A device for capturing underwater vehicles. The device comprises a cap member connected to a first rib member and a first plate member connected to the first rib member. The device further comprises a bell member with a first bell hole formed therethrough. The first bell member also has a first bell slot formed therethrough. A damper and a shim are slidably received in the first bell slot. The first rib member is slidably received in the first bell hole.

A configuration system for identifying a target configuration of agents for acquiring data is provided. In some embodiments, the configuration system generates sample configurations, each of which has a location within the space for each agent. The configuration system selects as the target configuration a sample configuration that is suitable to acquire data. The configuration system selects the target configuration by, for at least one or more sample configurations, directing that the agents assume the sample configuration and then acquire data when in the sample configuration. The configuration system then stores, for each sample configuration, an indication of suitability for acquiring data based on the sample configuration. The configuration system selects a sample configuration that is deemed to be suitable as the target configuration.

A configuration system for identifying a target configuration of agents for acquiring data is provided. In some embodiments, the configuration system generates sample configurations, each of which has a location within the space for each agent. The configuration system selects as the target configuration a sample configuration that is suitable to acquire data. The configuration system selects the target configuration by, for at least one or more sample configurations, directing that the agents assume the sample configuration and then acquire data when in the sample configuration. The configuration system then stores, for each sample configuration, an indication of suitability for acquiring data based on the sample configuration. The configuration system selects a sample configuration that is deemed to be suitable as the target configuration.

A configuration system for identifying a target configuration of agents for acquiring data is provided. In some embodiments, the configuration system generates sample configurations, each of which has a location within the space for each agent. The configuration system selects as the target configuration a sample configuration that is suitable to acquire data. The configuration system selects the target configuration by, for at least one or more sample configurations, directing that the agents assume the sample configuration and then acquire data when in the sample configuration. The configuration system then stores, for each sample configuration, an indication of suitability for acquiring data based on the sample configuration. The configuration system selects a sample configuration that is deemed to be suitable as the target configuration.

A configuration system for identifying a target configuration of agents for acquiring data is provided. In some embodiments, the configuration system generates sample configurations, each of which has a location within the space for each agent. The configuration system selects as the target configuration a sample configuration that is suitable to acquire data. The configuration system selects the target configuration by, for at least one or more sample configurations, directing that the agents assume the sample configuration and then acquire data when in the sample configuration. The configuration system then stores, for each sample configuration, an indication of suitability for acquiring data based on the sample configuration. The configuration system selects a sample configuration that is deemed to be suitable as the target configuration.

According to an aspect of the invention, there is provided an anti torpedo system, suitable for use on a ship, comprising operably linked; a combat management system comprising a high frequency hull mounted sonar, to determine the current positon and track (depth and underwater trajectory) of a torpedo, a plurality of (direct fire) munitions, each comprising an ogive portion terminating with a water drag reduction element, an energetic payload and a programmable fuze for initiating said payload, an auto-fuze setting system, for setting the time of initiation of the programmable fuze, and a gun management system for: receiving the current position and track of said torpedo from the combat management system, and aiming and firing of said munitions, based on the received position and track of the torpedo, such as to cause each fired munition to arrive at or proximate to said torpedo and to cause detonation of the payload.

According to an aspect of the invention, there is provided an anti torpedo system, suitable for use on a ship, comprising operably linked; a combat management system comprising a high frequency hull mounted sonar, to determine the current positon and track (depth and underwater trajectory) of a torpedo, a plurality of (direct fire) munitions, each comprising an ogive portion terminating with a water drag reduction element, an energetic payload and a programmable fuze for initiating said payload, an auto-fuze setting system, for setting the time of initiation of the programmable fuze, and a gun management system for: receiving the current position and track of said torpedo from the combat management system, and aiming and firing of said munitions, based on the received position and track of the torpedo, such as to cause each fired munition to arrive at or proximate to said torpedo and to cause detonation of the payload.

A configuration system for identifying a target configuration of agents for acquiring data is provided. In some embodiments, the configuration system generates sample configurations, each of which has a location within the space for each agent. The configuration system selects as the target configuration a sample configuration that is suitable to acquire data. The configuration system selects the target configuration by, for at least one or more sample configurations, directing that the agents assume the sample configuration and then acquire data when in the sample configuration. The configuration system then stores, for each sample configuration, an indication of suitability for acquiring data based on the sample configuration. The configuration system selects a sample configuration that is deemed to be suitable as the target configuration.