A computer-implemented method includes receiving data from one or more sensors that detect one or more environmental parameters associated with an autonomous submersible structure, determining one or more navigation parameters based on the one or more environmental parameters and one or more viability profiles associated with cargo contained within the autonomous submersible structure and that specify constraints on the one or more environmental parameters, and controlling, based on the one or more navigation parameters, a propulsion system of the autonomous submersible structure.

The present invention relates to an underwater drone which is an unmanned mobile which can move in the water, and more particularly to a communication system for the underwater drone which performs communication between the underwater drone and a land-based controller (or maneuvering device). The present invention also relates to an airlock apparatus for the drone which transfers the drone into or from facilities or containers, or equipment sealed (or closed) against surrounding environment.

The communication system for an underwater drone includes an underwater drone (1) configured to move in the water, at least one transmitting and receiving antenna (2) provided in an area where the transmitting and receiving antenna (2) can communicate with the underwater drone (1) by wireless communication, and a controller or a maneuvering device (5) connected to the at least one transmitting and receiving antenna (2) by a wired cable (4) and configured to control the underwater drone (1).

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.

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.

An underwater mobile inspection apparatus capable of inspecting an inspection object on a seafloor while cruising includes 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.

An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

A method for harnessing wave energy includes providing a vehicle to a body of water, the vehicle. The method includes submerging the vehicle to a depth in the body of water. The method includes operating the motor-generator of the vehicle in the first quadrant of the motor-generator. The method includes detecting a phase of a wave in the body of water based information from the processor of the detected phase. The method includes orienting the vehicle to lag the phase of the wave based on the detected phase of the wave. The method includes synchronizing an inertial acceleration of the vehicle to movement of the wave. The method includes switching the motor-generator to the second quadrant for generation mode to convert energy from the movement of the wave to electrical energy. The method includes storing the energy from the wave in the rechargeable battery source.

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.

Provided is a maneuvering device including: an input device (101) configured to detect an input operation for instructing movement of a mobile body to generate input information, a calculator (11) configured to change the input information so as to acquire an effect equivalent to a case in which a dead zone is set to the input operation, to thereby generate changed input information; and a controller (103) configured to control the movement of the mobile body (100a) based on the changed input information. The calculator is configured to change a range of the dead zone in accordance with a detection parameter detected in relation to the movement of the mobile body.

Techniques are disclosed for systems and methods for video based sensor fusion with respect to mobile structures. A mobile structure may include at least one imaging module and multiple navigational sensors and/or receive navigational data from various sources. A navigational database may be generated that includes data from the imaging module, navigational sensors, and/or other sources. Aspects of the navigational database may then be used to generate an integrated model, forecast weather conditions, warn of dangers, identify hard to spot items, and generally aid in the navigation of the mobile structure.