A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The joints connecting the modules are designed such that power and data connections between modules are reliably made.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The joints connecting the modules are designed such that power and data connections between modules are reliably made.

A sound source for acoustic communication, navigation, and networking of an underwater glider may include a cylindrical body, a rigid front section disposed anteriorly to the cylindrical body, a plurality of metal rods, a resonant pipe surrounding the rods, and a rod-mounted piezo-ceramic transducer disposed between the body and the front section. Each rod may be attached at a first end to an anterior portion of the body and at a second end to a posterior portion of the front section. The pipe may be disposed between the body and the front section. The transducer may be disposed within the pipe. A posterior end of the pipe may be separated from the anterior portion of the body by a first orifice, and an anterior end of the pipe may be separated from the posterior portion of the front section by a second orifice.

A sound source for acoustic communication, navigation, and networking of an underwater glider may include a cylindrical body, a rigid front section disposed anteriorly to the cylindrical body, a plurality of metal rods, a resonant pipe surrounding the rods, and a rod-mounted piezo-ceramic transducer disposed between the body and the front section. Each rod may be attached at a first end to an anterior portion of the body and at a second end to a posterior portion of the front section. The pipe may be disposed between the body and the front section. The transducer may be disposed within the pipe. A posterior end of the pipe may be separated from the anterior portion of the body by a first orifice, and an anterior end of the pipe may be separated from the posterior portion of the front section by a second orifice.

An enclosure structure suitable for high-pressure environments includes a feedthrough for coupling components housed within the enclosure structure to components external to the enclosure structure. The enclosure structure includes a housing comprising one or more cavities for receiving one or more electronic components within an interior of the housing and a bore through the housing. The one or more electronic components comprises a connector element and the bore comprises a non-tapered portion and a tapered portion. The non-tapered portion is proximate to the interior of the housing and the tapered portion is proximate to the exterior of the housing. The bore is configured to receive a feedthrough pin for coupling the connector element to an external component external to the enclosure structure. The enclosure structure also includes a feedthrough pin extending through the bore and a potting material disposed within the tapered portion surrounding the feedthrough pin.

An enclosure structure suitable for high-pressure environments includes a feedthrough for coupling components housed within the enclosure structure to components external to the enclosure structure. The enclosure structure includes a housing comprising one or more cavities for receiving one or more electronic components within an interior of the housing and a bore through the housing. The one or more electronic components comprises a connector element and the bore comprises a non-tapered portion and a tapered portion. The non-tapered portion is proximate to the interior of the housing and the tapered portion is proximate to the exterior of the housing. The bore is configured to receive a feedthrough pin for coupling the connector element to an external component external to the enclosure structure. The enclosure structure also includes a feedthrough pin extending through the bore and a potting material disposed within the tapered portion surrounding the feedthrough pin.

In an underwater glider, stability and versatility can be enhanced by the use of a high wing design. In a high wing design, a centerline of the wings extending from the sides of the body of the glider are located above a relative centerline of the body of the glider. The relative centerline of the wings may rise continuously from a region where the wings attach to the body to respective ends of the wings. In particular for a blended wing glider, a top surface of the glider is level in a line extending between ends of each wing.

In an underwater glider, stability and versatility can be enhanced by the use of a high wing design. In a high wing design, a centerline of the wings extending from the sides of the body of the glider are located above a relative centerline of the body of the glider. The relative centerline of the wings may rise continuously from a region where the wings attach to the body to respective ends of the wings. In particular for a blended wing glider, a top surface of the glider is level in a line extending between ends of each wing.

Ultra-large marine submersible transport boats and arrangements for aqueous bulk liquids transportation, including fresh water and irrigation drainage, from specifically configured supply stations to specifically configured delivery stations. Boats present rigid hydrodynamic shaped double-walled submersible hulls incorporating a plurality of inside-reinforced impervious ballast chambers and also present radial reinforcing elements and hollow interior cavities that enclose collapsible bulk liquid bladders for transporting bulk liquids. Hulls can be made of reinforced concrete. Hull openings permit seawater circulation, avoiding transportation of bulk ballast seawater. Submersible cruising reduces structural loads and drag. An on-board hydro-pneumatic ballasting system adds to and removes reusable hull ballast water from, the ballast chambers controlling the hull's depth, pitch, and roll. Propulsion, steering capabilities, and detailed arrangements and methods for loading, unloading, and transporting bulk liquids are presented. Hull manufacturing is done on marine floating platforms using onshore precast panels. Maintenance and end of life procedures are detailed.

Ultra-large marine submersible transport boats and arrangements for aqueous bulk liquids transportation, including fresh water and irrigation drainage, from specifically configured supply stations to specifically configured delivery stations. Boats present rigid hydrodynamic shaped double-walled submersible hulls incorporating a plurality of inside-reinforced impervious ballast chambers and also present radial reinforcing elements and hollow interior cavities that enclose collapsible bulk liquid bladders for transporting bulk liquids. Hulls can be made of reinforced concrete. Hull openings permit seawater circulation, avoiding transportation of bulk ballast seawater. Submersible cruising reduces structural loads and drag. An on-board hydro-pneumatic ballasting system adds to and removes reusable hull ballast water from, the ballast chambers controlling the hull's depth, pitch, and roll. Propulsion, steering capabilities, and detailed arrangements and methods for loading, unloading, and transporting bulk liquids are presented. Hull manufacturing is done on marine floating platforms using onshore precast panels. Maintenance and end of life procedures are detailed.