The invention relates to a method for determining a water current velocity profile in a water column by registration of a deviation between a first position and a second position of an underwater vehicle travelling in the water column. A batch of underwater vehicles is deployed from a surface vessel into the water. The vehicle(s) steers to the first position, which for the first batch is a predefined estimated position (PEP). The vehicle is by first means recording the second position, which is the actual position (AP). The difference ?P between the predefined estimated position PEP and the actual position is registered and based on the difference a deviation data set is calculated. An updated current profile or stack of horizontal water current velocities UV is determined.

A method for underwater exploration and/or recovery of objects and/or things using a submersible vehicle assembly and underwater powered observation system using a camera and source of light of a green laser to be directed to the underside of the surface of the water so as to locate the vehicle assembly by the green laser. In this manner the vehicle assembly may be utilized for the underwater tasks of locating objects and/or things on a surface of the underwater environment.

A method for underwater exploration and/or recovery of objects and/or things using a submersible vehicle assembly and underwater powered observation system using a camera and source of light of a green laser to be directed to the underside of the surface of the water so as to locate the vehicle assembly by the green laser. In this manner the vehicle assembly may be utilized for the underwater tasks of locating objects and/or things on a surface of the underwater environment.

A submersible vessel having wing and keel assemblies that are extendable for wind-powered surface operation and retractable to reduce drag for submerged operation or to place the vessel in a more compact configuration. A deployment mechanism including an actuator and linkage pivots the wing and keel assemblies-simultaneously between the deployed and retracted configuration. The vessel may have first and second pressure hulls flanking the wing and keel assemblies. A drive mechanism including a motor and a gear train employing pulley-and-cable assemblies rotates either the wing and flap together such that the flap angle relative to the wing is constant, or to change the flap angle relative to the wing with the wing angle of incidence held constant. The invention also provides a retractable wind-powered propulsion apparatus that is mountable to the hull assembly of a submersible or non-submersible vessel.

A submersible vessel having wing and keel assemblies that are extendable for wind-powered surface operation and retractable to reduce drag for submerged operation or to place the vessel in a more compact configuration. A deployment mechanism including an actuator and linkage pivots the wing and keel assemblies-simultaneously between the deployed and retracted configuration. The vessel may have first and second pressure hulls flanking the wing and keel assemblies. A drive mechanism including a motor and a gear train employing pulley-and-cable assemblies rotates either the wing and flap together such that the flap angle relative to the wing is constant, or to change the flap angle relative to the wing with the wing angle of incidence held constant. The invention also provides a retractable wind-powered propulsion apparatus that is mountable to the hull assembly of a submersible or non-submersible vessel.

Disclosed are an improved nozzle for an unmanned underwater vehicle (UUV), and a method for operating the same. The nozzle includes a first rigid member operatively coupled to a UUV steering mechanism. The nozzle also has a second rigid member, coupled to the first rigid member by a flexible bellows according to a configurable operating angle. The nozzle does not extend beyond a bounding surface when stored but does when deployed. Water traversing the first rigid member and contacting the second rigid member produces a reactive force according to the configurable operating angle. Simultaneous and independent control of the volume of fluid traversing several such nozzles in the UUV, and their respective orientations and operating angles, permits automatic station-keeping or navigation according to another guidance objective.

Disclosed are an improved nozzle for an unmanned underwater vehicle (UUV), and a method for operating the same. The nozzle includes a first rigid member operatively coupled to a UUV steering mechanism. The nozzle also has a second rigid member, coupled to the first rigid member by a flexible bellows according to a configurable operating angle. The nozzle does not extend beyond a bounding surface when stored but does when deployed. Water traversing the first rigid member and contacting the second rigid member produces a reactive force according to the configurable operating angle. Simultaneous and independent control of the volume of fluid traversing several such nozzles in the UUV, and their respective orientations and operating angles, permits automatic station-keeping or navigation according to another guidance objective.

A combined autonomous underwater vehicle and buoy device that may travel underwater in a horizontal orientation as an underwater glider to a desired location and then, at the desired location, move into a vertical orientation and operate as a buoy. The combined autonomous underwater vehicle and buoy device includes an elongated device body having a ballast tank, a plurality of fins, and a deployable weight. While in water, the device body may operate the ballast tank to selectively increase its buoyancy to cause vertical descent and decrease its buoyancy to cause vertical ascent, with the fins generating lift that moves the device body horizontally from this vertical motion. To move to the vertical orientation, the device body may reposition the deployable weight to adjust the center of mass of the device body sufficiently to cause the device body to move from the horizontal orientation to the vertical orientation.

A combined autonomous underwater vehicle and buoy device that may travel underwater in a horizontal orientation as an underwater glider to a desired location and then, at the desired location, move into a vertical orientation and operate as a buoy. The combined autonomous underwater vehicle and buoy device includes an elongated device body having a ballast tank, a plurality of fins, and a deployable weight. While in water, the device body may operate the ballast tank to selectively increase its buoyancy to cause vertical descent and decrease its buoyancy to cause vertical ascent, with the fins generating lift that moves the device body horizontally from this vertical motion. To move to the vertical orientation, the device body may reposition the deployable weight to adjust the center of mass of the device body sufficiently to cause the device body to move from the horizontal orientation to the vertical orientation.

A left steering ECU includes switching control unit that switches control mode between a first control mode and a second control mode. The first control mode is mode in which the left steering ECU controls left steering motor so that the steered angle of a left steered wheel becomes equal to a left target steered angle received from a higher-level control device. The second control mode is a mode in which the left steering ECU controls the left steering motor by torque feedback control so that the steered angle of the left steered wheel becomes equal to an angle corresponding to a neutral position of the left steered wheel. The switching control unit normally sets the control mode to the first control mode. The switching control unit switches the control mode to the second control mode if abnormal communication occurs between the higher-level control device and the left steering ECU.