The VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. The fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules coupled to a central body via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability.

The VEHICLE WITH TRAVELING WAVE THRUST MODULE APPARATUSES, METHODS AND SYSTEMS include force or forces applied to an arc-like flexible sheet-like material to create a deformed crenated strip fin with strained-deformations. The strained-deformations take on a sinusoid-like form that express the internal energy state of the flexible sheet-like material after it has been configured into a crenated strip fin. After being incorporated into a mechanism with couplings that prevent the crenated strip fin from returning to its un-strained state, the strained-deformations persist. Actuators may be used to sequentially rotate vertebrae attached to the fins causing the travel of sinusoid-like deformations along the fins. The fin, fin actuator or actuators, power source and central controller may be incorporated into a thrust module. Two thrust modules coupled to a central body via roll actuators and flexible coupling members may form a vehicle with exceptional maneuverability.

Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Various embodiments of a submerged submersible sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and the keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

A method for surveying a body of water includes providing a plurality of vehicles to a body of water. Each the plurality of vehicles includes a vehicle body, an electric-propulsion motor system mounted on the vehicle body, a rechargeable battery, at least one sonar device attached to the vehicle body, and a first communication device. The method also includes submerging each of the plurality of vehicles in the body of water, surveying an area, using the at least one sonar device, to map the body of water and to determine a location of each of the plurality of vehicles, and determining, based on the surveying, that a target object is detected within the area. The method also includes resurfacing each of the plurality of vehicles and transferring data, using the first communication device, between at least two of the plurality of vehicles at the surface of the body of water.

A method for surveying a body of water includes providing a plurality of vehicles to a body of water. Each the plurality of vehicles includes a vehicle body, an electric-propulsion motor system mounted on the vehicle body, a rechargeable battery, at least one sonar device attached to the vehicle body, and a first communication device. The method also includes submerging each of the plurality of vehicles in the body of water, surveying an area, using the at least one sonar device, to map the body of water and to determine a location of each of the plurality of vehicles, and determining, based on the surveying, that a target object is detected within the area. The method also includes resurfacing each of the plurality of vehicles and transferring data, using the first communication device, between at least two of the plurality of vehicles at the surface of the body of water.

An underwater robot apparatus that is capable of omnidirectional lateral movement using Bluetooth, depth, temperature, and light sensors for monitoring the marine environment. The apparatus is an adaptive, three-axis control soft robotic apparatus embedded with sensors and can swim in three dimensions to record aquatic life. An adaptive controller within the soft robotic apparatus produces positive upward motion despite its negative buoyancy and additional pressure vessel mass. A submersible impellor pump is connected to each actuator grouping wherein propulsion is created by filling and emptying of nine tentacles with surrounding ambient water. The apparatus produces maximum thrust using a full stroke actuation scheme at a frequency of 0.3 Hz. In addition to upward motion, the apparatus effects lateral motion utilizing two of three sets of actuator groups for more complex travel. An onboard pressure sensor coupled with the adaptive controller, allows the apparatus to autonomously hold to a predetermined depth.

An underwater robot apparatus that is capable of omnidirectional lateral movement using Bluetooth, depth, temperature, and light sensors for monitoring the marine environment. The apparatus is an adaptive, three-axis control soft robotic apparatus embedded with sensors and can swim in three dimensions to record aquatic life. An adaptive controller within the soft robotic apparatus produces positive upward motion despite its negative buoyancy and additional pressure vessel mass. A submersible impellor pump is connected to each actuator grouping wherein propulsion is created by filling and emptying of nine tentacles with surrounding ambient water. The apparatus produces maximum thrust using a full stroke actuation scheme at a frequency of 0.3 Hz. In addition to upward motion, the apparatus effects lateral motion utilizing two of three sets of actuator groups for more complex travel. An onboard pressure sensor coupled with the adaptive controller, allows the apparatus to autonomously hold to a predetermined depth.

A submarine apparatus includes an internal bellows pipe that compresses and decompresses as the apparatus descends into and ascends within a water current. When the device is in a rising pressure process, water may condense inside a tube which may be collected in a tank. Water may also be condensed due to cold temperatures of the surrounding water and relative warmer air inside the AWS. The water may be used as a fresh source of water for drinking. Some embodiments include a generator assembly that generates electricity from a propellor move within the current. The electricity may be routed to powered components in the apparatus.

An electrochemical-type power supply source for use in marine environment, is provided with: an electrochemical stack, which generates electric power in the presence, internally, of an electrolytic fluid; a first tank, designed to contain electrolytic fluid at a first temperature; a second tank, designed to contain electrolytic fluid at a second temperature, lower than the first temperature; a thermostatic valve, that mixes electrolytic fluid at a lower temperature with electrolytic fluid at a higher temperature, for generating a mixed electrolytic fluid to be introduced into the electrochemical stack at a controlled temperature for generating a desired electric power. The electrochemical power supply is further provided with an auxiliary tank, adapted to contain electrolytic fluid at a third temperature, higher than the first temperature; and the thermostatic valve is connected to the auxiliary tank and receives, at an input, the electrolytic fluid at the third temperature.