4. The underwater vehicle of claim 1 , wherein a distance between the motor shaft magnet and the propeller shaft magnet is at least approximately ⅜ inches.5. The underwater vehicle of claim 1 , further comprising a tail section further comprises a plurality of fins.6. The underwater vehicle of claim 5 , wherein at least one of a plurality of fins is attached to a protruding member.7. The underwater vehicle of claim 6 , wherein at least one of the plurality of fins is selectively attachable to a protruding member.8. The underwater vehicle of claim 1 , wherein the tail section comprises a ...

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Номер записи: 35
18-01-2018 дата публикации

SYSTEM AND METHOD FOR OPERATING A SUBSEA SENSOR FIELD

Номер: US20180017694A1
Автор: BRANDSAETER Helge, FAGERÅS Bjarte Even, LØVHEIM Leon, Oldervoll Magne
Принадлежит:

A system () for operating a subsea sensor field (), comprises an automated underwater vehicle—AUV () and a subsea service station (). A sensor () in the sensor field () comprises a permanently installed base unit () and a removable control unit (). The AUV () moves control units () to the service station () for charging and updating, and then back to the base units. The permanent positions of the base units () facilitate time-lapse surveys, and saves energy as heavy equipment may remain on the seafloor. 110-. (canceled)11. A system for operating a subsea sensor field , comprising an AUV and a sub sea service station , wherein a sensor in the sensor field comprises a permanently installed base unit and a removable control unit , in that the AUV and control unit are provided with complementary transport connectors and in that the service station is provided with a docking connector for receiving the control unit.12. The system according to claim 11 , wherein the service station is connected to the surface through an umbilical.1310. The system according to claim 11 , further comprising a docking station for the AUV ().14. The system according to claim 11 , wherein the base unit is connected to a wired network.15. The system according to claim 14 , wherein the wired network is connected to the service station.16. The system according to claim 11 , wherein the AUV comprises a control system and a set of base units comprise a corresponding guidance system claim 11 , such that the AUV can operate without communication to the surface except through the docking station.17. A method for operating a subsea sensor field claim 11 , comprising the steps of:{'claim-ref': {'@idref': 'CLM-00011', 'claim 11'}, 'deploying a system according to ;'}connecting a control unit to a base unit by means of the AUV;operating the control unit at the base unit for a predetermined period of time; andmoving the control unit to the service station by means of the AUV.18. The method according to ...

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Номер записи: 36
17-04-2014 дата публикации

High efficiency, smooth robot design

Номер: US20140107839A1
Автор: Aaron Michael Fittery, Anirban Mazumdar, Haruhiko Harry Asada, Martin Lozano
Принадлежит: Massachusetts Institute of Technology

An underwater robot includes a body, a propeller connected to an end of the body, a controller, and first and second actuation units that output jets of fluid. The propeller propels the robot, and the controller stabilizes the robot using the jets of fluid. The controller determines which actuation unit to activate based on a calculation involving a yaw rate and a yaw angle of the robot.

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Номер записи: 37
24-01-2019 дата публикации

DEPLOYMENT AND RETRIEVAL OF SEISMIC AUTONOMOUS UNDERWATER VEHICLES

Номер: US20190023367A1
Автор: Danre Jean-Baptiste, Isfeldt Bjarne, Rokkan Arne Henning, Valsvik Geir
Принадлежит: Seabed Geosolutions B.V.

Apparatuses, systems, and methods for the deployment of a plurality of autonomous underwater seismic vehicles (AUVs) on or near the seabed based on acoustic communications with an underwater vehicle, such as a remotely operated vehicle. In an embodiment, the underwater vehicle is lowered from a surface vessel along with a subsea station with a plurality of AUVs. The AUVs are configured to acoustically communicate with the underwater vehicle or a second surface vessel for deployment and retrieval operations. The underwater vehicle and/or second surface vessel is configured to instruct the AUVs to leave the subsea station or underwater vehicle and to travel to their intended seabed destination. The underwater vehicle and/or second surface vessel is also configured to selectively instruct the AUVs to leave the seabed and return to a seabed location and/or a subsea station for retrieval. 1. A method for the deployment of a plurality of autonomous underwater vehicles (AUVs) on or near the seabed , comprisinglowering an underwater vehicle from a first surface vessel into a body of water;towing the underwater device by the first surface vessel;launching a first plurality of AUVs from the underwater device as it is towed by the first surface vessel; anddeploying the first plurality of AUVs to the seabed after being launched from the underwater vehicle.2. The method of claim 1 , further comprisingloading the first plurality of AUVs in the underwater device on the first surface vessel prior to the lowering step.3. The method of claim 2 , wherein the loading step further comprisesloading the first plurality of AUVs onto a plurality of storage devices, wherein each of the plurality of storage devices is configured to carry two or more of the first plurality of AUVs.4. The method of claim 3 , wherein the plurality of storage devices comprises a plurality of conveyors or trays.5. The method of claim 1 , further comprisinglaunching the first plurality of AUVs from the underwater ...

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Номер записи: 38
29-01-2015 дата публикации

Process for harvesting, storing, and using renewable energy to propel and power boats and ships, and maximize their average speed

Номер: US20150027125A1
Автор: Anil Raj
Принадлежит: Individual

A boat or ship (marine vessel) can be powered and propelled by using wind or solar energy. This propulsion results in the forward movement and six degrees of motion (roll, heave, pitch, yaw, surge, and sway) of the marine vessel. These motions have kinetic energy. This invention capitalizes on the fact that the solar wind and wave energy are cyclical by nature. The present invention enables the vessel to store energy harvested from these energy sources during periods when levels of energy is available from wind, solar, or the motion of the vessel in waves. This invention makes this stored energy available for use during periods when the external natural sources of energy (wind, wave, or solar) are not available in adequate quantities to maintain a reasonable speed of advance for the marine vessel. The harvesting of the energy during high energy cycles, storing it and using it when needed in this invention allows a marine vessel to get maximum speed of advance over a course. In this invention the marine vessel can maintain faster average speed without reliance on any fossil or chemical fuel and by only using renewable energy sources. In this invention the vessel is normally driven by wind channeling methods like canvas or foil sails or Flettner rotors. In addition to this, the vessel can be propelled by propulsion thrusters such as propellers, rim driven thrusters, azimuthing drives, water jets or other means of thrusting and propelling the vessel. These propulsion devices are driven by regenerative electric motors using stored electric energy in batteries on the vessel. The energy stored in the battery bank is used to provide supplemental or primary propulsion during cyclical periods when natural sources of wind, wave or solar energy are low. These same thrusters and their electric motors work in reverse to generate and harvest energy when wind levels are high and as the marine vessel is moving forward at higher speeds while being propelled by wind energy. In this ...

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Номер записи: 39
24-01-2019 дата публикации

UNDERWATER SEISMIC EXPLORATION WITH A HELICAL CONVEYOR AND SKID STRUCTURE

Номер: US20190025449A1
Автор: Fyffe Roger L., Marc Etienne
Принадлежит:

The present disclosure is directed to underwater seismic exploration with a helical conveyor and skid structure. The system can include an underwater vehicle comprising a sensor to identify a case having a hydrodynamic shape, wherein the case stores one or more ocean bottom seismometer (“OBS”) units. The underwater vehicle includes an arm. The underwater vehicle includes an actuator to position the arm in an open state above a cap of the case, or to close the arm. The underwater vehicle can move the arm to a bottom portion of the case opposite the cap. An opening of the case can be aligned with the conveyor of the underwater vehicle. The conveyor can receive, via the opening of the case, a first OBS unit of the one or more OBS units. The conveyor can move the first OBS unit to the seabed to acquire seismic data from the seabed. 1. A system to acquire seismic data from a seabed , comprising:an underwater vehicle comprising a sensor to identify a case having a hydrodynamic shape, wherein the case stores one or more ocean bottom seismometer (“OBS”) units;the underwater vehicle comprising an arm;the underwater vehicle comprising an actuator to position the arm;the underwater vehicle comprising a conveyor;the underwater vehicle configured to move the arm to a bottom portion of the case opposite a cap, an opening of the case aligned with the conveyor of the underwater vehicle;the conveyor configured to receive, via the opening of the case, a first OBS unit of the one or more OBS units; andthe conveyor configured to move the first OBS unit to the seabed to acquire seismic data from the seabed.2. The system of claim 1 , wherein the case comprises a first portion that is hydrodynamic and a second portion configured to produce drag to dampen rotation of the case through an aqueous medium.3. The system of claim 1 , wherein the case comprises a helix structure to store the one or more OBS units and convey the one or more OBS units from a second opening of the case to the ...

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Номер записи: 40
01-02-2018 дата публикации

SPECIALIZED CONTEXTUAL DRONES FOR ANIMAL VIRTUAL FENCES AND HERDING

Номер: US20180027772A1
Автор: Gordon Michael S., Kozloski James Robert, Kundu Ashish, PICKOVER Clifford A.
Принадлежит:

Techniques for drone device control are provided. In one example, a computer-implemented method comprises establishing, by a plurality of drone devices respectively operatively coupled to processors and coordinating with one other, a defined region of a defined coordinate space of a geographic area, wherein the defined region is associated with an animal. The computer-implemented method also comprises monitoring, by the plurality of drone devices, a physical relationship between the animal and the defined region. The computer-implemented method can also comprise, in response to identifying that the physical relationship between the animal and the defined region fails to meet a criterion, performing, by the plurality of drone devices, a pattern of operations selected to alter the physical relationship between the animal and the defined region to satisfy the criterion. 1. A computer-implemented method , comprising:establishing, by a plurality of drone devices respectively operatively coupled to processors and coordinating with one other, a defined region of a defined coordinate space of a geographic area, wherein the defined region is associated with one or more animals; andmonitoring, by the plurality of drone devices, a physical relationship between the animal and the defined region.2. The computer-implemented method of claim 1 , further comprising:in response to identifying that the physical relationship between an animal of the one or more animals being and the defined region fails to meet a criterion, performing, by the plurality of drone devices, a pattern of operations selected to alter the physical relationship between the animal and the defined region to satisfy the criterion.3. The computer-implemented method of claim 2 , wherein the pattern of operations comprises a movement pattern of the plurality of drone devices.4. The computer-implemented method of claim 2 , wherein the pattern of operations comprises a visual indication presented by a drone of the ...

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Номер записи: 41
01-02-2018 дата публикации

DRONE-ENHANCED VEHICLE EXTERNAL LIGHTS

Номер: US20180029522A1
Автор: Gordon Michael S., Kozloski James Robert, PICKOVER Clifford A.
Принадлежит:

Techniques for drone device control are provided. In one example, the technique includes monitoring, by a drone device operatively coupled to a processor and allocated to a vehicle in operation, one or more conditions associated with the vehicle. The technique also includes, in response to identifying, by the drone device, a defined condition of the one or more conditions: moving, by the drone device, to a position relative to the vehicle and determined based on the defined condition; and performing, by the drone device, an indication operation determined based on the defined condition. 1. A computer-implemented method , comprising:monitoring, by a drone device operatively coupled to a processor and allocated to a vehicle in operation, one or more conditions associated with the vehicle; and moving, by the drone device, to a position relative to the vehicle and determined based on the defined condition; and', 'performing, by the drone device, an indication operation determined based on the defined condition., 'in response to identifying, by the drone device, a defined condition of the one or more conditions2. The computer-implemented method of claim 1 , wherein the indication operation comprises presenting a visual indication.3. The computer-implemented method of claim 1 , wherein the indication operation comprises presenting an audio indication.4. The computer-implemented method of claim 1 , wherein the indication operation comprises presenting image data associated with the defined condition on a display device for the vehicle.5. The computer-implemented method of claim 1 , wherein the indication operation comprises providing an indication to a second vehicle located at a defined position relative to the vehicle.6. The computer-implemented method of claim 1 , wherein the monitoring is performed using a sensor device coupled to the drone device.7. The computer-implemented method of claim 1 , wherein the monitoring comprises receiving condition information from the ...

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Номер записи: 42
31-01-2019 дата публикации

PORTABLE SUBSEA WELL SERVICE SYSTEM

Номер: US20190031307A1
Автор: Siersdorfer William
Принадлежит:

A technique facilitates a subsea operation such as a well intervention operation. A system comprises a station movably positioned at a subsea location. The station comprises a housing and a lifting arrangement mounted on the housing to enable lifting of the station and movement of the station from one subsea location to another to enable successive subsea operations. The station further comprises a docking station which may have connectors within the housing. In some applications, the station also may comprise a power lead which may be operatively connected to a subsea installation and a transceiver for communicating data to a desired location, e.g. a surface location. The docking station enables docking with an underwater vehicle used to facilitate the subsea servicing operation. 1. A system for use in a subsea operation , comprising: a housing;', 'a lifting arrangement coupled to the housing to enable repeated coupling of the lifting arrangement with a lift line as the station is sequentially transported from one subsea location to another for a plurality of well servicing operations; and', 'a docking station having interfaces for an underwater vehicle receivable within the housing., 'a station movably positioned at a subsea location, the station comprising2. The system as recited in claim 1 , further comprising the underwater vehicle dockable with the docking station within the housing.3. The system as recited in claim 2 , wherein the station further comprises a power lead coupled to the docking station and a transceiver for communicating data wirelessly.4. The system as recited in claim 3 , further comprising a host claim 3 , the transceiver communicating data between the station and the host.5. The system as recited in claim 1 , wherein the station further comprises batteries for supplying electrical power.6. The system as recited in claim 2 , wherein the underwater vehicle comprises a sensor to detect subsurface equipment.7. The system as recited in claim 2 , ...

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Номер записи: 43
31-01-2019 дата публикации

SYSTEMS AND METHOD FOR BUOYANCY CONTROL OF REMOTELY OPERATED UNDERWATER VEHICLE AND PAYLOAD

Номер: US20190031308A1
Автор: DALEY HAROLD, KENNEDY MAC M., KROESEN GERRIT, URDIALES MICHAEL
Принадлежит:

An underwater vehicle is configured to transfer a payload between a first location and a second location at a subsea structure. The underwater vehicle includes a payload support configured to support the payload and a buoyancy control system. The buoyancy control system includes at least one of an exchange weight system configured to receive one or more exchange weights when delivering the payload, a floatation system having one or more floatation devices coupled to the payload, or a combination thereof. 1. A system , comprising: a payload support configured to support the payload; and', 'a buoyancy control system comprising at least one of an exchange weight system configured to receive one or more exchange weights when delivering the payload, a floatation system having one or more floatation devices coupled to the payload, or a combination thereof., 'an underwater vehicle configured to transfer a payload between a first location and a second location at a subsea structure, wherein the underwater vehicle comprises2. The system of claim 1 , wherein the buoyancy control system comprises the exchange weight system.3. The system of claim 1 , wherein the buoyancy control system comprises the floatation system.4. The system of claim 1 , comprising the subsea structure having one or more receptacles configured to support the payload claim 1 , one or more exchange weights claim 1 , or a combination thereof.5. The system of claim 4 , wherein the subsea structure comprises a subsea installation.6. The system of claim 4 , wherein the subsea structure comprises a subsea hydrocarbon drilling installation.7. An underwater vehicle claim 4 , comprising:a frame defining a first payload receptacle and a first exchange weight receptacle; anddocking hardware configured to facilitate docking the underwater vehicle to a subsea structure;wherein the underwater vehicle is configured to deposit a payload from the first payload receptacle of the underwater vehicle to a second payload ...

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Номер записи: 44
31-01-2019 дата публикации

Releasable Forward Section of an Underwater Vehicle

Номер: US20190031309A1
Автор: Hoover Randall L.
Принадлежит:

An example underwater vehicle includes a first section detachably coupled to a second section that is positioned forward of the first section, and a hinge detachably coupling the first section to the second section, where the hinge creates a pivot between the first section and the second section. The underwater vehicle includes a lock having a locked position and an unlocked position, where, in the locked position, the lock couples the first section and the second section together, and where, in the unlocked position, the second section is capable of decoupling from the first section. The underwater vehicle also includes a drag fin associated with the second section that is movable to an extended position away from the second section to create a drag force which causes the second section to pivot about the hinge, away from the first section, when the underwater vehicle is traveling through a fluid medium. 1. An underwater vehicle comprising:a first section detachably coupled to a second section, wherein the second section is positioned forward of the first section;a lock having a locked position and an unlocked position, wherein, in the locked position, the lock couples the first section and the second section together, and wherein, in the unlocked position, the second section is capable of decoupling from the first section; anda drag fin associated with the second section, wherein the drag fin creates a drag force which causes the second section to pivot away from the first section when the underwater vehicle is traveling through a fluid medium.2. The underwater vehicle of claim 1 , wherein the drag fin is movable from a stowed position to an extended position.3. The underwater vehicle of claim 2 , wherein the drag fin comprises a proximal end and a distal end claim 2 , wherein the proximal end of the drag fin is coupled to the second section claim 2 , wherein the drag fin is rotatable about its proximal end from the stowed position where the drag fin conforms to ...

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Номер записи: 45
04-02-2021 дата публикации

AUTONOMOUS UNDERWATER VEHICLE TO GENERATE SEISMIC WAVES

Номер: US20210031890A1
Автор: Alshuhail Abdulrahman
Принадлежит:

An autonomous underwater seismic wave generation system includes a housing, and an autonomous navigation system, a propulsion system and a seismic wave generator, each connected to the housing. The autonomous navigation system can navigate the autonomous underwater seismic wave generation system to subsea locations including a location on a seabed. The propulsion system can drive the autonomous underwater seismic wave generation system to the location on the seabed. The seismic wave generator can couple to the location on the seabed to generate seismic waves at the location on the seabed. 1. An autonomous underwater seismic wave generation system comprising:a housing;an autonomous navigation system connected to the housing, the autonomous navigation system configured to navigate the autonomous underwater seismic wave generation system to subsea locations comprising a location on a seabed;a propulsion system connected to the housing, the propulsion system configured to drive the autonomous underwater seismic wave generation system to the location on the seabed; anda seismic wave generator connected to the housing, the seismic wave generator configured to couple to the location on the seabed and to generate seismic waves at the location on the seabed.2. The autonomous underwater seismic wave generation system of claim 1 , further comprising an anchor connected to the housing claim 1 , the anchor configured to attach the autonomous underwater seismic wave generation system to the location on the seabed.3. The autonomous underwater seismic wave generation system of claim 2 , wherein the anchor comprises a screw comprising an end configured to penetrate the seabed at the location on the seabed.4. The autonomous underwater seismic wave generation system of claim 3 , wherein the housing has a longitudinal length claim 3 , wherein the screw has a longitudinal length that is substantially one-third of the longitudinal length of the housing.5. The autonomous underwater ...

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Номер записи: 46
04-02-2021 дата публикации

SYSTEM AND METHOD FOR AUTONOMOUS EXPLORATION FOR MAPPING UNDERWATER ENVIRONMENTS

Номер: US20210031891A1
Автор: Englot Brendan, Osedach Timothy Paul, Shan Tixiao, Wang Jinkun
Принадлежит:

Embodiments of the present disclosure are directed towards a system and method for performing an inspection of an underwater environment. Embodiments may include providing an autonomous underwater vehicle (“AUV”) and performing an inspection of an underwater environment using the AUV. Embodiments may further include acquiring real-time sensor data during the inspection of the underwater environment and applying an active simultaneous localization and mapping (“SLAM”) algorithm during the inspection, wherein applying includes estimating one or more virtual landmarks based upon, at least in part, at least one past measurement and a current estimate of AUV activity. 1. A method for performing an inspection of an underwater environment comprising:providing an autonomous underwater vehicle (“AUV”);performing an inspection of an underwater environment using the AUV;acquiring real-time sensor data during the inspection of the underwater environment; andapplying an active simultaneous localization and mapping (“SLAM”) algorithm during the inspection, wherein applying includes estimating one or more virtual landmarks based upon, at least in part, at least one past measurement and a current estimate of AUV activity.2. The method for performing an inspection of an underwater environment of claim 1 , wherein the AUV includes a sensor configuration consisting of one or more multibeam sonars claim 1 , lidars claim 1 , and cameras.3. The method for performing an inspection of an underwater environment of claim 1 , further comprising:using one or more fiducial markers to facilitate localization and mapping of an infrastructure by the AUV.4. The method for performing an inspection of an underwater environment of claim 1 , further comprising:segmenting three-dimensional (“3D”) data associated with the real-time sensor data for at least one of segment, object, and place recognition.5. The method for performing an inspection of an underwater environment of claim 1 , further comprising: ...

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Номер записи: 47
01-02-2018 дата публикации

Guide drones for airplanes on the ground

Номер: US20180033320A1
Автор: Avirup Sil, Georgiana Dinu, Radu Florian, Vittorio Castelli
Принадлежит: International Business Machines Corp

Techniques for drone device control are provided. In one example, a computer-implemented method comprises: meeting, by a drone device operatively coupled to a processor, an aircraft at a first location; and guiding, by the drone device, the aircraft to a second location along a ground movement path selected from a plurality of ground movement paths associated with an airport. The guiding can comprise providing a direction indication to the aircraft; and monitoring a defined region around the aircraft for one or more hazards. The guiding can also comprise, in response to identifying a hazard from the one or more hazards related to the defined region around the aircraft, providing a hazard indication to the aircraft.

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Номер записи: 48
31-01-2019 дата публикации

SYSTEM FOR NAVIGATION OF AN AUTONOMOUSLY NAVIGATING SUBMERSIBLE BODY DURING ENTRY INTO A DOCKING STATION, METHOD

Номер: US20190033887A1
Автор: BEYERER Juergen, BRINK Gunnar
Принадлежит:

A system for navigation of an autonomously navigating submersible body during entry into a docking station below the water surface includes a determiner for determining an actual motion vector of the autonomously navigation submersible body in relation to the set motion vector describing the optimum entry direction into the docking station and a calculating unit. The calculating unit serves to determine the deviation between the actual motion vector and the set motion vector to determine control vectors based on the deviation and to thereby control the autonomously navigating submersible body during entry. 1. System for navigation of an autonomously navigating submersible body during entry into a docking station below the water surface , comprising:determiner for determining an actual motion vector of the autonomously navigating submersible body in relation to the set motion vector describing the optimum entry direction into the docking station, wherein the determiner for determining the actual movement is mounted on the docking station;a calculating unit for determining the deviation between the actual motion vector and the set motion vector to determine control signals based on the deviation, wherein the calculating unit is disposed on the docking station; anda control determining the control signals based on the deviation and controlling the autonomously navigating submersible body during entry into a docking station by means of the control signals such that the actual motion vector approaches the set motion vector;wherein the autonomously navigating submersible body comprises an autonomous driving mode and remote control driving mode and wherein the control is configured to activate the remote control driving mode in the near range of the docking station.2. System according to claim 1 , wherein the control unit comprises an acoustic modem for emitting an acoustic data signal and/or a light modem for outputting a modulated light beam andwherein the acoustic modem ...

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Номер записи: 49
09-02-2017 дата публикации

WATER DRONE

Номер: US20170036746A1
Автор: Heltsley Drew Franklin, MACCREADY Tyler, White Anthony
Принадлежит:

A water drone capable of navigating on the surface, or below the surface, of a body of water. In some embodiments such a vehicle is light-weight, electric-powered, and propeller-driven, and may be operated by remote control from the shore and guided with simple autopilot commands. The vehicle may have two actuators at the rear of the vehicle, each including a motor and a propeller, and each capable of producing forward or reverse thrust. The vehicle may be capable of travelling horizontally through the surf zone and diving vertically through the water column to the seafloor. The vehicle may monitor its own location and depth and may measure environmental conditions such as water temperature; such measurements may be communicated back to the operator using a telemetry system. 1. A vehicle for use in a body of water having a surface , the vehicle comprising:a hull having a front end and a rear end and defining a longitudinal axis;a communications system comprising an antenna positioned at the front end of the hull; anda propulsion system comprising two actuators, each actuator comprising a propeller positioned at the rear end of the hull and configured to supply thrust along a thrust vector, assume a first steady-state position when the propulsion system produces no thrust, an elevation angle of the longitudinal axis in the first steady-state position being greater than 20 degrees;', 'assume a second steady-state position when the propulsion system produces forward thrust of a first magnitude, the elevation angle of the longitudinal axis in the second steady-state position being greater than 0 degrees and less than 40 degrees; and', 'assume a third steady-state position when the propulsion system produces reverse thrust of a second magnitude, the elevation angle of the longitudinal axis in the second steady-state position being greater than 60 degrees., 'the vehicle being configured to2. The vehicle of claim 1 , wherein the elevation angle of the longitudinal axis in ...

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Номер записи: 50
24-02-2022 дата публикации

SYSTEM FOR DOCKING A SUBMARINE VESSEL TO A DOCKING PORT AND A METHOD FOR DOCKING THE SUBMARINE VESSEL ON THE DOCKING PORT

Номер: US20220055494A1
Автор: Gyland Geir Olav, Hodnefjell Lars Gunnar
Принадлежит: Blue Logic AS

A system has a submarine vessel and a submarine docking port. The docking port is arranged for transfer of electrical energy to the submarine vessel when the submarine vessel is docked. The submarine vessel has a submarine navigation system. The docking port has a primary coil for emitting a magnetic field. The submarine vessel has a secondary coil. The submarine vessel has means for measuring a strength of the magnetic field received by the secondary coil. The submarine vessel has a positioning electronics that guides the submarine vessel in a horizontal plane to maximize the measured local magnetic field. The positioning electronics guides the submarine vessel in the vertical direction when the measured magnetic field is at a local maximum and the magnetic field increases when the submarine vessel descends towards the primary coil. Also, a method is for docking a submarine vessel on a submarine docking port. 1. A system comprising a submarine vessel and a submarine docking port for the submarine vessel , where the docking port is arranged for transfer of electrical energy to the submarine vessel when the submarine vessel is docked , and the submarine vessel is provided with a submarine navigation system , wherein the docking port is provided with at least one primary coil arranged for emitting a magnetic field , and the submarine vessel is provided with a secondary coil , the submarine vessel is provided with means for measuring a strength of the magnetic field received by the secondary coil , and the submarine vessel is provided with a positioning electronics that guides the submarine vessel in a horizontal plane to maximize the measured local magnetic field , and the positioning electronics guides the submarine vessel in the vertical direction when the measured magnetic field is at a local maximum and the magnetic field increases when the submarine vessel descends towards the primary coil.2. The system according to claim 1 , wherein the primary coil is a primary ...

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Номер записи: 51
07-02-2019 дата публикации

Coordinated Water Environment Mobile Robots

Номер: US20190039251A1
Автор: Abdellatif Fadl, Outa Ali, Patel Sahejad
Принадлежит:

A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool. 1. A two-part , selectively dockable robotic system providing counterbalanced stabilization during performance of an operation on an underwater target structure , comprising:a first underwater robotic vehicle sized and shaped to at least partially surround the underwater target structure;a second underwater robotic vehicle sized and shaped to at least partially surround the underwater target structure and be at least partially orientated in a position opposite the first underwater robotic vehicle;complimentary docking mechanisms supported by the first and second underwater robotic vehicles and arranged so the first and second underwater robotic vehicles can selectively couple to each other with the underwater target structure disposed at least partially between the first and second underwater robotic vehicles;a tool that exerts a first force against the underwater target structure in a first direction, the tool being supported by one of the first and second underwater robotic vehicles; anda stabilization module that exerts a second ...

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Номер записи: 52
07-02-2019 дата публикации

Extended duration autonomous craft

Номер: US20190039427A1
Автор: Keith Daniel Humfeld, Scott Hartshorn
Принадлежит: Boeing Co

Autonomous craft capable of extended duration operations as lighter-than-air craft, having the ability to alight on the surface of a body of water and generate hydrogen gas for lift via electrolysis using power derived from a photovoltaic system, as well as methods of launching an unmanned aerial vehicle (UAV) having a deployable envelope from a surface of a body of water.

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Номер записи: 53
24-02-2022 дата публикации

HYDROGEN PRODUCTION AND CONVEYANCE SYSTEM

Номер: US20220056880A1
Автор: Moffat Brian Lee, Place Daniel William, Sheldon-Coulson Garth Alexander, Thorson Ivar Lee
Принадлежит: Lone Gull Holdings, Ltd.

A system and method by which energy from ocean waves is converted into hydrogen, and that hydrogen is used to manifest electrical and mechanical energies by an energy consuming device. A portion of the generated electrical power is communicated to water electrolyzers which produce oxygen and hydrogen from water as gases. At least a portion of the generated hydrogen gas is transferred to a transportation ship via a hose-carrying, remotely operated (or otherwise unmanned) vehicle, and subsequently transferred to an energy-consuming module or infrastructur, where a portion of the hydrogen is consumed in order to manifest a generation of electrical energy, a mechanical motion, and/or a chemical reaction. 1. A hydrogen harvesting ship , comprising:a hydrogen tank;a hydrogen transfer hose adapted to be fluidly connected to the hydrogen tank;a hose conveyance vehicle comprising at least one thruster and adapted to reposition a first end of the hydrogen transfer hose;wherein the hose conveyance vehicle is adapted to fluidly connect said hydrogen transfer hose to a submerged hydrogen output port of a buoyant hydrogen production platform.2. The hydrogen harvesting ship of claim 1 , wherein the hose conveyance vehicle further comprises an electromagnet for attracting to a hull of the buoyant hydrogen production platform.3. The hydrogen harvesting ship of claim 1 , wherein the hose conveyance vehicle further comprises powered wheels adapted to ride on a hull of the buoyant hydrogen production platform.4. The hydrogen harvesting ship of claim 1 , further comprising a rotating spool adapted to retract a portion of the hydrogen transfer hose.5. The hydrogen harvesting ship of claim 1 , wherein the hose conveyance vehicle is operated remotely.6. The hydrogen harvesting ship of claim 1 , wherein the hose conveyance vehicle is an unmanned underwater vehicle.7. The hydrogen harvesting ship of claim 1 , further comprising a hydrogen tank manifold adapted to transfer hydrogen from the ...

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Номер записи: 54
24-02-2022 дата публикации

HYDROGEN PRODUCTION AND CONVEYANCE SYSTEM

Номер: US20220056881A1
Автор: Moffat Brian Lee, Place Daniel William, Sheldon-Coulson Garth Alexander, Thorson Ivar Lee
Принадлежит: Lone Gull Holdings, Ltd.

A system and method by which energy from ocean waves is converted into hydrogen, and that hydrogen is used to manifest electrical and mechanical energies by an energy consuming device. A portion of the generated electrical power is communicated to water electrolyzers which produce oxygen and hydrogen from water as gases. At least a portion of the generated hydrogen gas is transferred to a transportation ship via a hose-carrying, remotely operated (or otherwise unmanned) vehicle, and subsequently transferred to an energy-consuming module or infrastructur, where a portion of the hydrogen is consumed in order to manifest a generation of electrical energy, a mechanical motion, and/or a chemical reaction. 1. An actively self-repositioning chemical fuel conduit comprising:a chemical fuel hose;a remotely operated vehicle coupled to a first end of the chemical fuel hose, the remotely operated vehicle comprising at least one thruster; andan attachment port at the remotely operated vehicle;wherein the remotely operated vehicle is configured to pull the chemical fuel hose through water for attachment of the attachment port to a submerged chemical fuel port of a buoyant chemical fuel production platform.2. The actively self-positioning chemical fuel conduit of claim 1 , wherein the remotely operated vehicle further comprising an electromagnet configured for attachment to a hull of the buoyant chemical fuel production platform.3. The actively self-positioning chemical fuel conduit of claim 1 , further comprising powered wheels adapted to ride on a hull of the buoyant chemical fuel production platform.4. The actively self-positioning chemical fuel conduit of claim 1 , wherein the attachment port is adapted to provide a gas-tight connection for receiving hydrogen gas.5. The actively self-positioning chemical fuel conduit of claim 1 , wherein the chemical fuel hose is positively buoyant. This Divisional application is based on U.S. Ser. No. 17/320,541, filed on May 14, 2021, which ...

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Номер записи: 55
12-02-2015 дата публикации

UNDERWATER WORKING SYSTEM AND METHOD FOR OPERATING AN UNDERWATER WORKING SYSTEM

Номер: US20150046014A1
Автор: Hesse Sven-Christian
Принадлежит:

The invention relates to an underwater work system with at least one autonomous unmanned underwater vehicle and one unmanned relay vehicle floating at the surface of the water , which comprises a radio antenna for external communication and a drive . The underwater vehicle is connected to the relay vehicle via an internal communication device. 1. An underwater work system comprising at least one autonomous unmanned underwater vehicle and one unmanned relay vehicle floating at the surface of the water , which comprises a radio antenna for external communication a drive and a control unit , the autonomous unmanned underwater vehicle being physically connected to the relay vehicle via a coupling connection , the coupling connection including or being part of an internal communication device , and the relay vehicle , the autonomous underwater vehicle and/or the coupling connection being configured in such a manner that the relay vehicle is guidable by means of a control unit via the autonomous underwater vehicle.2. The underwater work system according to claim 1 , wherein the internal communication device is designed in such a manner that it is real-time capable.3. The underwater work system according to wherein said control unit controls the relay vehicle the system further comprising a control unit for the underwater vehicle claim 1 , the control units being configured in such a manner that navigation information for the relay vehicle and control information for the underwater vehicle is exchangeable via the internal communication device.4. The underwater work system according to wherein the coupling connection occurs by way of an optical fiber cable claim 1 , which physically connects the relay vehicle to the underwater vehicle.5. The underwater work system according to claim 1 , wherein the relay vehicle and/or the underwater vehicle comprise means for determining the distance between the underwater vehicle and the relay vehicle.6. The underwater work system ...

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Номер записи: 56
18-02-2021 дата публикации

SELF-BALANCING CONTROL METHOD AND SYSTEM FOR AN UNMANNED UNDERWATER VEHICLE

Номер: US20210047019A1
Автор: HUANG JUNPING, Wang Shengwei
Принадлежит:

Disclosed is a self-balancing control method for an unmanned underwater vehicle (UUV) that includes: fitting the UUV vehicle with at least one reversible propeller; converting the forces the unmanned underwater vehicle is subjected to into a resultant force in each of at least one degree of freedom (DOF) of motion based on a DOF of motion control model, where each of the DOF of motion corresponds to a measurable motion control parameter; designing a corresponding sub-PID controller according to each of the at least one DOF of motion; and calculating the thrust required by each of the at least one reversible propeller based on a thrust distribution matrix. 1. A self-balancing control method for an unmanned underwater vehicle (UUV) , the self-balancing control method comprising:fitting the UUV with at least one reversible propeller;converting forces the UUV is subjected to into a resultant force in each of at least one degree of freedom (DOF) of motion based on a DOF of motion control model, where each of the at least one DOF of motion corresponds to a measurable motion control parameter;designing a corresponding sub-PID (proportional, integral, and derivative) controller according to each of the at least one DOF of motion; andcalculating a thrust required by each of the at least one reversible propeller based on a thrust distribution matrix.2. The self-balancing control method as recited in claim 1 , wherein in “fitting the UUV with at least one reversible propeller” claim 1 , a number of six reversible propellers are fitted claim 1 , comprising four reversible propellers configured to provide vertical thrusts completely perpendicular to a plane of a main body of the unmanned underwater vehicle claim 1 , and two reversible propellers configured to provide horizontal thrusts completely parallel to the plane of the main body of the unmanned underwater vehicle.3. The self-balancing control method as recited in claim 2 , wherein in “converting forces the UUV is subjected ...

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Номер записи: 57
18-02-2016 дата публикации

Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys

Номер: US20160046358A1
Автор: Antoine LELAURIN, Jonathan Grimsdale, Thierry BRIZARD
Принадлежит: Seabed Geosolutions BV

A method for cycling autonomous underwater vehicles (AUVs) that record seismic signals during a marine seismic survey. The method includes deploying plural current AUVs on the ocean bottom; recording the seismic signals during the marine seismic survey with plural current AUVs; releasing from an underwater base a new AUV to replace a corresponding current AUV from the plural current AUVs; recovering the current AUV; and continuing to record the seismic signals with the new AUV.

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Номер записи: 58
18-02-2021 дата публикации

Improving Access into Subsea Structures

Номер: US20210047875A1
Автор: Haneferd Rasmus, Lende Knut Sigmund, Rasmussen Arne, Suphellen Karl Erik
Принадлежит:

A protective subsea housing for protecting an equipment space enclosed by the housing has an access opening in a wall of the housing for providing access to the equipment space by an unmanned underwater vehicle (UUV). The housing has a closure that is movable by translation, or by rotation relative to an axis transverse to or extending through the wall, to open and close the access opening, and an operating member, such as a rotary coupling, that is positioned outside the equipment space and is engageable and movable by the UUV to move the closure. 1. A protective subsea housing for protecting an equipment space enclosed by the housing , the housing comprising:an access opening in a wall of the housing for providing access to the equipment space by an unmanned underwater vehicle (UUV);a closure that is movable by translation, or by rotation relative to an axis transverse to the wall, to open and close the access opening; andan operating member, positioned outside the equipment space, that is engageable by and movable by the UUV to move the closure, wherein the operating member is movable relative to the housing to operate a drive mechanism that acts on the closure.2. The housing of claim 1 , wherein the closure is movable substantially parallel to the wall.3. The housing of claim 2 , wherein the wall is planar and the closure is movable in a parallel plane.4. The housing of claim 1 , wherein the closure is positioned on an inner side of the wall claim 1 , within the equipment space.5. The housing of claim 1 , wherein the closure is positioned on an outer side of the wall.6. The housing of claim 5 , wherein the closure is substantially surrounded by a ridge that protrudes from the outer side of the wall.7. The housing of claim 1 , wherein the closure is rotatable about a pivot beside the access opening.8. The housing of claim 7 , wherein the closure comprises a part-circular panel that can be pivoted across or away from the access opening claim 7 , the panel having a ...

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Номер записи: 59
19-02-2015 дата публикации

DEPLOYMENT AND RECOVERY VESSEL FOR AUTONOMOUS UNDERWATER VEHICLE FOR SEISMIC SURVEY

Номер: US20150047546A1
Автор: BRIZARD Thierry, DOWLE Robert, Grimsdale Jonathan, HERVÉ Alice, POSTIC Erwan
Принадлежит:

Method and vessel for performing marine acoustic survey of a subsurface. The vessel includes a launching module configured to deploy an autonomous underwater vehicle (AUV) underwater; a recovery module configured to recover the AUV; a homing device mounted on the recovery module and configured to guide the AUV to the recovery module; and a management module connecting the launching module to the recovery module and configured to transport the AUV. 1. A vessel for performing a marine acoustic survey of a subsurface , the vessel comprising:a launching module configured to launch an autonomous underwater vehicle (AUV) in water;a recovery module configured to recover the AUV from the water;a homing device mounted on the recovery module and configured to guide the AUV to the recovery module while in the water;a management module connecting the launching module to the recovery module and configured to transport the AUV while on the vessel; andan acoustic system configured to determine a location of the AUV and configured to activate the AUV when a time to return to the surface arises.2. The vessel of claim 1 , wherein the management module is mounted on a deck of the vessel.3. The vessel of claim 1 , wherein the management module comprises:a transportation system configured to transport the AUV in a vertical position while on the vessel.4. The vessel of claim 1 , wherein an end of the launching module and an end of the recovery module are underwater.5. The vessel of claim 1 , wherein the recovery module includes a body having a triangular-like cross-section that matches a cross-section of the AUV.6. The vessel of claim 1 , wherein the recovery module includes guidance rollers configured to rotate in a desired direction for transporting the AUV from the water toward an upper part of the vessel.7. The vessel of claim 1 , wherein the launching module includes a body having a triangular cross-section that matches a cross-section of the AUV.8. (canceled)9. The vessel of claim ...

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Номер записи: 60
16-02-2017 дата публикации

UNDERWATER MOBILE INSPECTION APPARATUS AND UNDERWATER INSPECTION EQUIPMENT

Номер: US20170043851A1
Автор: Enomoto Masayuki, HAMAMATSU Masanori, KAGAYA Hiroaki, Kimura Akira, Kubota Tetsuya, MUKAIDA Minehiko, OKAYA Noriyuki, SAIKI Akiyoshi, SUMINO Kazuya
Принадлежит: KAWASAKI JUKOGYO KABUSHIKI KAISHA

An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising; including a cruising body configured to submerge under-water and cruise along the inspection object so as to not come into contact with the inspection object, a first movable arm provided on the cruising-body, and an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave. A controller is configured to, when the cruising-body cruises along the inspection object so as to not come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target positional relationship. 1. An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising ,the underwater mobile inspection apparatus comprising:a cruising body configured to submerge under water and cruise along the inspection object in such a manner as not to come into contact with the inspection object;a first movable arm provided on the cruising body;an inspection tool unit provided on the first movable arm and including at least one of an image-capturing camera for use in visually inspecting the inspection object and a wall thickness inspection device configured to inspect a wall thickness of the inspection object by using an ultrasonic wave; anda controller configured to, when the cruising body cruises along the inspection object in such a manner as not to come into contact with the inspection object, operate the first movable arm to move the inspection tool unit, such that a positional relationship of the inspection tool unit with the inspection object becomes a predetermined target ...

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Номер записи: 61
15-02-2018 дата публикации

FLYING UNDERWATER IMAGER WITH MULTI-MODE OPERATION FOR LOCATING AND APPROACHING UNDERWATER OBJECTS FOR IMAGING

Номер: US20180043978A1
Автор: Fang Li
Принадлежит:

A flying underwater imager device operates in two modes, a tow mode and a free fly mode. In the tow mode for locating underwater objects, the imager device opens foldable wings for remaining depressed below the surface when the wings generate a negative buoyancy. Otherwise, neutral buoyancy characteristics bring the imager device back to surface. In the free fly mode for approaching and imaging underwater objects, the imager device closes the foldable wings and uses thrusters for moving into position to image the underwater objects. 1. A flying underwater imaging device with multi-mode operation , comprising:a frame with a hitch for connecting by a towing device;a pair of wings attached to the frame and controlled by a drive system; anda control module in a housing and communicatively coupled to a drive system,wherein in a tow mode, the drive system unfolds the pair of wings to a specific angle to maintain a desired depth as determined by downward pressure generated from a speed of towing and natural buoyancy of the flying underwater imaging device, andwherein in a free fly mode, the drive system folds the pair of wings to permit deployment for remote operations and movement.2. The flying underwater imaging device of claim 1 , further comprising:a sonar transducer attached to the frame and communicatively coupled to the control module, the sonar transducer to locate underwater objects with echo location; andat least one thruster attached to the frame and communicatively coupled to the control module,wherein the control module comprises a location module and an auto-pilot module,wherein in the tow mode, the location module determines location coordinates of the at least one underwater object from data received from the sonar transducer, andwherein in the free fly mode, the auto-pilot module activates the at least one thruster to position the flying underwater imaging device proximate to the at least one underwater object.3. The flying underwater imaging device of ...

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Номер записи: 62
06-02-2020 дата публикации

Integrated Method and System for Communication, Positioning, Navigation, and Timing of Deep-Sea Vehicle

Номер: US20200042020A1
Автор: Li Zhengguang, LU Dequan, QIN Shengjie, Tang Jialing, WANG Xiangxin, ZHANG Tongwei
Принадлежит:

An integrated method and system for communication, positioning, navigation, and timing of a deep-sea vehicle. The method implements integration and deep fusion of communication, positioning, navigation, and timing, and can achieve uniformity of space references and time references between sensors and systems, can reduce difficulty in information fusion, and can implement convenient underwater acoustic communication, real-time/high-update-rate/low-power-consumption/high-precision positioning, high-precision/fault-tolerant navigation, and precise timing. The present invention implements simultaneous operation of four working modes: communication, positioning, navigation, and timing, to fundamentally resolve problems such as insufficient practicability of underwater acoustic communication, low accuracy of navigation and positioning, and no timing function, so as to improve underwater operation efficiency of a deep-sea vehicle. 1. An integrated method for communication , positioning , navigation , and timing of a deep-sea vehicle , wherein the integrated method is applied to an integrated device for communication , positioning , navigation , and timing of a deep-sea vehicle , the integrated device comprises a water surface monitoring platform , a deep-sea vehicle , and a scientific research ship/shore-based monitoring center; and the integrated method comprises the steps of:acquiring latitude and longitude and time information of the water surface monitoring platform;delivering the latitude and longitude and time information of the water surface monitoring platform to the deep-sea vehicle in an underwater acoustic communication manner;decoding the communication information by the deep-sea vehicle, to acquire the latitude and longitude and a time when the water surface monitoring platform transmits the communication information;acquiring a time when the deep-sea vehicle receives the communication information;obtaining a transmission delay according to the time when the ...

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Номер записи: 63
18-02-2021 дата публикации

AUTONOMOUS SURFACE AND SUBSURFACE MARINE VEHICLE SURVEY SYSTEM, MARINE VEHICLE FOR SAME, AND METHOD OF USE

Номер: US20210048544A1
Автор: Childress Kenneth L., Curcio Joseph, Holzer Paul, Kauffman Judson A., Pearson David L., Resnick Andrew, Wolfel Josef
Принадлежит:

A system to perform marine surveying may include a pair of identical design autonomous marine survey vehicles configured for coordinated operations. The vehicles may navigate and transit from a launch location to a geographically distant designated survey location, continuously survey and transit to a designated recovery location. A pair of vehicles may operate interchangeably at the sea surface, semi-submerged and underwater. Each may generate energy when operating at the surface and store energy in a rechargeable battery to power vehicle operation. The payload may include a sensor system to acquire seabed sensor data. A data storage system may store the sensor data. An on-board payload quality control system may analyze data validity. Positioning when the vehicle is collecting seabed sensor data may be determined with high precision, to provide survey data of high precision. 1. An autonomous marine survey system for performing a subsea survey of a location , comprising:a set of identical design, autonomous marine survey vehicles, instanced by a first and second vehicle, each comprising:a maneuvering system, the maneuvering system comprising a propulsion system, the maneuvering system comprising a buoyancy control system, the maneuvering system comprising a steering system;a sensor array configured to collect information about the surroundings at the location where the autonomous marine survey system is located;an acoustic communications system configured to send and receive acoustic command signals through the ocean water to the other vehicle;an information storage system configured to receive and store information from the sensor array, digital communications system, and acoustic communications system;an on-board power generation system configured to generate electrical power when operated at the sea surface;an autonomous control system configured to receive information from the digital communications system, acoustic communications system, power generator, power ...

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Номер записи: 64
19-02-2015 дата публикации

Method for detecting naval mines and naval mine detection system

Номер: US20150049588A1
Автор: Detlef Lambertus, Ralf Richter
Принадлежит: Atlas Elektronik GmbH

The invention concerns a group of vessels ( 24 ), having an unmanned surface vessel ( 3 ) and an unmanned underwater vessel ( 1, 1 a ), wherein the underwater vessel comprises a location device, in particular a sonar device, for sensing location data ( 12 ) in the underwater area and one evaluation unit or more evaluation units, and the evaluation unit or the evaluation units are arranged in such a manner that these comprise detection means ( 20 ) for detecting ( 14 ) a contact (MILEC) with the aid of the sensed location data ( 12 ) and with classification means ( 21 ) for classifying ( 15 ) the detected contact (MILEC) as a mine-like contact (MILCO) or non mine-like contact (NONMILCO), whereby classification is accomplished by comparing the contact (MILEC) with known mine information so that a mine-like contact (MILCO) can be identified as a mine contact (MINE) or as another object (NOMBO).

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Номер записи: 65
03-03-2022 дата публикации

Docking device for an underwater vehicle

Номер: US20220063780A1
Автор: François Cadalen, Michael Jourdan, Olivier Jezequel
Принадлежит: Thales SA

A docketing device includes a docking station able to be hauled by a carrying vessel at a tow point (T), the docking station comprising a body comprising a beam extending parallel to a longitudinal axis (x) of the body and a stop allowing a movement of an underwater vehicle with respect to the body along the longitudinal axis (x) to be blocked, the dorsal beam extending longitudinally above the underwater vehicle in abutment against the stop, a center of gravity of the docking station and a center of buoyancy of the docking station being positioned, and the tow point (T) being able to occupy a docking position that is such that the docking station exhibits a predetermined docking negative pitch when it is fully submerged and hauled by the carrying vessel in the direction of the longitudinal axis at a predetermined speed.

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Номер записи: 66
14-02-2019 дата публикации

REMOTE-CONTROLLED UNDERWATER VEHICLE FOR SUCTION OF OIL FROM THE UNDERSIDE OF AN ICE SURFACE

Номер: US20190047666A1
Автор: SCHIEMANN Marc
Принадлежит:

A remote-controlled underwater vehicle may be used to extract oil from an underside of a closed ice cover. Further, a system for extracting oil from an underside of a closed ice cover may comprise such a remote-controlled underwater vehicle and a submarine that can receive the remote-controlled underwater vehicle and store oil retrieved by the remote-controlled underwater vehicle. Finally, a method can be employed to extract oil from an underside of a closed ice cover. 112.-. (canceled)13. A remote-controlled underwater vehicle for extracting oil from an underside of a closed ice cover , wherein the remote-controlled underwater vehicle has underwater buoyancy and comprises:drive means;a pump for extracting fluid;means for localizing oil;means for connecting to a parent ship, the means for connecting having a first connection for communication, a second connection for supplying power to the remote-controlled underwater vehicle, and a third connection for conveying extracted fluid to the parent ship; anda first floatation panel.14. The remote-controlled underwater vehicle of wherein the means for localizing oil comprises sonar or multibeam sonar.15. The remote-controlled underwater vehicle of wherein the means for localizing oil comprises an acoustic Doppler profiler.16. The remote-controlled underwater vehicle of wherein the means for localizing oil comprises an infrared spectrometer.17. The remote-controlled underwater vehicle of wherein the means for localizing oil comprises a visual camera.18. The remote-controlled underwater vehicle of wherein the means for localizing oil comprises a gas chromatograph.19. The remote-controlled underwater vehicle of wherein the means for localizing oil comprises a mass spectrometer.20. The remote-controlled underwater vehicle of wherein the means for localizing oil is a first means for localizing oil claim 13 , the remote-controlled underwater vehicle comprising a second means for localizing oil claim 13 , wherein the first and ...

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Номер записи: 67
14-02-2019 дата публикации

Modular Maritime Tow Body

Номер: US20190047669A1
Автор: Carralero Michael A., Patten Todd, van Harmelen Christopher S., Vaughn Alexander Carter, Viloria Wayne Allen
Принадлежит:

A tow body apparatus, a method of making a modular tow body, and a method of using a tow body. The tow body comprises a nose module, a tail module, and a first payload module that may be made of plastic by three-dimensional printing. The nose module is configured to be connected to a tow cable for towing the tow body through water and comprises a nose module mating interface. The tail module comprises fins for stabilizing the tow body as the tow body is towed through water and a tail module mating interface. The first payload module comprises an interior configured to hold a payload, a first mating interface configured to be attached alternatively to the nose module mating interface or to a second payload module, and a second mating interface configured to be attached alternatively to the tail module mating interface or to the second payload module. 1. A tow body apparatus , that comprises:a nose module configured to connect to a tow cable and tow the tow body through water, such that the nose module comprises a nose module mating interface; fins configured to stabilize the tow body as the tow body moves through the water; and', 'a tail module mating interface; and, 'a tail module that comprises [ a release mechanism configured to release, responsive to a release signal, a deployable payload from the interior; and', 'a ballast system configured to change, responsive to a deployment of the deployable payload from the interior, a buoyancy of the tow body apparatus;, 'an interior configured to hold a payload, such that the payload comprises, 'a first mating interface configured to be attached alternatively to the nose module mating interface or to a second payload module; and', 'a second mating interface configured to be attached alternatively to the tail module mating interface or to the second payload module., 'a first payload module that comprises2. The tow body apparatus of claim 1 , wherein the nose module claim 1 , the tail module claim 1 , and the first payload ...

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Номер записи: 68
26-02-2015 дата публикации

UNDERWATER VEHICLE CUTTING APPARATUS

Номер: US20150053126A1
Автор: Allensworth Walter, Norkoski Chris, Wiggins James, Zeglin Conrad
Принадлежит:

The problem of penetrating through nets and other objects is solved by cutting the object using a linear cutting assembly having a linear cutter arm that moves in an arc and pivots about an attachment point. The object is cut by a severing action caused by a moveable blade of the linear cutting arm moving back and forth across a stationary blade of the linear cutter arm. An underwater vehicle modified to incorporate an embodiment of the linear cutting assembly can cut a sufficiently large opening in the object to allow the vehicle to pass through. 136-. (canceled)37. A cutting apparatus for an underwater vehicle comprising:a cutter arm configured to rotate in a forward arc;and a motor configured to operate a cutting motion of the cutter arm and rotate the cutter arm.38. The cutting apparatus of claim 37 , further comprising an elongated opening on a surface of a housing structure claim 37 , wherein the cutter arm is configured to rotate out of the housing structure.39. The cutting apparatus of claim 38 , wherein the housing structure is a cutting apparatus housing structure configured to connect to a hull of the underwater vehicle.40. The cutting apparatus of claim 38 , wherein the housing structure is the hull of an underwater vehicle.41. The cutting apparatus of claim 37 , wherein the cutter arm is configured to rotate at least 225 degrees.42. The cutting apparatus claim 37 , wherein the cutter arm comprises a first blade and a second blade and the cutting motion of the cutter arm comprises moving the second blade linearly back and forth and parallel to the first blade.43. The cutting apparatus of claim 42 , further comprising a drive shaft in mechanical association with the motor claim 42 , wherein the second blade is configured to move linearly back and forth when the cutter arm is positioned at more than one angle of rotation about the drive shaft.44. A cutting apparatus for an underwater vehicle comprising:a cutter arm comprising a first blade and a second ...

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Номер записи: 69
26-02-2015 дата публикации

METHOD OF PROVIDING BUOYANCY

Номер: US20150053413A1
Автор: Collins Patrick
Принадлежит:

A method of providing buoyancy, the method comprising the steps of: (a) adding a buoyant fluid to a container, the buoyant fluid comprising a base fluid, an activator and from 25 to 60% vol/vol microspheres; and (b) increasing the viscosity of the buoyant fluid to at least 80,000 mPa·s at a shear rate of 0.8 sat 293K. The structure may be a tubular-shaped container that is used subsea, such as a frame of a cable laying plough. Embodiments thus provide a convenient method of adding buoyancy to a structure. 1. A method of providing buoyancy , the method comprising the steps of:(a) adding a buoyant fluid to a container, the buoyant fluid comprising a base fluid, an activator and from 25 to 60% vol/vol microspheres; and{'sup': '−1', '(b) increasing the viscosity of the buoyant fluid to at least 80,000 mPa·s at a shear rate of 0.8 sat 293K.'}2. A method as claimed in claim 1 , wherein the container is part of a structure that claim 1 , in use claim 1 , is located subsea.3. A method as claimed in claim 1 , wherein the container is tubular-shaped.4. A method as claimed in claim 3 , wherein the tubular-shaped container is part of a frame of the structure.5. A method as claimed in claim 1 , wherein the viscosity of the buoyant fluid is at least 120 claim 1 ,000 mPa·s at a shear rate of 0.8 sat 293K.6. A method as claimed in claim 1 , wherein the viscosity of the buoyant fluid is at least 10 claim 1 ,000 mPa·s claim 1 , optionally 15 claim 1 ,000 mPa·s; at a shear rate of 4.18 sat 293K.7. A method as claimed in claim 1 , wherein the container is suitable to attach to a riser.8. A method as claimed in claim 1 , wherein the container is suitable to fit within a void in an ROV.9. A method as claimed in claim 1 , wherein the base fluid comprises an oil.10. A method as claimed in claim 1 , wherein the activator is a blend comprising a gelling agent such as a phosphate ester optionally an iron phosphate ester (FePO3).11. A method as claimed in claim 1 , wherein the buoyant fluid ...

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Номер записи: 70
03-03-2022 дата публикации

AN ENERGY MANAGEMENT SYSTEM AND METHOD OF A ROV

Номер: US20220069612A1
Автор: Lazzarin Diego, Massari Giovanni, Visentin Roberto
Принадлежит:

An energy management system of a Remotely Operated Vehicle (“ROV”) has a generating unit located in a remote station on a water body and configured to generate a generated electrical power with a first maximum value); a ROV configured to operate in the water body and configured to absorb a second maximum value of an absorbed electrical power greater than the first maximum value; an electrical energy transmission line connected to the generating unit and to the ROV; and an electrical energy storage device located along the transmission line and/or on board the ROV. 115-. (canceled)16. A remotely operated vehicle energy management system comprising:an electrical power generation unit locatable in a remote station on a body of water, the electrical power generation unit configured to generate electrical power with a first maximum value;a wire-guided remotely operated vehicle configured to operate in the body of water and absorb a second maximum value of electrical power that is greater than the first maximum value;an electrical energy transmission line connectable to the electrical power generation unit and to the remotely operated vehicle, the electrical energy transmission line configured to transmit electrical energy from the electrical power generation unit to the remotely operated vehicle; andan electrical energy storage device locatable at at least one of: along the electrical energy transmission line and on the remotely operated vehicle.17. The remotely operated vehicle energy management system of claim 16 , wherein the electrical energy storage device comprises at least one of: at least one rechargeable battery claim 16 , at least one capacitor claim 16 , and a combination of at least one rechargeable battery and at least one capacitor.18. The remotely operated vehicle energy management system of claim 16 , wherein the electrical energy storage device is configured to deliver a third maximum value of electrical power to compensate for a difference between the ...

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Номер записи: 71
25-02-2021 дата публикации

CLOSED-LOOP MOTION CONTROL METHOD AND SYSTEM FOR A THREE-THRUSTER UNMANNED UNDERWATER VEHICLE

Номер: US20210055731A1
Автор: HUANG JUNPING, Wang Shengwei
Принадлежит:

The disclosure first measures the current information of the underwater situation the unmanned underwater vehicle (UUV) is found in, then calculates the force of the UUV on each degree of freedom (DOF) based on the information. Then the force on each UUV is fused with the respective force output by a command of a terminal to obtain a resultant force on each UUV Further, a thrust distribution matrix is used to distribute the resultant forces to the various thrusters of the UUV to obtain the output forces of the respective thrusters. Finally, the output force of each thruster is fused with the respective output force of the thruster that is output by the command of the terminal to obtain the thrust output required by the thruster. 1. A closed-loop motion control method for a three-thruster unmanned underwater vehicle (UUV) , comprising:measuring current information of underwater situation the unmanned underwater vehicle is found in;calculating a force of the unmanned underwater vehicle on each degree of freedom (DOF) based on the information;fusing the force on each DOF calculated above with a respective force output by a command of a terminal to obtain a resultant force on each DOF;distributing the resultant forces obtained above to a plurality of thrusters of the UUV based on a thrust distribution matrix, thus obtaining an output force of each of the plurality of thrusters; andfusing the output force of each of the plurality of thrusters with the output force of the thruster that is output by the command of the terminal to obtain a thrust output required by the thruster.2. The closed-loop motion control method as recited in claim 1 , further comprising: limiting an output force of each of the plurality of thrusters claim 1 , wherein when the output force of the thruster exceeds a set value claim 1 , the output force of the thruster is taken as the set value.3. The closed-loop motion control method as recited in claim 2 , wherein the operation of “measuring current ...

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Номер записи: 72
13-02-2020 дата публикации

SYSTEM AND METHOD FOR DEPLOYING OCEAN BOTTOM SEISMIC NODES USING A PLURALITY OF UNDERWATER VEHICLES

Номер: US20200049849A1
Автор: Hartland Martin John
Принадлежит: Seabed Geosolutions B.V.

Embodiments, including systems and methods, for deploying ocean bottom seismic nodes. Two or more underwater vehicles (such as remotely operated vehicles (ROVs)) may be deployed by a surface vessel and each connected to the surface vessel by a ROV deployment line. A catenary shape of each ROV deployment line may be modeled for more accurate and efficient subsea ROV operations. Real-time modeling and predictive modeling of the catenary shape of the deployed lines may be performed, and the surface vessel and/or ROVs may be positioned based on the modeled catenary shapes. The ROVs may be automatically positioned and/or controlled based on commands from a dynamic positioning (DP) system. An integrated navigation system (INS) may be located on the surface vessel and directly coupled to the one or more DP systems. The surface vessel may travel backwards during deployment operations and deploy one or more subsea baskets astern from the ROVs. 1. A method for the deployment of ocean bottom seismic nodes , comprising:deploying a plurality of remotely operated vehicles (ROVs) from a surface vessel, wherein each of the ROVs is connected to the surface vessel by a ROV deployment line, wherein the plurality of ROVs comprises three or more ROVs;deploying a plurality of ocean bottom seismic nodes on the seabed by the three or more ROVs;modeling a catenary shape of each ROV deployment line during the deployment of the ocean bottom seismic nodes; andautomatically positioning the plurality of ROVs during the deployment of the ocean bottom seismic nodes by one or more Dynamic Positioning (DP) systems.2. The method of claim 1 , wherein the plurality of ROVs comprises six ROVs.3. The method of claim 1 , further comprising determining one or more operating parameters for the surface vessel based on the modeled catenary shape of the ROV deployment lines.4. The method of claim 1 , further comprising determining one or more operating parameters for each of the plurality of ROVs based on the ...

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Номер записи: 73
03-03-2016 дата публикации

SUBSEA SYSTEM FOR SEABED OPERATIONS

Номер: US20160059944A1
Автор: FOSTER Ross
Принадлежит:

Methods and systems relate to seabed operations, such as well intervention or capping, involving subsea equipment and subsea handling of the equipment, which may be associated with hydrocarbon wells or pipelines. A subsea system submerges during deployment and is landed on the seabed. The system may include a suspension assembly coupled to a frame structure for carrying equipment used in the operations. The deployment of the system may include deploying the frame structure with the equipment from a floating vessel connected to an anchored tether and moving the frame structure under water along the tether toward where anchored and the location for the seabed operations. 1. A subsea system for seabed operations , comprising:a frame structure;buoyancy members attached to the frame structure for submergence of the system and controllable to set submerged weight of the system on the seabed; anda suspension assembly coupled to the frame structure for carrying equipment used in the operations and moveable by the suspension assembly relative to the frame structure.2. The subsea system according to claim 1 , wherein the suspension assembly is operable via an umbilical line connecting the subsea system to a floating vessel.3. The subsea system according to claim 1 , further comprising jack-up legs extendable from the frame structure for supporting the submerged weight of the system on the seabed.4. The subsea system according to claim 1 , wherein the equipment is movable by the suspension assembly in vertical and horizontal directions relative to the frame structure.5. The subsea system according to claim 1 , wherein the equipment is movable by the suspension assembly in a vertical direction and perpendicular horizontal directions relative to the frame structure.6. The subsea system according to claim 1 , wherein the suspension assembly includes: parallel rails moveable in an up and down direction relative to the frame structure; a cross bar spanning the rails and moveable ...

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Номер записи: 74
21-02-2019 дата публикации

A SYSTEM AND METHOD OF OPERATING A SUBSEA MODULE

Номер: US20190054982A1
Автор: HANSEN RUNE
Принадлежит: OCEANEERING AS

A system for managing and controlling a subsea module is described herein. The system includes a deployment module configured to releasably receive and accommodate the subsea module and a load-bearing cable. One end of the load-bearing cable is connected to the subsea module and the other end is connected to a cable control device on the deployment module. The subsea module may be lowered out of and retracted into the deployment module. The subsea module may be configured to hold a subsea vehicle, such as a remotely operated vehicle or autonomous underwater vehicle. The subsea module may also be a remotely operated tool. 1. A system for managing and controlling a subsea module , comprising:a deployment module having lifting lugs and a chassis on which an umbilical winch is arranged, and a first interface for releasably receiving and accommodating the subsea module; wherein the deployment module is configured to be placed on a carrier structure and connected to an electrical power and signal interface unit on the carrier structure, the carrier structure being one of a ship, a floating platform; a fixed offshore, inshore or atshore installation, or a quay;a load-bearing umbilical cable or a load-bearing wire or rope in combination with a piggy-back control cable, one end of which is connected to the subsea module and the other end of which is connected to the umbilical winch on the deployment module, wherein the subsea module may be lowered out of and retracted into the deployment module;wherein the deployment module is configured to be placed on the carrier structure when the subsea module is at a subsea location.2. The system of claim 1 , wherein the deployment module comprises power distribution and control portion claim 1 , and a communication portion configured to communicate with a control facility.3. The system of claim 2 , wherein the communication portion further comprises a control and communications module configured to communicate with a control room at a ...

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Номер записи: 75
21-02-2019 дата публикации

Vehicle Control System for Transitioning Between Mediums

Номер: US20190055013A1
Автор: Moore Joseph L.
Принадлежит:

A vehicle for aerial-aquatic locomotion is provided. The vehicle may include a propeller, an electric motor operably coupled to the propeller and configured to rotate the propeller, a maneuvering assembly configured to change an attitude and altitude of the vehicle, and a controller operably coupled to the electric motor and the maneuvering assembly. The controller may be configured to receive a command for the vehicle to exit a first medium and enter a second medium, compute or retrieve a hybrid trajectory, and control the electric motor and the maneuvering assembly to maneuver the vehicle in accordance with the hybrid trajectory. 1. A vehicle for aerial-aquatic locomotion , the vehicle comprising:a propeller;an electric motor operably coupled to the propeller and configured to rotate the propeller;a maneuvering assembly configured to change an attitude and altitude of the vehicle; and receive a command for the vehicle to exit a first medium and enter a second medium;', 'compute or retrieve a hybrid trajectory for transitioning the vehicle from the first medium to the second medium;', 'control the electric motor and the maneuvering assembly to maneuver the vehicle in accordance with the hybrid trajectory; and', 'track a state of the vehicle and, based on the state indicating that the vehicle is in a medium transitional mode, make maneuvering adjustments to maintain compliance with the hybrid trajectory; or based on the state indicating that the vehicle has completed entry into the second medium and the vehicle is in a non-transitional mode, make maneuvering adjustments for operation in the second medium,', 'wherein the state of the vehicle includes one or more of a mode, an altitude, an attitude, and a speed of the vehicle., 'a controller operably coupled to the electric motor and the maneuvering assembly, the controller being configured to2. The vehicle of claim 1 , wherein the controller is further configured to input the state into a linear model predictive ...

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Номер записи: 76
10-03-2022 дата публикации

METHOD FOR ESTABLISHING A CONSOLIDATED WATER CURRENT VELOCITY PROFILE

Номер: US20220074742A1
Автор: TJØM Kyrre J.
Принадлежит:

The invention relates to a method for determining a water current velocity profile in a water column by registration of a deviation between a first position and a second position of an underwater vehicle travelling in the water column. A batch of underwater vehicles is deployed from a surface vessel into the water. The vehicle(s) steers to the first position, which for the first batch is a predefined estimated position (PEP). The vehicle is by first means recording the second position, which is the actual position (AP). The difference ΔP between the predefined estimated position PEP and the actual position is registered and based on the difference a deviation data set is calculated. An updated current profile or stack of horizontal water current velocities UV is determined. 110-. (canceled)11. A method for determining a water current velocity profile in a water column by registration of a deviation between a first position and a second position of an underwater vehicle travelling in the water column , said method comprising deploying a batch of underwater vehicles—comprising at least one vehicle—from a surface vessel into the water , said vehicle steering to the first position which for the first batch is a predefined estimated position (PEP) calculated by a first predefined water current velocity profile wherein the vehicle by first means is recording the second position , which is the actual position (AP) ,and the difference ΔP between the predefined estimated position PEP and the actual position (AP) is registered and based on said difference a deviation data set is calculated and an updated horizontal water current velocity UV is determined in said water column.12. The method according to claim 11 , wherein the updated water current velocity UV is sent to a controller claim 11 , said controller is updating the predefined estimated position PEP to an updated estimated position UEP based on the predefined estimated position PEP and the updated water current ...

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Номер записи: 77
01-03-2018 дата публикации

Wirelessly Controlled Subsystems For Underwater Remotely Operated Vehicles

Номер: US20180057127A1
Автор: Abdellatif Fadl, Amer Ayman, Obedan Ameen, Outa Ali, Patel Sahejad, Trigui Hassane
Принадлежит:

A system for underwater remotely operated vehicles (ROVs) and wirelessly controlled subsystems is provided. The system comprises an ROV and a subsystem mounted to the ROV. The ROV includes a microcontroller, a main battery, and a transmitter-receiver. The subsystem includes a controller and a transmitter-receiver. The ROV is configured to communicate wirelessly with the subsystem via signals transmitted between the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise a control center having a transmitter-receiver configured to communicate wirelessly with the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise at least one relay module configured to relay signals between the transmitter-receivers of the system. The ROV of the system can also be configured to wirelessly transfer power from the main battery to the power source of the subsystem, such as by resonance coupling. 1. A system for underwater remotely operated vehicles (ROVs) and wirelessly controlled subsystems , comprising:an ROV comprising a main hull, a microcontroller, a main battery, and at least one ROV transmitter-receiver, wherein the main hull encloses the microcontroller, the main battery, and the at least one ROV transmitter-receiver;a subsystem mounted to the main hull, the subsystem comprising a housing, a controller, and at least one subsystem transmitter-receiver, wherein the housing encloses the controller and the at least one subsystem transmitter-receiver; andwherein the ROV is configured to communicate wirelessly with the subsystem via signals transmitted between the at least one ROV transmitter-receiver, and the at least one subsystem transmitter receiver.2. The system of claim 1 , wherein the subsystem further comprises a battery.3. The system of claim 2 , further comprising:at least one additional subsystem, wherein the at least one additional subsystem comprises a battery.4. The system of claim 3 , ...

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Номер записи: 78
02-03-2017 дата публикации

Photovolatic Powered Cathodic Protection Probe

Номер: US20170057605A1
Автор: Glenn Casey, Groves Robert
Принадлежит: OCEANEERING INTERNATIONAL, INC.

A remotely operated vehicle (ROV) compatible photovoltaic powered cathodic protection (CP) probe can measure voltage potential of subsea structures. In an embodiment, the CP's meter is integrated and able to send CP data topside. The CP meter's compact display module also houses the telemetry board to send CP readings, via an ROV serial, topside. The CP probe does not require a battery and can be used standalone or connected through an ROV to topside logging and display. Further, the CP probe can monitor a plurality of CP voltages and other conditions such as an electrical field gradient. 1. An ROV compatible cathodic protection (CP) probe , comprising:a. a housing;b. an isolation cap disposed about a first end of the housing;c. a probe tip disposed proximate the first end of the housing, a first portion of the probe tip operatively exposed to an exterior portion of the housing proximate the isolation cap;d. a reference cell disposed within the housing and operatively in communication with the probe tip; i. a power housing;', 'ii. a photovoltaic cell disposed proximate the power housing and operatively in communication with the reference cell, the photovoltaic cell adapted to be powered by a ambient light;', 'iii. an ROV serial interface operatively in communication with the reference cell and the photovoltaic cell; and', 'iv. telemetry electronics operatively in communication with the ROV serial interface and the reference cell, the telemetry board configured to send CP readings; and, 'e. an electrical source operatively in communication with the reference cell, the electrical source comprisingf. an ROV handle disposed about a second end of the housing opposite the first end of the housing.2. The ROV compatible cathodic protection (CP) probe of claim 1 , wherein the probe tip comprises at least one of a heat treated 440C stainless tip or a ground tungsten tip.3. The ROV compatible cathodic protection (CP) probe of claim 1 , wherein the probe tip comprises an ...

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Номер записи: 79
04-03-2021 дата публикации

FIXED-WING AERIAL UNDERWATER VEHICLE AND CONTROL METHOD THEREOF

Номер: US20210061458A1
Автор: LIAN Lian, Lu Di, MA Xiafei, REN Ping, Zeng Zheng
Принадлежит: SHANGHAI JIAO TONG UNIVERSITY

A fixed-wing aerial underwater vehicle includes a shell component, a flight component and a pneumatic buoyancy component. The flight component includes a fixed wing and rotors, and the fixed wing and the rotors are mounted in the shell component. The pneumatic buoyancy component includes an air bladder and an inflation and deflation portion, and the inflation and deflation portion can inflate and deflate the air bladder. The air bladder is installed on the shell component, a containing space is formed in the shell component, and the inflation and deflation portion is partially or entirely installed in the containing space. Each rotor includes a rotor supporting rod, a motor base, a motor and a propeller, which are sequentially connected. A control method for the fixed-wing aerial underwater vehicle mentioned above is further provided. 1. A fixed-wing aerial underwater vehicle , comprising a shell component , a flight component and a pneumatic buoyancy component; whereinthe flight component comprises a fixed wing and a plurality of rotors, and the fixed wing and the rotor are all mounted on the shell component;the pneumatic buoyancy component comprises an air bladder and an inflation and deflation portion, the air bladder is connected to the inflation and deflation portion, and the inflation and deflation portion is configured to inflate and deflate the air bladder; andthe air bladder is installed on the shell component, a containing space is formed in the shell component, and the inflation and deflation portion is partially or entirely installed in the containing space.2. The fixed-wing aerial underwater vehicle of claim 1 , wherein claim 1 , each rotor comprises a rotor supporting rod claim 1 , a motor base claim 1 , a motor and a propeller claim 1 , and the rotor supporting rod claim 1 , the motor base claim 1 , the motor and the propeller are sequentially connected; andthe plurality of rotors are arranged along a circumferential direction of the shell component.3 ...

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Номер записи: 80
20-02-2020 дата публикации

NAVIGATION SYSTEM FOR UNDERWATER VEHICLES

Номер: US20200055570A1
Автор: BRINK Gunnar, DEVASSYKUTTY Edwin, LANGEN Christian
Принадлежит:

Embodiments of the present invention provide a navigation system which, on the one hand, is arranged on sides of the underwater vehicle/AUV and, on the other hand, includes a surface transmitter as a counterpart. The two units communicate with each other such that the surface transmitter emits its signal directed to the position of the underwater vehicle and/or that the surface transmitter follows the underwater vehicle to improve the position determination capability. 1. Surface transmitter for an underwater vehicle movable in the three-dimensional underwater space in the x- , y- and z-direction , comprising:contoller for moving the surface transmitter in the x- and y-direction on the water surface;a receiver for receiving position information for the position of the underwater vehicle;a control computer for controlling the controller, wherein the control computer is configured to control the surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction.2. Surface transmitter according to claim 1 , wherein the control is performed such that the surface transmitter is positioned substantially perpendicularly above the underwater vehicle.3. Surface transmitter according to claim 1 , wherein the surface transmitter comprises a transmitting apparatus configured to emit a first signal such that a runtime of the first signal can be determined by the underwater vehicle.4. Surface transmitter according to claim 3 , wherein the transmitting unit transmits the first signal in the direction of the position of the underwater vehicle or directed in the direction of the position of the underwater vehicle.5. Surface transmitter movable in the three-dimensional underwater space in the x- claim 3 , y- and z-direction claim 3 , comprising:a receiver for receiving position information for the position of the underwater vehicle; anda transmitting unit that is configured to emit a first signal such that a ...

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Номер записи: 81
05-03-2015 дата публикации

SELF-PROPELLED UNDERWATER VEHICLES AND SYSTEMS FOR UNDERGROUND LAYING A CONTINUOUS ELONGATED MEMBER IN A BED OF A BODY OF WATER

Номер: US20150063916A1
Автор: Fontolan Massimo, Lazzarin Diego
Принадлежит:

A self-propelled underwater vehicle for underground laying a continuous elongated member in a bed of a body of water having a work assembly, which is configured to be set, at least partly, into the bed, and is provided with two facing supporting walls for delimiting a space there-between and supporting two opposite scarp slopes; and drive assemblies, which are arranged on opposite sides of the work assembly and are configured to rest on the bed and advancing the work assembly in a travelling direction. 1. A self-propelled underwater vehicle for underground laying a continuous elongated member in a bed of a body of water , the self-propelled underwater vehicle comprising:a work assembly configured to be set, at least partly, into the bed, the work assembly including two facing supporting walls for delimiting a space therebetween and supporting two opposite scarp slopes; andtwo drive assemblies arranged on opposite sides of the work assembly, the two drive assemblies configured to rest on the bed and advance the work assembly in a travelling direction.2. The self-propelled underwater vehicle as claimed in claim 1 , wherein each of the two drive assemblies includes a supporting body of adjustable buoyancy.3. The self-propelled underwater vehicle as claimed in claim 1 , wherein each of the two drive assemblies includes a body of adjustable buoyancy and a powered crawler being looped about the body of adjustable buoyancy.4. The self-propelled underwater vehicle as claimed in claim 1 , further comprising two connecting assemblies each of which is located between the work assembly and a respective one of the two drive assemblies to adjust a depth of the work assembly into the body of water.5. The self-propelled underwater vehicle as claimed in claim 4 , wherein each of the two connecting assemblies includes:two tracks along a supporting wall;two connecting members each of which is fitted to a respective one of the two tracks; andtwo first actuators each of which is ...

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Номер записи: 82
04-03-2021 дата публикации

Method for detecting flooding in flexible tubular pipes under high pressure conditions

Номер: US20210062641A1
Автор: Bali Rohit, da Silva do Vale Vilmar, Das Samik, Sasidharan Sheethal, Verma Vikrant
Принадлежит: OCEANEERING INTERNATIONAL, INC.

A system for inspecting flexible pipelines comprises a data analyzer, a data collector and an ultrasonic transducer. Further, the ultrasonic transducer is adapted to propagate shear wave into the annulus of the flexible pipeline. The data collector further comprises a data store and a communicator. Further, the system is capable of differentiating flooding and non-flooding condition of the annulus of the flexible pipeline which is subjected to high pressure. Using the system, an indicator of a flooded or non-flooded condition within the flexible pipeline may be calculated using transmitted and detected reflective waves or the lack of detected reflective waves. 1) A method for detecting flooding in flexible tubular pipes under high pressure conditions using a system for detecting flooding in flexible tubular pipes under high pressure conditions comprising a piston , a probe holder in communication with the piston , an ultrasonic transducer disposed at least partially within the probe holder and adapted to utilize a phased array mode , a data collector operatively in communication with the ultrasonic transducer and comprising a data store , and a data analyzer operatively in communication with the data collector and configured to analyze the captured reflected signals received from the data collector , the method comprising:a) bringing the ultrasonic transducer to a predetermined distance proximate a flexible pipeline that comprises multiple layers;b) bringing the ultrasonic transducer into physical contact with an external layer of the multiple layers of the flexible pipeline;c) using the pressure generator to exert pressure on the ultrasonic transducer sufficient to create a firm and dry coupling of the ultrasonic transducer with the external layer of the flexible pipeline and squeeze out water, if any, from between the ultrasonic transducer and the external surface of the flexible pipeline;d) activating the ultrasonic transducer;e) using the ultrasonic transducer ...

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Номер записи: 83
22-05-2014 дата публикации

Watercraft Automatic Bi-Planar Explorer

Номер: US20140137788A1
Автор: Edmundo Manuel Nabais Nobre, João Pedro Gomes da Silva FRAZÃO, Luis António Bento Paulino Vargas, Maria Cristina Frazão Pissarra Gouveia
Принадлежит: Individual

A watercraft is disclosed which has the ability to automatically adjust one of its planes in relation to a surface of water to achieve useful goals.

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Номер записи: 84
20-02-2020 дата публикации

SYSTEMS, APPARATUS, AND METHODS FOR INSPECTING SUBMERGED SURFACES

Номер: US20200057026A1
Автор: Dingman Scott Paul
Принадлежит:

Embodiments of the present invention include systems, apparatuses, and methods that include a pipeline inspection apparatus containing a carriage, a first member including at least a first and second sensor configured to take a first round of measurements of a pipe, a second member including at least a third and fourth sensor configured to take a first round of measurements of the pipe, and a multiplexer. The first and second members are attached to opposite side members of the carriage. The carriage, first member, and second member are configured to surround a section of the pipe and are movably mountable on the pipe. The multiplexer receives a signal from the at least first, second, third, and fourth sensors and creates a measurement signal. 1. An inspection apparatus , comprising:a carriage;a first member including at least a first and second sensor configured to take a first round of measurements of a pipe;a second member including at least a third and fourth sensor configured to take a first round of measurements of the pipe; anda multiplexer;wherein the first and second members are attached to opposite side members of the carriage,wherein the carriage, first member, and second member are configured to surround a portion of a section of the pipe and are movably mountable on the pipe, wherein the multiplexer receives a signal from the at least first, second, third, and fourth sensors and creates a measurement signal.2. The inspection apparatus of claim 1 , wherein the at least first claim 1 , second claim 1 , third claim 1 , and fourth sensors are pulsed eddy current (PEC) sensors.3. The inspection apparatus of claim 1 , further comprising at least one roller attached to each opposing end of the carriage claim 1 , first member claim 1 , and second member claim 1 , the roller configured to assist in placing and moving the inspection apparatus along the pipeline.4. The inspection apparatus of claim 1 , further comprising an attachment configured to attach to a ...

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Номер записи: 85
04-03-2021 дата публикации

System for detecting flooding in flexible tubular pipes under high pressure conditions

Номер: US20210063353A1
Автор: Rohit BALI, Samik DAS, Sheethal SASIDHARAN, Vikrant Verma, Vilmar DA SILVA DO VALE
Принадлежит: Oceaneering International Inc

A system for inspecting flexible pipelines comprises a data analyzer, a data collector and an ultrasonic transducer. Further, the ultrasonic transducer is adapted to propagate shear wave into the annulus of the flexible pipeline. The data collector further comprises a data store and a communicator. Further, the system is capable of differentiating flooding and non-flooding condition of the annulus of the flexible pipeline which is subjected to high pressure. Using the system, an indicator of a flooded or non-flooded condition within the flexible pipeline may be calculated using transmitted and detected reflective waves or the lack of detected reflective waves.

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Номер записи: 86
04-03-2021 дата публикации

HYBRID AERIAL/UNDERWATER ROBOTICS SYSTEM FOR SCALABLE AND ADAPTABLE MAINTENANCE OF AQUACULTURE FISH FARMS

Номер: US20210064034A1
Автор: Hallstrom Jason, Ouyang Bing, Reiff Peter, Riche Martin, SU Tsung-chow, Tang Yufei, WILLS Paul
Принадлежит:

Systems and methods for operating a HAUCS sensing platform. The methods comprise: autonomous travel by a UAAV to a first location in proximity to a body of water (“BoW”) in accordance with a mission plan; actuating a mechanical device to transition a sensor from a retracted position in which the sensor is adjacent to a UAAV to an extended position in which the sensor resides a given distance from a UAAV; collect, by HAUCS sensing platform and sensor, sensor data concerning a water condition of BoW at different depths; actuating the mechanical device to transition the sensor from the extended position to the retracted position after the sensor data has been collected; causing the sensor data to be processed using a machine learning-based analytical engine to determine whether a water distress condition exists/is predicted to occur; and modifying the mission plan when the water distress condition exists/is predicted to occur. 1. A method for operating a system including at least one Hybrid/Aerial Underwater Robotics System (“HAUCS”) sensing platform , comprising:performing autonomous operations by an Unmanned Aero-Amphibious Vehicle (“UAAV) of the HAUCS sensing platform to travel to a first location in proximity to a body of water by at least one of air, land and water in accordance with a pre-specified mission plan;actuating a mechanical device to transition at least one sensor of the HAUCS sensing platform from a retracted position in which the at least one sensor is adjacent to the UAAV to an extended position in which the at least one sensor resides a given distance from the UAAV, when the HAUCS sensing platform is at the first location;performing operations by the HAUCS sensing platform and the at least one sensor to collect first sensor data concerning a water condition of the body of water at a plurality of different depths while the HAUCS sensing platform is at the first location;actuating the mechanical device to transition the at least one sensor of the ...

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Номер записи: 87
01-03-2018 дата публикации

MODULAR CAMERA DRONE

Номер: US20180063429A1
Автор: Enriquez Enrique Frecci, Enriquez Enrique Jesus, Enriquez Ricardo, Valencia Carlos Alberto
Принадлежит: SWL Robotics, Inc.

A camera drone has an array of eight camera-light units arranged so as to enable capture of photographs and video providing a spherical 360°×360° field of view. Such an expansive field of view enables image capture for use in virtual reality, augmented reality, and similar uses. The camera drone is preferably spherical in shape so as to minimize any obstructions in the expansive field of view. The camera drone is modular with separate but coordinated modules for a main body module, a base module along an equator of the main body, a thruster module, and a camera-light module. The camera drone is also capable of operation in air or water (submersible) having both a tethered and autonomous version. 1. A modular camera drone , comprising:a first module comprising a hermitically sealed housing enclosing a computer processor;a pair of hemispherical shells disposed around the first module so as to define a generally spherical surface;a second module comprising a circular base unit disposed around an equatorial region of the generally spherical surface and attached to the first module, wherein the second module includes a plurality of ballast tanks configured for the selective filling or emptying of a ballast fluid;a third module comprising a plurality of thrusters for generating propulsion, wherein the thrusters are disposed uniformly around a perimeter of and attached to the circular base unit;a fourth module comprising a plurality of camera-light units uniformly disposed around the generally spherical surface; andwherein power and control cables from the computer processor pass through the hermetically sealed housing to the second module, the third module, and the fourth module.2. The modular camera drone of claim 1 , wherein the camera drone is configured for operation in both air and water environments.3. The modular camera drone of claim 2 , further comprising a tether harness attached to the first module and comprising power and control supply cables passing through ...

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Номер записи: 88
28-02-2019 дата публикации

SUBMERSIBLE DRONE DEVICES AND SYSTEMS

Номер: US20190061890A1
Автор: Fiorello Daniel Justin
Принадлежит:

In accordance with at least one aspect of this disclosure, a crustacean trap can include a cage configured to trap one or more crustaceans, and a propulsion system connected to the cage and configured to provide propulsion to the cage. In certain embodiments, the trap can include a controller configured to control the propulsion system to autonomously pilot the trap. 1. A crustacean trap , comprising:a cage configured to trap one or more crustaceans; anda propulsion system connected to the cage and configured to provide propulsion to the cage.2. The trap of claim 1 , further including at least one controller configured to control the propulsion system to autonomously pilot the trap.3. The trap of claim 2 , wherein the propulsion system includes at least one rotor connected to the cage.4. The trap of claim 2 , wherein the propulsion system includes at least one propeller connected to the cage.5. The trap of claim 4 , wherein the propulsion system includes three or more rotors positioned to provide 3-axis control configured to at least provide directional and orientation control in motion.6. The trap of claim 5 , wherein the propulsion system includes:at least one electric motor connected to each rotor and/or each propeller;at least one battery electrically connected to the at least one electric motor; andwherein the controller is operatively connected to each electric motor to control each rotor and/or propeller.7. The trap of claim 4 , wherein a thrust vector is moveable relative to the cage claim 4 , wherein the controller is configured to control a direction of the thrust vector of to provide a directional control of the trap.8. The trap of claim 1 , further including an inflatable ballast system connected to the cage and configured to provide lifting force to the trap under water.9. The trap of claim 8 , further including a controller configured to control the propulsion system and the inflatable ballast system to autonomously pilot the trap.10. The trap of claim ...

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Номер записи: 89
28-02-2019 дата публикации

High Efficiency, Low RPM, Underwater Propeller

Номер: US20190061891A1
Автор: Kaufman Amanda
Принадлежит:

A marine propeller is disclosed having two blades. The shape of the propeller blades remains constant through the radial position of the propeller blades. The blade length of the propeller blades changes as a function of the radial position of the propeller blade. The twist angle of each blade starts at approximately 63 degrees at the propeller hub (proximal end) and decreases to about 15 degrees at the blade tip (distal end). 1. A marine propeller comprising:a propeller hub; and wherein each of said propeller blades has a chord length that varies in size as a function of a radial position ratio, with a maximum chord length ratio between 0.300 and 0.330,', 'wherein each of said propeller blades has a twist angle that decreases from the proximal end to the distal end as a function of the radial position ratio, and', 'wherein the twist angle is between 58 and 68 degrees at the proximal end and between 10 and 20 degrees at the distal end., 'two propeller blades, each propeller blade having a blade length with a proximal end attached to said propeller hub and a distal end extending radially outward from said propeller hub,'}2. The marine propeller of claim 1 , wherein each of said propeller blades has a constant hydrofoil shape along the blade length.3. The marine propeller of claim 2 , wherein said constant hydrofoil shape defines a low pressure side and a high pressure side claim 2 , the low pressure side having a thickness at its trailing edge that is greater than that of the high pressure side.4. The marine propeller of claim 1 , wherein the marine propeller is a two-bladed propeller consisting of only two propeller blades.5. The marine propeller of claim 1 , wherein the maximum chord length ratio is between 0.307 and 0.322.6. The marine propeller of claim 1 , wherein the twist angle is between 60.5 and 65.5 degrees at the proximal end.7. The marine propeller of claim 1 , wherein the twist angle is between 12.5 and 17.5 degrees at the distal end.8. The marine ...

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Номер записи: 90
12-03-2015 дата публикации

FLUID INJECTION SYSTEM

Номер: US20150068440A1
Автор: McHugh Eddie, Minnock Kevin
Принадлежит: Cameron International Corporation

A system including a fluid injection system configured to removably couple to a mineral extraction system, wherein the fluid injection system includes a fluid injection system controller, a flow meter system coupled to the fluid injection system controller, wherein the flow meter system is configured to measure a fluid flow of a fluid through the fluid injection system, an adjustable valve configured to control the fluid flow through the fluid injection system, and a non-return valve configured to block reverse flow of the fluid through the fluid injection system, wherein the fluid injection system controller, the flow meter system, the adjustable valve, and the non-return valve are coupled to a common housing. 1. A system , comprising: a fluid injection system controller;', 'a flow meter system coupled to the fluid injection system controller, wherein the flow meter system is configured to measure a fluid flow of a fluid through the fluid injection system;', 'an adjustable valve configured to control the fluid flow through the fluid injection system; and', 'a non-return valve configured to block reverse flow of the fluid through the fluid injection system, wherein the fluid injection system controller, the flow meter system, the adjustable valve, and the non-return valve are coupled to a common housing., 'a fluid injection system configured to removably couple to a mineral extraction system, wherein the fluid injection system comprises2. The system of claim 1 , wherein the fluid injection system comprises a first end configured to couple to a remotely operated vehicle (ROV) and a second end configured to couple to the mineral extraction system.3. The system of claim 2 , wherein the second end comprises a fluid inlet claim 2 , a fluid outlet claim 2 , and an electrical connector.4. The system of claim 3 , wherein the fluid inlet comprises a first coupler and the fluid outlet comprises a second coupler claim 3 , wherein the first coupler and the second coupler are ...

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Номер записи: 91
17-03-2022 дата публикации

Control System for a Cable Operated ROV

Номер: US20220081083A1
Автор: Cheng Xiaoge, Hao Riming, Liu Qiaowei, Liu Shiwei, Wang Zibo
Принадлежит:

The present invention solves the foregoing problems by providing a control system comprising a remote control module in wireless communication with a cable reel module connected to a motor operated cable reel. Advantageously, the remote control module comprises a first user interface for entering instructions and a processor for transmitting the instructions to the cable reel module to extend or retract the cable and thus control the ascent or descent of an ROV attached to the cable. Due to the processor-controlled nature of the control system automated operations of ROV ascent and descent can be realised. Furthermore, the cable reel module itself is provided with a second user interface that can enact a manual override and emergency stop of the ROV motion in the event that the remote control aspect malfunctions or is being operated incorrectly. 1. A wireless control system for a cable-operated ROV , the control system comprising: a first user interface comprising controls for selecting a motion type for an ROV, the possible motion types including ascent, descent, and stopping motions, and the interface further comprising options for controlling an ascent velocity or descent velocity of the ROV;', 'a first processor configured to interpret control commands received via the first interface and to convert the commands to instructions for a cable reel module; and', 'a first wireless transceiver module;, 'a remote control module, the remote control module comprising a motor operated cable reel connected to a power source, the cable of the cable reel having a first end secured to a ship and a second end configured to attach to an ROV to control an ascent or descent of the ROV at a desired velocity, or to implement a stopping motion of the ROV;', 'a second processor;', 'a second wireless transceiver module; and', 'a second user interface comprising controls for operating the cable reel module including a control for initiating an emergency stop of the ROV;, 'a cable reel ...

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Номер записи: 92
10-03-2016 дата публикации

Natural Gas Transport Vessel

Номер: US20160068243A1
Автор: Cheatham, Driscoll Tom, Hyde Alexander Galt, Hyde Roderick A., III Jesse R., Ishikawa Muriel Y., JR. Lowell L., Kare Jordin T., Myhrvold Nathan P., Pan Tony S., Petroski Robert C., Smith David R., Tegreene Clarence T., Touran Nicholas W., Urzhumov Yaroslav A., Whitmer Charles, Wood, Wood Victoria Y.H.
Принадлежит:

A lightweight transport vessel transports compressed natural gas underwater without needing to liquefy the gas for transport. 1. A vessel suitable for transporting compressed natural gas (CNG) underwater , comprising:a flexible container configured to hold CNG at an operating pressure; anda buoyancy control system configured to adjust a buoyancy of the vessel by moving CNG into or out of the flexible container.2. The vessel of claim 1 , further comprising a propulsion system configured to move the vessel through the water.3. The vessel of claim 2 , wherein the propulsion system is at least partially powered by burning CNG.4. The vessel of claim 3 , wherein the propulsion system is at least partially powered by burning CNG stored in the flexible container.5. The vessel of claim 1 , wherein moving CNG into or out of the flexible container includes moving CNG into or out of a high-pressure tank.6. The vessel of claim 1 , wherein moving CNG into or out of the flexible container includes liquefying at least a portion of the CNG.7. The vessel of claim 1 , wherein moving CNG into or out of the flexible container includes converting at least a portion of the CNG into or out of hydrates.8. The vessel of claim 1 , wherein moving CNG into or out of the flexible container includes combusting at least a portion of the CNG.9. The vessel of claim 1 , wherein the flexible container includes a plurality of compartments configured to hold CNG.10. The vessel of claim 9 , wherein the plurality of compartments are separated by flexible walls.11. The vessel of claim 9 , wherein the plurality of compartments are independently sealable.12. The vessel of claim 1 , wherein the vessel further comprises a quantity of ballast claim 1 , and wherein the vessel is configured to jettison the ballast in order to increase the buoyancy of the vessel.13. The vessel of claim 1 , further comprising an umbilical hose configured to reach the surface while the vessel is underwater.14. The vessel of claim 13 ...

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Номер записи: 93
08-03-2018 дата публикации

SUBMARINE AND FLYING AUTOMOBILE

Номер: US20180065744A1
Автор: PARK Young Chan
Принадлежит:

Disclosed is a submarine and flying automobile including a submarine-shaped automobile body, a waterjet installed inside the automobile body, a gas turbine engine installed inside the automobile body, a pair of tandem rotors installed at a predetermined interval at a top of the automobile body, a bow trim tank and a stern trim tank which are installed at front and rear portions of an inside of the automobile body, a pair of trim lines configured to connect the bow trim tank and the stern trim tank, and a tail wing propelling part engaged to a rear portion of the automobile body. 1. A submarine and flying automobile ,is comprising:a submarine-shaped automobile body;a waterjet which is installed inside of the automobile body and is able to vertically fly the automobile body in such a way to discharge a previously set water pressure based on a driver's manipulation;a gas turbine engine which is installed inside of the automobile body and is able to fly the automobile body in such a way to generate a predetermined magnitude of a propelling force and a lift based on a driver's manipulation;a pair of tandem rotors which are installed at a predetermined interval at the top of the automobile body and is able to fly the automobile body in such a way to generate a thrust in the vertical direction based on a driver's manipulation;a bow trim tank and a stern trim tank which are installed at the front and rear portions inside of the automobile body and are configured to store a previously set amount of water so as to adjust the buoyancy with respect to the weights of the front or rear portion of the automobile body;a pair of trim lines which are configured to connect the bow trim tank and the stern trim tank and are able to forcibly move the water stored in the bow trim tank to the stern trim tank in such a way to use a screw propeller disposed inside or forcibly move the water stored in the stern trim tank to the bow trim tank; a pair of electric motors which are able to ...

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Номер записи: 94
09-03-2017 дата публикации

POLYMER DRAG REDUCTION SYSTEMS ON VEHICLE SURFACES

Номер: US20170066504A1
Автор: BRANDES John C., BULLOCK Steven Edward, Cuschieri Joseph M., FORST Vincent J., SAID Brian Robert, SOLENSKI Joseph M.
Принадлежит:

Systems and methods of reducing drag on outer surfaces of vehicles that are in contact with water using a polymer solution that reduces the drag on the outer surfaces of the vehicles as the vehicles travel through water. A polymer solution is passively ejected into the boundary layer of the water flowing past the outer surface of the vehicle. The polymer solution is mixed and introduced into the boundary layer passively with minimal or no usage of electrical energy. The passive mixing and ejection of the polymer solution minimizes energy consumption, thereby maximizing electrical energy consumption efficiency during operation of the vehicle. 1. A reduced drag vehicle , comprising:a structure having a forward end, an interior, and an outer surface;a plurality of water inlets in the forward end through which water can flow into the interior of the structure;a mixing chamber in the interior of the structure in fluid communication with the plurality of water inlets and receiving water that flows into the structure through the plurality of water inlets;a polymer within the interior of the structure in communication with the mixing chamber, the polymer mixes with the water in the mixing chamber to form a polymer solution;a plurality of polymer solution outlets in the outer surface in fluid communication with the mixing chamber through which the polymer solution is ejected from the structure into a boundary layer to reduce drag on the outer surface as the structure moves in a forward direction through water with the water flowing past the forward end and then over the polymer solution outlets in the outer surface;the plurality of water inlets are positioned forwardly of the plurality of polymer solution outlets;the plurality of polymer solution outlets are positioned rearwardly of at least a portion of the mixing chamber; andthe pressure at the water inlets is higher than the pressure at the polymer solution outlets so that the polymer solution is passively ejected from at ...

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Номер записи: 95
08-03-2018 дата публикации

METHOD AND DEVICE FOR UNDERWATER DETECTION OF PHYSICOCHEMICAL PARAMETERS FOR IDENTIFYING HYDROCARBON RESERVOIRS

Номер: US20180067228A1
Автор: CARMINATI Stefano, GASPARONI Francesco, NALI Micaela
Принадлежит:

The present invention relates to a method and to a device for in situ underwater detection of physicochemical parameters in a body of water with a particular focus on using the acquired data for prospecting for potential reservoirs rich in hydrocarbons. The present invention provides a method for in situ real-time underwater detection of physicochemical and optionally biological parameters in a body of water by using an instrumented detection carrier. The present invention secondly provides an underwater instrumented detection carrier for in situ real-time detection of physicochemical parameters in a body of water comprising an autonomous underwater vehicle (AUV) arranged to use an instrumented module (or “payload”), capable of completing programmed missions without human intervention and configured to carry out the method provided by the invention. 1. A method for in situ real-time underwater detection of physicochemical parameters in a body of water by means of an instrumented detection carrier (S) comprising the steps of:a) programming the instrumented detection carrier (S) to follow a path (T) along which the detection operations have to be performed;b) programming a plurality of measuring pointpoints (PT) along said path (T);c) defining a plurality of physicochemical parameters to be detected along the path (T) and at the programmed pointpoints (PT);d) causing the instrumented detection carrier (S) to navigate to the starting point of the programmed path (T);e) carrying out the detection of the defined parameters along the programmed path (T) by means of said instrumented detection carrier (S);f) stopping the instrumented detection carrier (V) at the programmed measuring pointpoints (PT) and maintaining said means substantially stationary for the time period required to carry out the detection operations at a maximum distance of 0.2 m from the bed (F) of the body of water;g) carrying out the detection of the defined parameters at the programmed measuring ...

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Номер записи: 96
11-03-2021 дата публикации

Charging system for autonomous underwater vehicle and method of lifting and recovering autonomous underwater vehicle

Номер: US20210072746A1
Автор: Fumitaka TACHINAMI, Kosuke Masuda, Manabu Matsui, Minehiko MUKAIDA, Noriyuki OKAYA, Seiji Kashiwagi, Takashi Okada, Toshiya Hayashi
Принадлежит: Kawasaki Jukogyo KK

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.

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Номер записи: 97
15-03-2018 дата публикации

SYSTEMS AND METHODS SUPPORTING PERIODIC EXCHANGE OF POWER SUPPLIES IN UDERWATER VEHICLES OR OTHER DEVICES

Номер: US20180072168A1
Автор: Heinen Gregory W., Sastre Córdova Marcos M.
Принадлежит:

An apparatus includes a shell having multiple ducts that define multiple flow passages through the shell. The apparatus also includes a core disposed within the shell and including one or more rechargeable power supplies. The apparatus further includes multiple drivers configured to cause water to flow through the ducts in order to maneuver the apparatus toward a host device. In addition, the apparatus includes at least one interface on the shell, where the at least one interface is configured to receive power from the one or more rechargeable power supplies and provide the power to the host device. The apparatus may be configured to dock with the host device and to be transported by and supply the power to the host device as the host device travels through a body of water. 1. An apparatus comprising:a shell having multiple ducts that define multiple flow passages through the shell;a core disposed within the shell and comprising one or more rechargeable power supplies;multiple drivers configured to cause water to flow through the ducts in order to maneuver the apparatus toward a host device; andat least one interface on the shell, the at least one interface configured to receive power from the one or more rechargeable power supplies and provide the power to the host device.2. The apparatus of claim 1 , further comprising:a controller configured to control the drivers in order to maneuver the apparatus into a docking position with the host device.3. The apparatus of claim 1 , wherein the at least one interface is further configured to receive the power and to provide the power for storage in the one or more rechargeable power supplies.4. The apparatus of claim 1 , wherein the shell is spherical.5. The apparatus of claim 4 , wherein each of the ducts is formed completely in the shell and does not extend into an inner volume of the shell where the core is located.6. The apparatus of claim 1 , wherein the apparatus is configured to dock with the host device and to be ...

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Номер записи: 98
15-03-2018 дата публикации

Autonomous ocean data collection

Номер: US20180072393A1
Автор: Dylan Owens, Richard Elliott Jenkins
Принадлежит: SAILDRONE Inc

A system for autonomous ocean data collection includes at least one sensor capable of collecting sensor data, at least one transmission device, and at least one computing device comprising one or more hardware processors and memory coupled to the one or more hardware processors, the memory storing one or more instructions which, when executed by the one or more hardware processors, cause the at least one computing device to generate data for transmission based on the sensor data collected by the at least one sensor, and cause the at least one transmission device to transmit the data.

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Номер записи: 99
15-03-2018 дата публикации

SUBSEA FLUID STORAGE SYSTEM

Номер: US20180072494A1
Автор: Leon Christopher, Primm Benjamin, SCHULTZ Earl
Принадлежит: OCEANEERING INTERNATIONAL, INC.

Using a subsea fluid storage system comprising a soft bladder () disposed within a pressure balanced reservoir (), a rotatable piston () disposed at least partially within the pressure balanced reservoir where a top of the soft bladder is in communication with the rotatable piston, and a piston rotator () operative to rotate and twist the rotatable piston as the rotatable piston travels along a predetermined axis within the pressure balanced reservoir, a predictable and repeatable collapse of the soft bladder may be obtained by allowing the rotating piston () to cooperatively travel about the piston rotator () to twist the soft bladder () as the rotating piston moves along the predetermined axis in such a manner as to collapse the bladder inward, thereby emptying the bladder of fluid within the bladder. The rotation of the piston pulls the soft bladder away from an interior of the pressure balanced reservoir, thereby preventing binding or pinching of the bladder with respect to the interior of the pressure balanced reservoir. In configurations, fluid is allowed to enter the pressure balanced reservoir via a valve () until a balance is achieved between an interior and an exterior of the pressure balanced reservoir. 1. A subsea fluid storage system suitable for use subsea , comprising:a. a pressure balanced reservoir;b. a soft bladder disposed within the pressure balanced reservoir;c. a rotatable piston disposed at least partially within the pressure balanced reservoir, the rotatable piston in communication with a top of the soft bladder, the rotatable piston configured to axially rotate and twist the soft bladder as the rotatable piston travels along a predetermined axis within the pressure balanced reservoir; andd. a piston rotator disposed within the pressure balanced reservoir, the piston rotator operatively in communication with the rotatable piston and operative to axially rotate the rotatable piston along the predetermined axis.2. The subsea fluid storage ...

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Номер записи: 100