Various embodiments of an apparatus and method for achieving and maintaining a desired depth of a submersible vessel are disclosed. The submersible vessel has both a ballast control system designed to alter a buoyancy of the submersible vessel and one or more vertical marine thrusters, designed to position the submersible vessel at a desired depth. Using the combination of the ballast control system and one or more thrusters, a desired depth may be achieved and maintained more quickly, more quietly and more accurately than vessels using only a ballast control system or one or more thrusters, respectively, alone.

Various embodiments of an apparatus and method for achieving and maintaining a desired depth of a submersible vessel are disclosed. The submersible vessel has both a ballast control system designed to alter a buoyancy of the submersible vessel and one or more vertical marine thrusters, designed to position the submersible vessel at a desired depth. Using the combination of the ballast control system and one or more thrusters, a desired depth may be achieved and maintained more quickly, more quietly and more accurately than vessels using only a ballast control system or one or more thrusters, respectively, alone.

A monolithic attitude control motor frame includes a monolithic structure including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. Adjacent cavities of the plurality of cavities share a side wall or side wall portion therebetween. Each of the cavities is configured to receive an attitude control motor. A monolithic attitude control motor system includes a monolithic frame including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. The system further includes a plurality of attitude control motors corresponding to the plurality of cavities, such that an attitude control motor of the plurality of attitude control motors is disposed in each cavity of the plurality of cavities.

A monolithic attitude control motor frame includes a monolithic structure including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. Adjacent cavities of the plurality of cavities share a side wall or side wall portion therebetween. Each of the cavities is configured to receive an attitude control motor. A monolithic attitude control motor system includes a monolithic frame including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. The system further includes a plurality of attitude control motors corresponding to the plurality of cavities, such that an attitude control motor of the plurality of attitude control motors is disposed in each cavity of the plurality of cavities.

An underwater vehicle includes a propeller able to propel the vehicle, the vehicle comprising a synthetic aperture sonar comprising a set of at least one physical antenna for receiving acoustic waves, the underwater vehicle comprising a connector able to mechanically couple removably a cable to the vehicle so as to allow the underwater vehicle to be towed by a surface vehicle. The physical receiving antenna comprises a plurality of acoustic sensors, the underwater vehicle comprising an electrical network able to convey electrical power to the receiving antenna, the electrical network being configured so as to have a plurality of states wherein it conveys electrical power to different sets of acoustic sensors containing different respective numbers of acoustic sensors.

An underwater vehicle includes a propeller able to propel the vehicle, the vehicle comprising a synthetic aperture sonar comprising a set of at least one physical antenna for receiving acoustic waves, the underwater vehicle comprising a connector able to mechanically couple removably a cable to the vehicle so as to allow the underwater vehicle to be towed by a surface vehicle. The physical receiving antenna comprises a plurality of acoustic sensors, the underwater vehicle comprising an electrical network able to convey electrical power to the receiving antenna, the electrical network being configured so as to have a plurality of states wherein it conveys electrical power to different sets of acoustic sensors containing different respective numbers of acoustic sensors.

An unmanned vehicle including a body and a frame structure extending from the body and supporting a plurality of propeller assemblies, each propeller assembly including at least one propeller and a corresponding motor with the motor housed in a watertight housing or coated and made corrosion resistant. The propellers comprise a first subset of propellers of the propeller assemblies and a second subset of propellers of the propeller assemblies which rotate in a plane positioned below a plane in which the first subset of propellers rotate, wherein said first and second subset of propellers are configured for independent operation of one another as the vehicle transitions from an air medium to a water medium.

An unmanned vehicle including a body and a frame structure extending from the body and supporting a plurality of propeller assemblies, each propeller assembly including at least one propeller and a corresponding motor with the motor housed in a watertight housing or coated and made corrosion resistant. The propellers comprise a first subset of propellers of the propeller assemblies and a second subset of propellers of the propeller assemblies which rotate in a plane positioned below a plane in which the first subset of propellers rotate, wherein said first and second subset of propellers are configured for independent operation of one another as the vehicle transitions from an air medium to a water medium.

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.