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.

An underwater robot based on a variable-size auxiliary drive and a control method thereof includes a variable-size auxiliary drive module and a main control system. The variable-size auxiliary drive module includes a first variable-size silo, at least two first variable-size units and at least two first gasbags. The first variable-size silo has a first accommodating space with at least two first accommodating subspaces. Each of the first variable-size units includes a first micro push rod motor, a first push rod, a first push plate and a first gas guide tube. The first micro push rod motor, the first push rod and the first push plate are accommodated in the corresponding first accommodating subspace. The first push rod is fixed to the first push plate. one of the first gas guide tubes correspondingly communicates with one of the first accommodating subspaces and one of the first gasbags.

A positioning and rescue device for an unmanned underwater vehicle, comprising a battery (1), a switch (2), a protective resistor (3), an electromagnetic relay (4), a master control chip (5), a GPS positioning system (6), an igniter (7), a partition (8), an air bag (9), a shell (10), and a rope (11). The battery (1), the switch (2), the protective resistor (3), the electromagnetic relay (4) and the master control chip (5) are sequentially connected by means of wires to form a series circuit, and the igniter (7) and the GPS positioning system (6) are separately connected to the master control chip (5) by means of wires; two normally open contacts of a control loop of the electromagnetic relay (4) are respectively connected to two ends of a general power supply (15).

A system receives data from a submersible remote operated vehicle (ROV), the data being about the operation of an arm of the ROV. The system automatically controls, based on the data, movement of the arm in docking the arm to a tool holder. In certain instances, the system implements an image based control. In certain instances, the system implements a force accommodation control. In certain instances, the system implements both.

Techniques are disclosed for providing retractable control fins on an underwater vehicle. The retractable control fins can be extended away from a main hull portion of the underwater vehicle and retracted inwards to a stowage region within the hull portion to protect the fins from damage and reduce an overall outer diameter (e.g., in the case of a cylindrical body) of the underwater vehicle. In some embodiments, the control fins are folded inwards to reduce the vehicle diameter. In other embodiments, the control fins are pulled inwards using a rotating structure designed to slide the control fins through an opening and into an inner portion of the hull to reduce the vehicle diameter. The retraction of the fins through the various retraction mechanisms reduces the envelope diameter of the underwater vehicle.

The system for an antenna assembly for use on unmanned underwater vehicles (UUV). The antennas are low-cost, lightweight, single-use, and have a small form factor amenable to use on a micro-UUV. A central post and pivotally attached arms form an antenna (e.g., a monopole) that is lifted via an aerial, kite, or the like, when deployed from the UUV to extend the line of site of the antenna several meters above the surface of the water. In some cases, the antenna may be used on a number of UUVs in a swarm formation.

The current technique provides an unmanned vehicle that is capable of travelling in the air, on the ground and/or in the water. The driving force of the unmanned vehicle is provided by at least one propelling module that includes a motor, a shaft and a propeller. The propelling module is coupled to a chassis. The chassis includes one or more support elements that each couples to one or more aileron member. An aileron member is configured to tilt with or about the support element to change fluid flux about the aileron member and thus change a position of the propelling force.

A flange for a pressure vessel includes a rim, a sealing seat, and an undercut fillet. The rim has an annular surface for abutting an annular end of a cylindrical wall of the pressure vessel. The sealing seat has a cylindrical surface for abutting an inner surface of the cylindrical wall of the pressure vessel nearby the annular end. The undercut fillet is disposed between the rim and the sealing seat. A concave surface of the undercut fillet extends the annular surface of the rim radially inward and then curves back outward to intersect the cylindrical surface of the sealing seat. The undercut fillet of the flange helps distribute stress produced from a pressure differential between the inside and outside of the pressure vessel.

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.

A submersible (10) and method of using a submersible for capturing a target species comprising: at least one controllable thruster (14) for manoeuvring the submersible; at least one camera (12) for capturing images to allow the identification of an individual of a target species; a catapult mechanism (33) wherein the catapult mechanism is reversibly moveable between a released configuration and a primed configuration by an activatable motor, and wherein the catapult mechanism may be loaded with a retractable device mounted on the catapult mechanism, and the retractable device may be launched from the submersible by being propelled by the catapult mechanism; a container for receiving a captured individual.