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 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 motors is disposed in each cavity of the plurality of cavities.

Autonomous underwater vehicles and systems are provided with fast stabilization and fine attitude control with a constant and high rotational speed flying wheel to rotate the vehicle's body with respect to its core and optionally a combination of reaction masses used in three perpendicular axes. The gimbal and the reaction mass inertial systems are used for fast response to any angular or linear disturbance coming from the ocean current or waves. When equipped for optical communications, the vehicle has an optical receiver and transmitter and controller that provides three levels of attitude stabilization: gimbal and the reaction mass inertial systems; isolated movable platform and fine optical beam steering for targeting the laser beam from the transmitter. The ability to maintain precise positioning allows multiple vehicles to be optically linked.

Autonomous underwater vehicles and systems are provided with fast stabilization and fine attitude control with a constant and high rotational speed flying wheel to rotate the vehicle's body with respect to its core and optionally a combination of reaction masses used in three perpendicular axes. The gimbal and the reaction mass inertial systems are used for fast response to any angular or linear disturbance coming from the ocean current or waves. When equipped for optical communications, the vehicle has an optical receiver and transmitter and controller that provides three levels of attitude stabilization: gimbal and the reaction mass inertial systems; isolated movable platform and fine optical beam steering for targeting the laser beam from the transmitter. The ability to maintain precise positioning allows multiple vehicles to be optically linked.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The vehicle can include a mechanisms that magnetically attaches to a ferry vehicle for transport to the location of use.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The vehicle can include a mechanisms that magnetically attaches to a ferry vehicle for transport to the location of use.

A buoyancy adjusting device for an underwater device is described the device comprising: a tube having first and second ends; a resilient mechanism located at the first end of the tube and extending towards the second end of the tube; an opening near the second end of the tube; a catch at the second end of the tube; 5 and at least one block insertable into from the first end of the tube to adjust the buoyancy.

An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

An inspection vehicle operable for performing one or more maintenance and repair operations in a housing filled at least partially with a liquid medium is disclosed in the present application. The inspection vehicle includes a propulsion device operable in the liquid medium and includes at least one sensor operable for sensing and transmitting data associated therewith. A control system including an electronic controller is in electronic communication with the inspection vehicle to transmit and receive communication signals to/from the inspection vehicle. One or more maintenance tools operable with the inspection vehicle are configured to perform maintenance and/or repair operations within the liquid filled housing.

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.