A novel underwater robot water quality data acquisition device includes a casing, a thruster group, an upper cabin, a lower cabin, a buoy cabin, an upper cabin tray, a lower cabin tray, a power supply assembly, a power conditioning module, a data acquisition control module, a water quality sensor assembly, and a wireless Internet of Things (IoT) module. The device can convert the power supply voltage required by each other module through the power management module. The data acquisition control module transmits signals to the water quality sensor assembly in a set timing sequence, performs real-time reading and processing of water quality data fed back from the sensor, and uploads the processed water quality data to the data platform through the wireless IoT module, thereby achieving the display and preservation of water quality data.

An underwater remote cleaning device includes a submersible assembly, a cleaning conduit, and a thruster conduit. The submersible assembly has an upper frame and a lower frame spaced-apart from each other and at least one vertically extending element having a first end and a second end. The first end of the vertically extending element is engaged to the upper frame and the second end of the vertically extending element is engaged to the lower frame. The cleaning conduit is disposed within the submersible assembly with an inlet for receiving a liquid and at least one nozzle disposed on the cleaning conduit for spraying the liquid. The thruster conduit is disposed within the submersible assembly with an inlet for receiving a liquid and at least one nozzle disposed on the cleaning conduit for spraying the liquid.

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

This invention relates generally to geotechnical rig systems and methods. In one embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor.

An all mechanically controlled, non-venting pressure control system for liquid hydrogen and liquid oxygen cryogenic tanks that requires no electrical control while managing disparate, non-stoichiometric reactant boil-off rates is provided. The pressure control system allows for the passive and repeatable stoichiometric consumption of hydrogen and oxygen boil-off from cryogenic tanks to form liquid water, while preventing the liquid hydrogen and liquid oxygen cryogenic tanks from overpressurizing and venting to the external environment. More particularly, in response to an overpressure condition in a first reactant reservoir, a backpressure regulator is opened, providing the overpressure first reactant to a fuel cell or other consumer, and providing a pilot signal to open a supply line from a second reactant reservoir to the consumer. Whether the second reactant is supplied from the second reactant reservoir as gas or a liquid is determined based on the pressure within the second reactant reservoir.

An underwater wireless charging method and device using acoustic waves for covering the entire depth of sea is disclosed. Within 10 meters below the water-level, unmanned undersea vehicles (UUV) are charged from a mother ship . Between 10 meters and 100 meters below the water-level, a sound wave is directly sent from the mother ship to the underwater sensor to be charged. At the depth of more than 100 meters below the water-level, an underwater UUV is adopted to in situ charge the underwater sensor node at close range. The transmitting transducer converts electrical energy to sound energy through the inverse piezoelectric effect. The sound wave is then sent by the transducer to a hydrophone that transforms sound energy to electrical energy via the piezoelectric effect. The load can thus be charged. Three types of wireless charging can be realized by the station for different underwater application scenarios, so as to satisfy the wireless charging for covering the entire depth of sea.

A fluid medium vehicle is provided which has a main body and at least one engine attached to the main body. The engine is configured to provide thrust parallel to a thrust axis passing through the main body. A plurality of foils is moveably attached to and extends outwardly from the main body. The plurality of foils is arranged in pairs. Each pair of foils extends from the main body along opposite ends of one of a plurality of foil axes. Each foil axis is perpendicular to the thrust axis, and each foil is constructed as an independently positionable control surface and as an independently controllable propulsion device.

The main components of an exemplary inventive simulation are a towing platform (such as a ship), a towed body, an underwater vehicle (such as a UUV), and a tow cable connecting the towing platform and the towed body. An objective of the dynamic arrangement of the components is to perform a “line capture” of the moving vehicle by the cable. Respective motions and positions of the towing platform and the towed body affect the cable. Waves and currents in the water, as well as changes in catenary and tension of the cable, affect the tow body. Advantageously, the invention more accurately accounts not only for continuities, but also for discontinuities, characterizing the dynamic interrelationships between and among the components. Among the invention's features is its ability to “trigger” consideration of certain dynamic manifestations relating to the vehicle, depending on whether or not the vehicle is in a captured state.

A system for deploying and recovering an autonomous underwater device (AUD) using a surface carrier ship, includes, in addition to the carrier ship, a subaquatic vehicle (SV) guided by a connection wire connected to the carrier ship, the SV able to be positioned in a storage configuration wherein the SV is fixedly but removably joined to the carrier ship in a storage zone, or in a configuration for use, in which the SV, separated from the carrier ship, is in the water and at a distance from the carrier ship while remaining connected by the connection wire, the SV including propulsion, guiding and stabilizing systems and a station for receiving the AUD allowing it to be removably attached to the SV, the receiving station and the AUD including a complementary automated docking unit allowing the AUD to automatically dock with the receiving station during recovery and attach itself thereto.

A submersible vessel includes: a hull; a propulsor that propels the hull; a front sensor that sequentially detects locations of an inspection target in front of the hull; a controller that controls the propulsor such that the hull passes through above the detected locations; a movable arm attached to an arm reference point of the hull; an inspection tool at the movable arm that inspects the inspection target; and a position detector that acquires positional information including a position, attitude, or speed of the hull. Based on the information from the position detector, the controller estimates a pass-through position of the arm reference point after a predetermined time. The controller controls the movable arm such that before the time elapses, a positional relation between the arm reference point and inspection tool becomes a positional relation between the estimated pass-through position and a target point on or above each location.