Disclosed is an ocean bottom seismic node for recording seismic signals on the seabed. The ocean bottom seismic node may comprise an arched cathedral buoyant body coupled to a substantially flat bottom metal plate. The buoyant body may be formed of hard plastic (such as plastic injection in a mold) and have one or more cathedral type inner structures with columns that form a plurality of interconnected inner chambers, which may be dry or filled with foam and/or act as ballasts. One or more electronic components may be directly attached to the bottom metal plate (and within one or more of the internal cathedral chambers) and covered/protected by the buoyant body that is water and pressure resistant at seabed depths. The edge(s) of the buoyant body may seal around the metal plate on one or more peripheral edges of the plate and buoyant body.

An autonomous underwater system for environmental monitoring including a multidisciplinary underwater station including onboard instrumentation, at least one autonomous modular underwater vehicle movable inside an area to be monitored along an assigned route, and at least one external instrumental modulus which can be connected to the vehicle, wherein the multidisciplinary underwater station includes a docking area, an interface system, an equipping system for supplying the vehicle with instrumental moduli, and a management system.

A wheel-legged amphibious mobile robot with a variable attack angle, which belongs to the technical field of robot structure technology. The robot includes three parts: motion unit, body trunk and power unit. As a key structure, the motion unit mainly includes a moving mechanism, a wheel assembly, a telescopic mechanism and a transmission device. The robot drives the telescopic mechanism to reciprocate linearly through a gear and rack set, and pushes “legs” to expand and retract, so as to realize a mutual switching between a wheeled mode and a gait mode. Under transmission of bevel gear set, the blades can rotate at any same angle at the same time, to change the attack angle and realize the steering. The robot provided by the present disclosure can effectively adapt to a complex and harsh amphibious environment, and meet a series of operation requirements such as rapid movement, obstacle climbing, underwater steering.

A wheel-legged amphibious mobile robot with a variable attack angle, which belongs to the technical field of robot structure technology. The robot includes three parts: motion unit, body trunk and power unit. As a key structure, the motion unit mainly includes a moving mechanism, a wheel assembly, a telescopic mechanism and a transmission device. The robot drives the telescopic mechanism to reciprocate linearly through a gear and rack set, and pushes “legs” to expand and retract, so as to realize a mutual switching between a wheeled mode and a gait mode. Under transmission of bevel gear set, the blades can rotate at any same angle at the same time, to change the attack angle and realize the steering. The robot provided by the present disclosure can effectively adapt to a complex and harsh amphibious environment, and meet a series of operation requirements such as rapid movement, obstacle climbing, underwater steering.

Implementations described and claimed herein provide an underwater vehicle includes a vehicle body having a frame enclosed by a fairing. The vehicle body extends between a proximal end and a distal end and defining an interior. A nose is disposed at the proximal end of the vehicle body. The nose has a tow system configured to move between a tow position and a stow position. A propulsion system is disposed at the distal end of the vehicle body. The propulsion system includes a plurality of control fins and a thruster. A power distribution system is housed in the interior of the vehicle body. The power distribution system includes a first power system housed in a first pressure vessel and a second power system housed in a second pressure vessel. The first pressure vessel is isolated from the second pressure vessel.

Implementations described and claimed herein provide an underwater vehicle includes a vehicle body having a frame enclosed by a fairing. The vehicle body extends between a proximal end and a distal end and defining an interior. A nose is disposed at the proximal end of the vehicle body. The nose has a tow system configured to move between a tow position and a stow position. A propulsion system is disposed at the distal end of the vehicle body. The propulsion system includes a plurality of control fins and a thruster. A power distribution system is housed in the interior of the vehicle body. The power distribution system includes a first power system housed in a first pressure vessel and a second power system housed in a second pressure vessel. The first pressure vessel is isolated from the second pressure vessel.

A modular compartment bulkhead assembly is provided that includes a first external body, a bulkhead, and a second external body. The first external body segment may include a first end portion. The first end portion may be coupled to an external seal body and the external seal body may include a first internal channel. The bulkhead may include an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may include a second end portion. The second end portion may include a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

A modular compartment bulkhead assembly is provided that includes a first external body, a bulkhead, and a second external body. The first external body segment may include a first end portion. The first end portion may be coupled to an external seal body and the external seal body may include a first internal channel. The bulkhead may include an internal seal body. The internal seal body may be configured to be inserted into the first internal channel of the external seal body to form an internal seal between the bulkhead and the first external body segment. The second external body segment may include a second end portion. The second end portion may include a second internal channel, and the external seal body may be configured to be inserted into the second internal channel to form an external seal between the external seal body and the second external body segment.

Techniques are disclosed for providing retractable control fins on an underwater vehicle. The retractable control fins can be extended away from a main hull portion of the underwater vehicle and retracted inwards to a stowage region within the hull portion to protect the fins from damage and reduce an overall outer diameter (e.g., in the case of a cylindrical body) of the underwater vehicle. In some embodiments, the control fins are folded inwards to reduce the vehicle diameter. In other embodiments, the control fins are pulled inwards using a rotating structure designed to slide the control fins through an opening and into an inner portion of the hull to reduce the vehicle diameter. The retraction of the fins through the various retraction mechanisms reduces the envelope diameter of the underwater vehicle.

Techniques are disclosed for providing retractable control fins on an underwater vehicle. The retractable control fins can be extended away from a main hull portion of the underwater vehicle and retracted inwards to a stowage region within the hull portion to protect the fins from damage and reduce an overall outer diameter (e.g., in the case of a cylindrical body) of the underwater vehicle. In some embodiments, the control fins are folded inwards to reduce the vehicle diameter. In other embodiments, the control fins are pulled inwards using a rotating structure designed to slide the control fins through an opening and into an inner portion of the hull to reduce the vehicle diameter. The retraction of the fins through the various retraction mechanisms reduces the envelope diameter of the underwater vehicle.