An underwater liquid supply unit includes a first bladder containing a first liquid, a second bladder containing a second liquid, and a third bladder containing a third liquid. The combined volume of the first liquid, second liquid, and third liquid is neutrally buoyant relative to a surrounding medium the liquid supply unit is disposed in (e.g., in seawater). As the first liquid, second liquid, and third liquid are dispensed from the bladders, the bladders may reduce in size in at least one dimension. As the liquids are dispensed, the liquids may be dispensed in a predetermined volumetric ratio based on the density of the liquids to maintain neutral buoyancy of the combined volume of liquid. The underwater liquid supply unit may also include an integrated generator such as a fuel cell, as well as a propeller.

A geofenced autonomous aquatic drone for repelling sharks from a shoreline. The drone employs a buoyant housing resembling a portion of a predator such as an orca whale. A battery positioned within the drone is recharged through a floating inductive charging station. A transmitter unit coupled to at least one under water transducer introduces certain sounds, such as reproduction of orca whale or dolphin calling sounds. A propulsion system controlled a microprocessor receives location information via DGPS for providing a geofence around an area to be patrolled. The drone travels within the geofence area, monitored by the DGPS receiver, while said transducer produces certain sounds and or a solution of shark repellant is dispensed.

A geofenced autonomous aquatic drone for repelling sharks from a shoreline. The drone employs a buoyant housing resembling a portion of a predator such as an orca whale. A battery positioned within the drone is recharged through a floating inductive charging station. A transmitter unit coupled to at least one under water transducer introduces certain sounds, such as reproduction of orca whale or dolphin calling sounds. A propulsion system controlled a microprocessor receives location information via DGPS for providing a geofence around an area to be patrolled. The drone travels within the geofence area, monitored by the DGPS receiver, while said transducer produces certain sounds and or a solution of shark repellant is dispensed.

A method for charging a battery set of an autonomous vehicle including: determining charging requirements of the battery set of the autonomous vehicle via a communication from the autonomous vehicle to a charging station, in response to the communication from the autonomous vehicle, connecting a plurality of batteries of the charging station in a first combination to match the charging requirements of the battery set of the autonomous vehicle; and charging the battery set of the autonomous vehicle using the plurality of batteries of the charging station in the first combination.

A method for charging a battery set of an autonomous vehicle including: determining charging requirements of the battery set of the autonomous vehicle via a communication from the autonomous vehicle to a charging station, in response to the communication from the autonomous vehicle, connecting a plurality of batteries of the charging station in a first combination to match the charging requirements of the battery set of the autonomous vehicle; and charging the battery set of the autonomous vehicle using the plurality of batteries of the charging station in the first combination.

An underwater vehicle for performing a variety of linear motions and turning motions with better stability and agility is disclosed. The underwater vehicle includes a main body, a front-drive mechanism, a rear-drive mechanism, and a steering assembly. The main body has a front end and a rear end, which defines a longitudinal axis extending from the front end to the rear end of the main body. The front-drive mechanism is connected to the main body to provide a forward propelling force in a direction parallel to the longitudinal axis. The steering assembly is fixed to the rear end and coupled to the rear-drive mechanism. The steering assembly is configured to rotate the rear-drive mechanism with respect to the longitudinal axis by a body angle for providing a lateral force on the main body.

An underwater vehicle for performing a variety of linear motions and turning motions with better stability and agility is disclosed. The underwater vehicle includes a main body, a front-drive mechanism, a rear-drive mechanism, and a steering assembly. The main body has a front end and a rear end, which defines a longitudinal axis extending from the front end to the rear end of the main body. The front-drive mechanism is connected to the main body to provide a forward propelling force in a direction parallel to the longitudinal axis. The steering assembly is fixed to the rear end and coupled to the rear-drive mechanism. The steering assembly is configured to rotate the rear-drive mechanism with respect to the longitudinal axis by a body angle for providing a lateral force on the main body.

A submersible vehicle is provided which is able to achieve six of freedom utilizing a combination of only two thrusters with no external control planes. Each of the two thrusters can include a plurality of ducts which can be selectively opened or closed, to varying degrees, to achieve six degrees of freedom for both control and propulsion.

A submersible vehicle is provided which is able to achieve six of freedom utilizing a combination of only two thrusters with no external control planes. Each of the two thrusters can include a plurality of ducts which can be selectively opened or closed, to varying degrees, to achieve six degrees of freedom for both control and propulsion.

Systems and methods are disclosed herein for a charging system. The charging system may be implemented within an independent charging station or within an autonomous vehicle. Boolean charging can be used to obtain the desired charge or discharge voltage for charging an autonomous vehicle at a charging station. By combining a subset of a sequence of batteries arrays that differ in voltage by powers of two in series, where each battery array may include multiple batteries or battery cells, a voltage may be obtained which is equal to the sum of the voltages across each battery array. This voltage may be used in turn to charge additional batteries or battery arrays. The process may be repeated until the desired amount of battery arrays has been charged and the desired voltage has been achieved.