An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey. The AUV includes a body extending along an axis X and having a front region, a middle region, and a tail region, wherein the middle region is sandwiched between the front region and the tail region along the X axis. The AUV also includes a seismic payload located within the body and configured to record seismic signals. The tail region has a trapezoidal cross-section.

An autonomous underwater vehicle (AUV) for recording seismic signals during a marine seismic survey. The AUV includes a body extending along an axis X and having a front region, a middle region, and a tail region, wherein the middle region is sandwiched between the front region and the tail region along the X axis. The AUV also includes a seismic payload located within the body and configured to record seismic signals. The tail region has a trapezoidal cross-section.

An unmanned water vessel can include a body defining an internal volume and having a shape adapted to travel through water, with a front and a back; at least one directional device that is exposed to the flow of water past the vehicle when the vehicle travels in a forward direction, the directional device having a first position that provides an angle of attack through the water flow and a second position that provides a second angle of attack through the water flow; and a control system that provides commands to the at least one directional device in view of a starting point, an end point, and at least information about water flow expected to be encountered by the water vessel during travel.

An unmanned water vessel can include a body defining an internal volume and having a shape adapted to travel through water, with a front and a back; at least one directional device that is exposed to the flow of water past the vehicle when the vehicle travels in a forward direction, the directional device having a first position that provides an angle of attack through the water flow and a second position that provides a second angle of attack through the water flow; and a control system that provides commands to the at least one directional device in view of a starting point, an end point, and at least information about water flow expected to be encountered by the water vessel during travel.

Systems and associated methods for planning and control of a fleet of unmanned vehicles in missions that are coordinated temporally and spatially by geo-location, direction, vehicle orientation, altitude above sea level, and depth below sea level. The unmanned vehicles' transit routes may be fully autonomous, semi-autonomous, or under direct operator control using off board control systems. Means are provided for intervention and transit changes during mission execution. Means are provided to collect, centralize and analyze mission data collected on the set of participating unmanned vehicles.

A water drone capable of navigating on the surface, or below the surface, of a body of water. In some embodiments such a vehicle is light-weight, electric-powered, and propeller-driven, and may be operated by remote control from the shore and guided with simple autopilot commands. The vehicle may have two actuators at the rear of the vehicle, each including a motor and a propeller, and each capable of producing forward or reverse thrust. The vehicle may be capable of travelling horizontally through the surf zone and diving vertically through the water column to the seafloor. The vehicle may monitor its own location and depth and may measure environmental conditions such as water temperature; such measurements may be communicated back to the operator using a telemetry system.

Portable, low cost, high speed surface and subsurface vehicles for aquatic data collection, payload delivery, or water quality monitoring. The vehicles can be deployed in pods enable rapid large scale data collection across a wide area. The vehicles are capable of transiting the water surface at speeds of over ten knots, and can also be propelled under the water surface and dive vertically to the floor of the water body. A passive, non-powered internal weight transfer system enhances the vehicle's performance in each of its transit modes. The vehicles can have one or more of the following features: high speed stabilizing wings, a tool-less assembly system, sacrificial standoffs for vertical dives, sacrificial protectors for the control surfaces, and/or a universal mounting system for attaching payloads such as sensors.

Portable, low cost, high speed surface and subsurface vehicles for aquatic data collection, payload delivery, or water quality monitoring. The vehicles can be deployed in pods enable rapid large scale data collection across a wide area. The vehicles are capable of transiting the water surface at speeds of over ten knots, and can also be propelled under the water surface and dive vertically to the floor of the water body. A passive, non-powered internal weight transfer system enhances the vehicle's performance in each of its transit modes. The vehicles can have one or more of the following features: high speed stabilizing wings, a tool-less assembly system, sacrificial standoffs for vertical dives, sacrificial protectors for the control surfaces, and/or a universal mounting system for attaching payloads such as sensors.

A mass shifting apparatus and system for inducing a vertical dive in submersible conveyances. Furthermore, an apparatus for inducing a submersible conveyance into a vertical dive, comprising a track, having a proximal end and distal end, defining a slide path wherein the track is fixed to an external surface of a submersible conveyance in alignment with a dive vector; a shifting weight operably engaged with the slide path to traverse between the proximal end and the distal end, wherein the shifting weight provides a balancing moment to the submersible conveyance when adjacent to the proximal end, and wherein driving the shifting weight towards the distal end provides dive moment to the submersible conveyance; and a means for driving the shifting weight along the slide path. In one embodiment, a modular apparatus for inducing a modular submersible conveyance into a vertical dive.

A mass shifting apparatus and system for inducing a vertical dive in submersible conveyances. Furthermore, an apparatus for inducing a submersible conveyance into a vertical dive, comprising a track, having a proximal end and distal end, defining a slide path wherein the track is fixed to an external surface of a submersible conveyance in alignment with a dive vector; a shifting weight operably engaged with the slide path to traverse between the proximal end and the distal end, wherein the shifting weight provides a balancing moment to the submersible conveyance when adjacent to the proximal end, and wherein driving the shifting weight towards the distal end provides dive moment to the submersible conveyance; and a means for driving the shifting weight along the slide path. In one embodiment, a modular apparatus for inducing a modular submersible conveyance into a vertical dive.