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.

An underwater vehicle having a hovering system using a tube type launcher. The underwater vehicle includes a streamlined body and a hovering system connected to a rear of the streamlined body to generate a kinetic force of the streamlined body. The hovering system includes an extension shaft extended to be connected to the rear, a connection assembly connected to the rear through the extension shaft, and an auxiliary propeller assembly connected to the connection assembly.

An underwater vehicle having a hovering system using a tube type launcher. The underwater vehicle includes a streamlined body and a hovering system connected to a rear of the streamlined body to generate a kinetic force of the streamlined body. The hovering system includes an extension shaft extended to be connected to the rear, a connection assembly connected to the rear through the extension shaft, and an auxiliary propeller assembly connected to the connection assembly.

A folding wave-energy-harvesting mechanism for an underwater vehicle includes an underwater-vehicle main body and a wave-energy-harvesting-device main body. The wave-energy-harvesting-device main body includes a hydrofoil assembly and a yaw assembly. The first state of the hydrofoil assembly is a folding state, and the second state is an unfolding state. The first state of the yaw assembly is the folding state, and the second state is the unfolding state. The wave-energy-harvesting-device main body further includes a driving assembly and an energy-storage assembly. The driving assembly is configured to switch the hydrofoil assembly and the yaw assembly in the first state and the second state to each other. The energy-storage assembly is configured to store the wave energy harvested by the hydrofoil assembly. When the hydrofoil assembly and the yaw assembly unfold, the hydrofoil assembly increases the efficient area for wave-energy harvesting.

A submersible inspection drone used for inspection of liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The cameras on the submersible can be fixed in place and can be either static or motion picture cameras. The submersible can include an input/output selector capable of switching between the camera images, either through commanded action of a user or through computer based switching. In one form the input/output selector is a multiplexer. The base station can be configured to display images from the cameras one at a time, or can include a number of separate viewing portals in which real time images are displayed. The base station can include a demultiplexer synchronized to the multiplexer of the submersible.

A submersible inspection drone used for inspection of liquid cooled electrical transformers can include a number of separate cameras for imaging the internal structure of the transformer. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The cameras on the submersible can be fixed in place and can be either static or motion picture cameras. The submersible can include an input/output selector capable of switching between the camera images, either through commanded action of a user or through computer based switching. In one form the input/output selector is a multiplexer. The base station can be configured to display images from the cameras one at a time, or can include a number of separate viewing portals in which real time images are displayed. The base station can include a demultiplexer synchronized to the multiplexer of the submersible.

The present invention relates to a robotic fish that is capable of swimming horizontally and vertically. According to the present invention, the robotic fish includes: a cylinder joint part for performing piston movements to allow the robotic fish to swim under water; and a controller for controlling the cylinder joint part.

The present invention relates to a robotic fish that is capable of swimming horizontally and vertically. According to the present invention, the robotic fish includes: a cylinder joint part for performing piston movements to allow the robotic fish to swim under water; and a controller for controlling the cylinder joint part.

An autonomous underwater seismic wave generation system includes a housing, and an autonomous navigation system, a propulsion system and a seismic wave generator, each connected to the housing. The autonomous navigation system can navigate the autonomous underwater seismic wave generation system to subsea locations including a location on a seabed. The propulsion system can drive the autonomous underwater seismic wave generation system to the location on the seabed. The seismic wave generator can couple to the location on the seabed to generate seismic waves at the location on the seabed.

An autonomous underwater seismic wave generation system includes a housing, and an autonomous navigation system, a propulsion system and a seismic wave generator, each connected to the housing. The autonomous navigation system can navigate the autonomous underwater seismic wave generation system to subsea locations including a location on a seabed. The propulsion system can drive the autonomous underwater seismic wave generation system to the location on the seabed. The seismic wave generator can couple to the location on the seabed to generate seismic waves at the location on the seabed.