The route setting method is provided with: an underwater waypoint input step for inputting underwater waypoints of the underwater vehicle; a target value setting step for setting initial target values at the underwater waypoints; an underwater navigation simulation step for simulating an underwater navigation route of the underwater vehicle by using water bottom topography data and the target values on the basis of a dynamics model of the underwater vehicle; and a target value update step for updating the target values on the basis of an objective function which is calculated on the basis of the underwater navigation route obtained through the simulation in the underwater navigation simulation step. Optimum target values are derived by repeating the underwater navigation simulation step and the target value update step.

An underwater power supply system includes: a working apparatus arranged underwater with at least one power receiving pad; a first battery unit detachably attached to the apparatus with a power supplying pad and battery, the pad configured to supply electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad; and an underwater sailing body configured to shuttle between the apparatus and a surface ship or an underwater station suspended from the surface ship, the body configured to carry a second battery unit to the apparatus, detach the first battery unit from the apparatus, and attach the second battery unit to the apparatus, the second battery unit including a power supplying pad and battery, the pad configured to supply the electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad.

An underwater power supply system includes: a working apparatus arranged underwater with at least one power receiving pad; a first battery unit detachably attached to the apparatus with a power supplying pad and battery, the pad configured to supply electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad; and an underwater sailing body configured to shuttle between the apparatus and a surface ship or an underwater station suspended from the surface ship, the body configured to carry a second battery unit to the apparatus, detach the first battery unit from the apparatus, and attach the second battery unit to the apparatus, the second battery unit including a power supplying pad and battery, the pad configured to supply the electric power to the power receiving pad in a non-contact state, the battery electrically connected to the power supplying pad.

A mechanism with unique identification features, such as color and alphanumeric markings, for back mounted self contained breathing apparatus (SCBA), which couples and uncouples from SCBA air cylinders in a linear fashion and covers at least one end of the cylinder with a rigid body for identification of firefighters while in donned protective gear.

Systems and methods for controlling a crossing threshold used in determining a rotational speed of a propeller of an aircraft engine. An initial value for the crossing threshold is set. A sensor signal is received that comprises a first series of pulses indicative of passage of position markers about a circumference of a propeller shaft. A detection signal is generated that comprises a second series of pulses indicative of within the first series of pulses that have a zero-crossing transition and a magnitude that exceeds the crossing threshold. The rotational speed of the propeller is determined from the detection signal. The crossing threshold is adjusted as a function of the rotational speed.

A lighting apparatus includes an outer housing surrounding a longitudinal axis and made of light-transmissive material, a supporting mount provided within the outer housing, a pair of end caps coupled to opposite ends of the outer housing and supporting mount to define a watertight internal chamber, and a plurality of lighting devices provided on a surface of the supporting mount inside the internal chamber. Each of the lighting devices includes a circuit component and a lighting module detachably mounted to the circuit component.

A subsea storage unit includes a pressure hull having a cargo hold configured for storing cargo. The pressure hull has a movable hatch, providing access to the cargo hold; and a base configured for supporting the storage unit on a seabed. The unit also includes a suspension, whereby the storage unit can be lifted and lowered in a body of water, and a ballast. A seabed facility can be configured for receiving and accommodating at least one subsea storage unit.

A subsea storage unit includes a pressure hull having a cargo hold configured for storing cargo. The pressure hull has a movable hatch, providing access to the cargo hold; and a base configured for supporting the storage unit on a seabed. The unit also includes a suspension, whereby the storage unit can be lifted and lowered in a body of water, and a ballast. A seabed facility can be configured for receiving and accommodating at least one subsea storage unit.

A power transmission device transmits power underwater to a power reception device including a power reception coil. The power transmission device includes: a power transmission coil that transmits power to the power reception coil through a magnetic field; a power transmitter that transmits an alternating current power having a predetermined frequency to the power transmission coil; and a first capacitor that is connected to the power transmission coil and forms a resonance circuit resonating with the power transmission coil. The predetermined frequency is a frequency between a first frequency at which a geometric mean value of a Q value of the power transmission coil and a Q value of the power reception coil are the maximum and a second frequency at which the Q value of the power transmission coil and the Q value of the power reception coil are the same.