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 system of connectable aerial vehicles. The system includes a plurality of aerial vehicles that each include a platform, one or more rotors operatively connected to the platform, and a power source that supplies power to the one or more rotors. The plurality of aerial vehicles are configured to operate in air, and operate in water while connected to form a floating platform. The floating platform is configured to support an object with at least a portion of each of the plurality of aerial vehicles configured to form a segment of the floating platform.

The underwater vehicle with variable configuration (1) comprises: a hull (2) consisting of at least four elongated elements (20), mutually articulated by means of joints (21), to form a first closed polygonal structure (F1), arranged on a plane; thrusters (3), associated in parallel with said elements (20) of the hull (2); actuating means (22), associated with said joints (21), provided for automatically modifying said first closed polygonal structure (F1), from an elongated shape configuration (AF1) to an expanded shape (EF1), corresponding to an elongated conformation of said hull (2), to determine a low hydrodynamic resistance and a longitudinal thrust of the thrusters (3) in the cruising of said underwater vehicle (1), and to a substantially isotropic conformation, wherein the same elements (20) of the hull (2), as well as the thrusters (3) are mutually angled, intended for the hovering of the same underwater vehicle (1), respectively. The latter can be suitably equipped with robotic arms (4) intended for performing maintenance or similar interventions in underwater locations.

The underwater vehicle with variable configuration (1) comprises: a hull (2) consisting of at least four elongated elements (20), mutually articulated by means of joints (21), to form a first closed polygonal structure (F1), arranged on a plane; thrusters (3), associated in parallel with said elements (20) of the hull (2); actuating means (22), associated with said joints (21), provided for automatically modifying said first closed polygonal structure (F1), from an elongated shape configuration (AF1) to an expanded shape (EF1), corresponding to an elongated conformation of said hull (2), to determine a low hydrodynamic resistance and a longitudinal thrust of the thrusters (3) in the cruising of said underwater vehicle (1), and to a substantially isotropic conformation, wherein the same elements (20) of the hull (2), as well as the thrusters (3) are mutually angled, intended for the hovering of the same underwater vehicle (1), respectively. The latter can be suitably equipped with robotic arms (4) intended for performing maintenance or similar interventions in underwater locations.

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.

The present disclosure relates to sea floor mapping, and more particularly to a method, system, and apparatus for mapping a large swath of sea floor at substantial depths. An example autonomous underwater vehicle may include: a controller; a body having a front end and a rear end and defining a cavity and a center of gravity; a first dive plane extending from the body proximate the center of gravity; a second dive plane extending from the body substantially opposite of the first dive plane proximate the center of gravity; a counterweight disposed within the cavity configured to be moved between the front end and the rear end of the body, wherein a fore-aft pitch of the body of the autonomous underwater vehicle is controlled by the controller through movement of the counterweight toward the front end or the rear end of the body.

The present disclosure relates to sea floor mapping, and more particularly to a method, system, and apparatus for mapping a large swath of sea floor at substantial depths. An example autonomous underwater vehicle may include: a controller; a body having a front end and a rear end and defining a cavity and a center of gravity; a first dive plane extending from the body proximate the center of gravity; a second dive plane extending from the body substantially opposite of the first dive plane proximate the center of gravity; a counterweight disposed within the cavity configured to be moved between the front end and the rear end of the body, wherein a fore-aft pitch of the body of the autonomous underwater vehicle is controlled by the controller through movement of the counterweight toward the front end or the rear end of the body.

An underwater body having a movable component which can be moved into a retracted position and, as a result, increases the volume of the underwater body. In addition, a method is disclosed for operating such an underwater body. An expansion means conducts a fluid into a hollow space. The hollow space is operatively connected to the movable component. When the fluid is conducted into the hollow space, the movable component is moved into the extended position relative to the shell of the underwater body. The fluid in the hollow space hardens. The hardened fluid in the hollow space holds the movable component in the extended position.