Provided is a propeller for a submersible, comprising a housing (1) having a cylindrical structure with two open ends, a stator sleeve (2) having a cylindrical structure with one open end, the stator sleeve suspended in an internal cavity of the housing (1), a motor stator (3) fixed inside the stator sleeve (2), a rotor sleeve (4) having a cylindrical structure with one open end and disposed on the stator sleeve (2), a motor rotor (5) fixed to an inner wall of the rotor sleeve (4), and a propeller (6) fixed to an outer wall of the rotor sleeve (4). The propeller (6) of the underwater propeller is directly fixed to the rotor sleeve (4) so that the structure of the motor is compact, and the rotational shaft transmission is not required so that the length of the propeller is shortened and the volume is reduced.

Provided is a propeller for a submersible, comprising a housing (1) having a cylindrical structure with two open ends, a stator sleeve (2) having a cylindrical structure with one open end, the stator sleeve suspended in an internal cavity of the housing (1), a motor stator (3) fixed inside the stator sleeve (2), a rotor sleeve (4) having a cylindrical structure with one open end and disposed on the stator sleeve (2), a motor rotor (5) fixed to an inner wall of the rotor sleeve (4), and a propeller (6) fixed to an outer wall of the rotor sleeve (4). The propeller (6) of the underwater propeller is directly fixed to the rotor sleeve (4) so that the structure of the motor is compact, and the rotational shaft transmission is not required so that the length of the propeller is shortened and the volume is reduced.

Seismic autonomous underwater vehicles (AUVs) for recording seismic signals on the seabed. The AUV may be negatively buoyant and comprise an external body (which may be formed of multiple housings) that substantially encloses a plurality of pressure housings. Portions of the external body housing may be acoustically transparent and house one or more acoustic devices for the AUV. The AUV may comprise a main pressure housing that holds substantially all of the electronic components of the AUV, while a second and third pressure housing may be located on either side of the main pressure housing for other electronic components (such as batteries). A plurality of external devices (such as acoustic devices or thrusters) may be coupled to the main pressure housing by external electrical conduit. The AUV may comprise fixed or retractable wings for increased gliding capabilities during subsea travel.

Seismic autonomous underwater vehicles (AUVs) for recording seismic signals on the seabed. The AUV may be negatively buoyant and comprise an external body (which may be formed of multiple housings) that substantially encloses a plurality of pressure housings. Portions of the external body housing may be acoustically transparent and house one or more acoustic devices for the AUV. The AUV may comprise a main pressure housing that holds substantially all of the electronic components of the AUV, while a second and third pressure housing may be located on either side of the main pressure housing for other electronic components (such as batteries). A plurality of external devices (such as acoustic devices or thrusters) may be coupled to the main pressure housing by external electrical conduit. The AUV may comprise fixed or retractable wings for increased gliding capabilities during subsea travel.

A rebalancing device for rebalancing of an underwater vehicle comprises at least one thruster and at least one storage space. The rebalancing device comprises control circuitry. The control circuitry is configured to receive sensor data comprising information relating to a depth and an attitude of the underwater vehicle, and thruster data comprising information relating to thrust and orientation of thrust of the at least one thruster. The control circuitry is further configured to determine a difference between a centre of gravity, CoG, of the underwater vehicle and a centre of buoyancy, CoB, of the underwater vehicle based on the sensor data and the thruster data, and to determine a difference between a gravitational force acting on the underwater vehicle and a buoyancy of the underwater vehicle based on the sensor data and the thruster data.

A rebalancing device for rebalancing of an underwater vehicle comprises at least one thruster and at least one storage space. The rebalancing device comprises control circuitry. The control circuitry is configured to receive sensor data comprising information relating to a depth and an attitude of the underwater vehicle, and thruster data comprising information relating to thrust and orientation of thrust of the at least one thruster. The control circuitry is further configured to determine a difference between a centre of gravity, CoG, of the underwater vehicle and a centre of buoyancy, CoB, of the underwater vehicle based on the sensor data and the thruster data, and to determine a difference between a gravitational force acting on the underwater vehicle and a buoyancy of the underwater vehicle based on the sensor data and the thruster data.

A submersible remotely operated vehicle with a streamlined shape, which uses an internal support lattice to provide pressure resistance. By using a lattice frame to distribute the water pressure load on the vehicle, the vehicle may be constructed of thin-walled, injection molded plastic, yet may be capable of diving to significant depths. The vehicle may provide pitch control using a single vertical thrust actuator that is horizontally fore or aft of the center of vertical drag; this efficient pitch control improves hydrodynamic efficiency by pointing the vehicle towards the direction of travel to minimize the coefficient of drag. The vehicle may communicate wirelessly with a remote operator via a communications buoy tethered to the vehicle, thereby eliminating cabling constraints on the vehicle's range from the operator. The tether may be connected to the buoy using a waterproof connector that presses three terminals surrounded by a compliant seal onto mating contacts.

A submersible remotely operated vehicle with a streamlined shape, which uses an internal support lattice to provide pressure resistance. By using a lattice frame to distribute the water pressure load on the vehicle, the vehicle may be constructed of thin-walled, injection molded plastic, yet may be capable of diving to significant depths. The vehicle may provide pitch control using a single vertical thrust actuator that is horizontally fore or aft of the center of vertical drag; this efficient pitch control improves hydrodynamic efficiency by pointing the vehicle towards the direction of travel to minimize the coefficient of drag. The vehicle may communicate wirelessly with a remote operator via a communications buoy tethered to the vehicle, thereby eliminating cabling constraints on the vehicle's range from the operator. The tether may be connected to the buoy using a waterproof connector that presses three terminals surrounded by a compliant seal onto mating contacts.

A deep-sea apparatus for retrieving deep-sea nodules is provided. The deep-sea apparatus includes an opposer configured to provide static buoyancy to the deep-sea apparatus. The deep-sea apparatus further includes a thruster coupled to the opposer, the thruster configured to provide dynamic buoyancy to the deep-sea apparatus. The deep-sea apparatus also includes a variable load and a gas supply system that includes a gas cylinder connected to a gas valve of the opposer, where the gas supply system is configured to inject a predetermined amount of gas from the gas cylinder to the opposer in response to a change in a vertical position of the opposer caused by a mass change in the variable load.

A deep-sea apparatus for retrieving deep-sea nodules is provided. The deep-sea apparatus includes an opposer configured to provide static buoyancy to the deep-sea apparatus. The deep-sea apparatus further includes a thruster coupled to the opposer, the thruster configured to provide dynamic buoyancy to the deep-sea apparatus. The deep-sea apparatus also includes a variable load and a gas supply system that includes a gas cylinder connected to a gas valve of the opposer, where the gas supply system is configured to inject a predetermined amount of gas from the gas cylinder to the opposer in response to a change in a vertical position of the opposer caused by a mass change in the variable load.