An autonomous underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The autonomous underwater base includes a storing module configured to store the AUV; an inlet/outlet module configured to control access of the AUV to the storing module; and a control module having a positioning system configured to adjust a position of the base in water. The positioning system autonomously drives the storing module from a first position to a second position underwater.

An autonomous underwater base for handling an autonomous underwater vehicle (AUV) equipped with seismic sensors for recording seismic signals during a marine seismic survey. The autonomous underwater base includes a storing module configured to store the AUV; an inlet/outlet module configured to control access of the AUV to the storing module; and a control module having a positioning system configured to adjust a position of the base in water. The positioning system autonomously drives the storing module from a first position to a second position underwater.

A balanced piston pump (300) for use in subsea vehicles, for example in a variably buoyancy engine, includes an inlet (321), an outlet (325) and at least one fluid path between the inlet and the outlet. A piston arrangement in the fluid path includes a stepped piston (330) having a large end (333) and a small end (331). The step (336) of the piston cooperates with the body (310) of the pump to form a piston chamber (320). The ends (332, 334) of the piston are each exposed to ambient pressure. The force required to drive the pump is dependent on the difference in cross sectional areas of the ends of the pistons.

A balanced piston pump (300) for use in subsea vehicles, for example in a variably buoyancy engine, includes an inlet (321), an outlet (325) and at least one fluid path between the inlet and the outlet. A piston arrangement in the fluid path includes a stepped piston (330) having a large end (333) and a small end (331). The step (336) of the piston cooperates with the body (310) of the pump to form a piston chamber (320). The ends (332, 334) of the piston are each exposed to ambient pressure. The force required to drive the pump is dependent on the difference in cross sectional areas of the ends of the pistons.

A docking system has flat funnel and a slotted ramp at the end of the flat funnel. The slotted ramp has a plurality of inclined planes, each on a respective side of the slot. A docking adapter, fitted over an underwater vehicle, includes a guide plane and a mask. The flat funnel guides the guide plane to the top of the ramp during docking, so that the underwater vehicle may be charged. Another aspect of the invention is a highly maneuverable glider including a forwardly mounted buoyancy module followed a pitch module, followed by a processing module, followed by a roll module, mounted concentrically with respect to each other. The glider may be attached to any docking system, not just that of the present invention. When used in conjunction with the docking system of the present invention, the glider may be attached to either the flat funnel or the docking adapter of the docking system of the present invention.

A docking system has flat funnel and a slotted ramp at the end of the flat funnel. The slotted ramp has a plurality of inclined planes, each on a respective side of the slot. A docking adapter, fitted over an underwater vehicle, includes a guide plane and a mask. The flat funnel guides the guide plane to the top of the ramp during docking, so that the underwater vehicle may be charged. Another aspect of the invention is a highly maneuverable glider including a forwardly mounted buoyancy module followed a pitch module, followed by a processing module, followed by a roll module, mounted concentrically with respect to each other. The glider may be attached to any docking system, not just that of the present invention. When used in conjunction with the docking system of the present invention, the glider may be attached to either the flat funnel or the docking adapter of the docking system of the present invention.

A desalination system that is deployable in a body of water having a surface and a seafloor and which includes a vessel structure that is capable of travel in water, a reverse osmosis system disposed within an internal space of the vessel structure and a tank connected to the reverse osmosis system, the tank configured to receive filtered water from the reverse osmosis system. A positioning system is provided for controlling the travel of the vessel structure, and a ballast system is configured to control the buoyancy of the vessel structure. A controller is operably associated with the positioning system and the ballast system to control the position of the vessel below the surface of the body of water.

A method of installing an object under water at a desired location includes providing the object on a vessel, connecting the object to a submersible frame located below the water surface, wherein the vessel is spatially separated from the submersible frame along the direction of the water surface, releasing the object from the vessel such that the object becomes submerged and carries out a pendulum motion until the object is suspended from the submersible frame, and moving the object to the desired location.

A method of installing an object under water at a desired location includes providing the object on a vessel, connecting the object to a submersible frame located below the water surface, wherein the vessel is spatially separated from the submersible frame along the direction of the water surface, releasing the object from the vessel such that the object becomes submerged and carries out a pendulum motion until the object is suspended from the submersible frame, and moving the object to the desired location.

In accordance with at least one aspect of this disclosure, a crustacean trap can include a cage configured to trap one or more crustaceans, and a propulsion system connected to the cage and configured to provide propulsion to the cage. In certain embodiments, the trap can include a controller configured to control the propulsion system to autonomously pilot the trap.