Many different types of systems are utilized and tasks are performed in a marine environment. The present invention provides various configurations of castable devices that can be operated and/or controlled for such systems or tasks. One or more castable devices can be integrated with a transducer assembly, such as a phased array, that emits sonar beams and receives sonar returns from the underwater environment. Processing circuitry may receive the sonar returns, process the sonar returns, generate an image, and transmit the image to a display.

A method of deploying autonomous underwater vehicles (AUVs), the method comprising loading the AUVs into a deployment device; submerging the deployment device containing the AUVs after the AUVs have been loaded into the deployment device; towing the submerged deployment device containing the AUVs with a surface vessel; deploying the AUVs from the submerged deployment device as it is towed by the surface vessel; and operating a thruster of each AUV after it has been deployed so that it moves away from the submerged deployment device. A method of retrieving autonomous underwater vehicles (AUVs) is also disclosed, the method comprising towing a submerged retrieval device with a surface vessel; loading the AUVs into the submerged retrieval device as it is towed by the surface vessel; and after the AUVs have been loaded into the submerged retrieval device, lifting the submerged retrieval device containing the AUVs out of the water and onto the surface vessel.

A method of deploying autonomous underwater vehicles (AUVs), the method comprising loading the AUVs into a deployment device; submerging the deployment device containing the AUVs after the AUVs have been loaded into the deployment device; towing the submerged deployment device containing the AUVs with a surface vessel; deploying the AUVs from the submerged deployment device as it is towed by the surface vessel; and operating a thruster of each AUV after it has been deployed so that it moves away from the submerged deployment device. A method of retrieving autonomous underwater vehicles (AUVs) is also disclosed, the method comprising towing a submerged retrieval device with a surface vessel; loading the AUVs into the submerged retrieval device as it is towed by the surface vessel; and after the AUVs have been loaded into the submerged retrieval device, lifting the submerged retrieval device containing the AUVs out of the water and onto the surface vessel.

A device for handling and towing a submersible object installed on a ship, comprises: a tilting structure supported by a support, and able to pivot with respect to the support about a first axis parallel to a plane to extend horizontally, the tilting structure equipped with a first guide device allowing the cable to be guided, a pivot connection about a second axis situated in a plane substantially perpendicular to the first axis of rotation, arranged to allow a rotary part of the tilting structure to rotate with respect to the support, the rotary part equipped with the first guide device, a stabilizing device arranged to keep the rotary part of the tilting structure in a deployed position with respect to the support as long as a torque of the relative pivoting between the rotary part and the support about the second axis is below or equal to a predetermined threshold, and to allow the rotary part, equipped with the first guide device, to rotate with respect to the support about the second axis once a torque of relative pivoting between the rotary part and the support about the second exceeds the threshold.

A device for handling and towing a submersible object installed on a ship, comprises: a tilting structure supported by a support, and able to pivot with respect to the support about a first axis parallel to a plane to extend horizontally, the tilting structure equipped with a first guide device allowing the cable to be guided, a pivot connection about a second axis situated in a plane substantially perpendicular to the first axis of rotation, arranged to allow a rotary part of the tilting structure to rotate with respect to the support, the rotary part equipped with the first guide device, a stabilizing device arranged to keep the rotary part of the tilting structure in a deployed position with respect to the support as long as a torque of the relative pivoting between the rotary part and the support about the second axis is below or equal to a predetermined threshold, and to allow the rotary part, equipped with the first guide device, to rotate with respect to the support about the second axis once a torque of relative pivoting between the rotary part and the support about the second exceeds the threshold.

A protective device configured to protect a line-cutting device mounted on a cable towed by a surface vessel comprises a blade holder comprising a blade, the blade being formed in the blade holder and being retractable into a slot about a transverse spring pin, wherein the protective device comprises a weighted body of hydrodynamic overall shape delimiting a transverse opening for the passage of the cable and an interior cavity in which the blade is arranged in such a way as to cut any line caught in the cavity, the protective device free to rotate about the cable.

A protective device configured to protect a line-cutting device mounted on a cable towed by a surface vessel comprises a blade holder comprising a blade, the blade being formed in the blade holder and being retractable into a slot about a transverse spring pin, wherein the protective device comprises a weighted body of hydrodynamic overall shape delimiting a transverse opening for the passage of the cable and an interior cavity in which the blade is arranged in such a way as to cut any line caught in the cavity, the protective device free to rotate about the cable.

A subsea carrier (100) for transporting a fluid, e.g. CNG or crude, comprises a main body (101) for containing the fluid at a predetermined internal pressure, wherein the main body (101) preferably is made of concrete and designed to operate at a water depth where the external pressure substantially counteracts the internal pressure. The subsea carrier has a floating element (102) connected to the main body (101) by a stabilising cable (132), wherein the stabilising cable (132) comprises a first rope (321) for transmitting force and is attached to a first connector (134) that is movable with respect to the main body (101). A system wherein the subsea carrier is towed by a surface vessel (3) or is self-propelled and controlled remotely is also disclosed. The subsea carrier (100) reduces operational costs relative to subsea carriers with traditional control surfaces and ballasting systems at large cargo volumes, e.g. 150 000 m.sup.3 or more.

A subsea carrier (100) for transporting a fluid, e.g. CNG or crude, comprises a main body (101) for containing the fluid at a predetermined internal pressure, wherein the main body (101) preferably is made of concrete and designed to operate at a water depth where the external pressure substantially counteracts the internal pressure. The subsea carrier has a floating element (102) connected to the main body (101) by a stabilising cable (132), wherein the stabilising cable (132) comprises a first rope (321) for transmitting force and is attached to a first connector (134) that is movable with respect to the main body (101). A system wherein the subsea carrier is towed by a surface vessel (3) or is self-propelled and controlled remotely is also disclosed. The subsea carrier (100) reduces operational costs relative to subsea carriers with traditional control surfaces and ballasting systems at large cargo volumes, e.g. 150 000 m.sup.3 or more.

The main components of an exemplary inventive simulation are a towing platform (such as a ship), a towed body, an underwater vehicle (such as a UUV), and a tow cable connecting the towing platform and the towed body. An objective of the dynamic arrangement of the components is to perform a “line capture” of the moving vehicle by the cable. Respective motions and positions of the towing platform and the towed body affect the cable. Waves and currents in the water, as well as changes in catenary and tension of the cable, affect the tow body. Advantageously, the invention more accurately accounts not only for continuities, but also for discontinuities, characterizing the dynamic interrelationships between and among the components. Among the invention's features is its ability to “trigger” consideration of certain dynamic manifestations relating to the vehicle, depending on whether or not the vehicle is in a captured state.