An unmanned vehicle including a vehicle body, propulsion system, maneuvering system, vehicle control system, rack, sensor, and a power supply. The vehicle control may be used to control the unmanned vehicle in combination with the propulsion and the maneuvering system. The rack may include a retractable mount that may move between a down position and an up position. The sensor system may include a plurality of transient object detection sensors. The plurality of transient object detection sensors may include a sensor adapted to detect an item of interest and may provide an item of interest signal to the vehicle control system. The vehicle control system may identify an item of interest classification and may provide a classification signal. The classification signal may be determined by the item of interest classification and may be utilized to avoid detection of the unmanned vehicle by the item of interest.

The present invention provides a system, apparatus, and method for harvesting objects from the bottom of aquatic environments. The invention preferably provides a system, apparatus, and method for utilizing swarms of autonomous harvesting vehicles to harvest polymetallic nodules from the ocean floor.

A passive ballast device, system and method of using same, configured for use with a submersible vehicle in a liquid environment, including a chamber having at least one rigid wall to define at least a portion of a chamber volume, and a passively movable compensator having at least first and second surfaces, the first surface configured to be exposed to the liquid environment, the second surface excluded from the liquid environment, and forming, together with the at least one wall of the chamber, a fluid-tight seal to establish the remainder of the chamber volume, to exclude the liquid environment from the chamber volume and configured to adjust the chamber volume to at least a first chamber volume and a second chamber volume. The chamber volume is configured to establish at least a first buoyancy and second buoyancy, the compensator is configured to respond to a change in environmental pressure within the liquid environment, and the compensator is passively moved by the change in environmental pressure to change the first chamber volume to the second chamber volume, thereby changing from the first buoyancy to the second buoyancy.

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.

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.

An underwater watercraft including a passenger compartment and an ingress/egress port in which the watercraft has buoyancy and center of gravity adjusted to maintain a generally level or other desired attitude when submerged, and an optionally angled attitude at a water surface for ingress/egress. The attitude is also adjustable via the placement of ballast and optionally including a movable ballast that adjusts the location of the center of gravity as desired. The ingress-egress port optionally includes an entry elevated from a main passenger compartment and including a riser and optionally removable or concealable handrails. The ingress-egress port has an angled orientation in a submerged mode, and an optional orientation generally parallel to the water surface or angled but above the surface in a surface mode.

An underwater watercraft including a passenger compartment and an ingress/egress port in which the watercraft has buoyancy and center of gravity adjusted to maintain a generally level or other desired attitude when submerged, and an optionally angled attitude at a water surface for ingress/egress. The attitude is also adjustable via the placement of ballast and optionally including a movable ballast that adjusts the location of the center of gravity as desired. The ingress-egress port optionally includes an entry elevated from a main passenger compartment and including a riser and optionally removable or concealable handrails. The ingress-egress port has an angled orientation in a submerged mode, and an optional orientation generally parallel to the water surface or angled but above the surface in a surface mode.

Various embodiments of a submerged sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

Various embodiments of a submerged sailing vessel are disclosed. Such a submerged sailing vessel may comprise a submersible hull assembly, a keel coupled to and extending upwards from hull assembly towards a water surface, and a wind-catching assembly coupled to and extending upwards into the air from the keel for propelling the submerged sailing vessel. The hull assembly and keel are submerged below the water surface as the vessel is propelled by the wind-catching assembly above the water surface.

An underwater liquid supply unit includes a first bladder containing a first liquid, a second bladder containing a second liquid, and a third bladder containing a third liquid. The combined volume of the first liquid, second liquid, and third liquid is neutrally buoyant relative to a surrounding medium the liquid supply unit is disposed in (e.g., in seawater). As the first liquid, second liquid, and third liquid are dispensed from the bladders, the bladders may reduce in size in at least one dimension. As the liquids are dispensed, the liquids may be dispensed in a predetermined volumetric ratio based on the density of the liquids to maintain neutral buoyancy of the combined volume of liquid. The underwater liquid supply unit may also include an integrated generator such as a fuel cell, as well as a propeller.