Multiple autonomous underwater vehicles (AUVs) are operated by a single host surface vehicle (HSV) by configuring the AUVs with intermediate nodes (such as unmanned surface vehicles (USVs)) so as to allow the HSV to manage multiple AUVs. The intermediate nodes act as a relay for communications between the HSV and the AUVs allowing the HSV to scale to higher numbers of vehicles thus simultaneously operating the entire fleet of AUVs. The AUVs may provide underwater mapping data.

The present disclosure is directed to delivering nodes to an ocean bottom. A system can include a tether management system (TMS) towed by a vessel that moves on the surface of the ocean in a first direction. An underwater vehicle (UV) can be connected to the TMS and can move in a second direction that is different from the first direction. A thruster can be coupled to the TMS can cause the TMS to move in a third direction that is different from the first direction. A control unit can control the thruster to move the TMS in the third direction based on a cross-line location policy, and cause the UV to deploy nodes to target locations on the ocean bottom.

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.

This disclosure relates generally to waste collection, storage, and retrieval from water. Aspects of this disclosure relate to submersible cleaning vehicles, filter systems, ships, communication systems, autonomous navigation, and computer systems. The submersible cleaning vehicle can navigate underwater to capture waste in filters. Abase station can support the submersible cleaning vehicle.

This disclosure relates generally to waste collection, storage, and retrieval from water. Aspects of this disclosure relate to submersible cleaning vehicles, filter systems, ships, communication systems, autonomous navigation, and computer systems. The submersible cleaning vehicle can navigate underwater to capture waste in filters. Abase station can support the submersible cleaning vehicle.

An active towed sonar comprises an emission antenna integrated into a submersible object called a towfish, a submersible receive antenna called a streamer and a tow cable to tow the towfish and the streamer. The tow cable comprises a termination connected mechanically and electrically to the streamer. The termination comprises means of removable mechanical and electrical connection of the towfish to the tow cable, independently of the connection of the streamer.

An active towed sonar comprises an emission antenna integrated into a submersible object called a towfish, a submersible receive antenna called a streamer and a tow cable to tow the towfish and the streamer. The tow cable comprises a termination connected mechanically and electrically to the streamer. The termination comprises means of removable mechanical and electrical connection of the towfish to the tow cable, independently of the connection of the streamer.

A multi-functional aquatic vehicle comprises a main body. The main body comprises: a propulsion system, comprising at least one propeller for changing a motion attitude of the main body; a camera system, comprising at least one camera; a communication system, comprising a signal receiving module for receiving an external signal detected by the aquatic vehicle and a signal transmitting module for transmitting a signal to an external control system; and a control system, for controlling an operating state of the propulsion system, adjusting a capturing angle of the camera system and controlling internal and external communication of the communication system. A towing hook device comprises: a driving system, a connecting mechanism and a towing hook mechanism. The driving system drives the connecting mechanism to rotate such that the towing hook mechanism turns over or rotates to release a load.

A multi-functional aquatic vehicle comprises a main body. The main body comprises: a propulsion system, comprising at least one propeller for changing a motion attitude of the main body; a camera system, comprising at least one camera; a communication system, comprising a signal receiving module for receiving an external signal detected by the aquatic vehicle and a signal transmitting module for transmitting a signal to an external control system; and a control system, for controlling an operating state of the propulsion system, adjusting a capturing angle of the camera system and controlling internal and external communication of the communication system. A towing hook device comprises: a driving system, a connecting mechanism and a towing hook mechanism. The driving system drives the connecting mechanism to rotate such that the towing hook mechanism turns over or rotates to release a load.