An unmanned underwater vehicle having movable thrusters between a first configuration, in which axes of rotation of both the thrusters, when co-planar, are parallel, and a second configuration, in which the axes of rotation of both the thrusters, when co-planar, interest. The thrusters may also rotate about the pylons that attach the thrusters to the body of the unmanned underwater vehicle. Also a method of operating the unmanned underwater vehicle in both configurations.

The present invention is applicable to the technical field of marine equipment and provides a hybrid-driven mooring chain cleaning and structural inspection underwater robot and a working method thereof. The hybrid-driven mooring chain cleaning and structural inspection underwater robot includes at least one frame structure; a buoyancy system disposed on the frame structure and used for adjusting the buoyancy of the robot; a driving system disposed on the frame structure; underwater observation and communication systems disposed on the frame structure and used for underwater observation; a cleaning system disposed on the frame structure and used for cleaning a mooring chain; an active clasping/unclasping system disposed on the frame structure; and a structural inspection system disposed on the frame structure.

The present invention is applicable to the technical field of marine equipment and provides a hybrid-driven mooring chain cleaning and structural inspection underwater robot and a working method thereof. The hybrid-driven mooring chain cleaning and structural inspection underwater robot includes at least one frame structure; a buoyancy system disposed on the frame structure and used for adjusting the buoyancy of the robot; a driving system disposed on the frame structure; underwater observation and communication systems disposed on the frame structure and used for underwater observation; a cleaning system disposed on the frame structure and used for cleaning a mooring chain; an active clasping/unclasping system disposed on the frame structure; and a structural inspection system disposed on the frame structure.

A monolithic attitude control motor frame includes a monolithic structure including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. Adjacent cavities of the plurality of cavities share a side wall or side wall portion therebetween. Each of the cavities is configured to receive an attitude control motor. A monolithic attitude control motor system includes a monolithic frame including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. The system further includes a plurality of attitude control motors corresponding to the plurality of cavities, such that an attitude control motor of the plurality of attitude control motors is disposed in each cavity of the plurality of cavities.

A monolithic attitude control motor frame includes a monolithic structure including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. Adjacent cavities of the plurality of cavities share a side wall or side wall portion therebetween. Each of the cavities is configured to receive an attitude control motor. A monolithic attitude control motor system includes a monolithic frame including an outer surface of revolution and a plurality of side walls defining a plurality of cavities extending radially from the outer surface of revolution. The system further includes a plurality of attitude control motors corresponding to the plurality of cavities, such that an attitude control motor of the plurality of attitude control motors is disposed in each cavity of the plurality of cavities.

A fixed-wing aerial underwater vehicle includes a shell component, a flight component and a pneumatic buoyancy component. The flight component includes a fixed wing and rotors, and the fixed wing and the rotors are mounted in the shell component. The pneumatic buoyancy component includes an air bladder and an inflation and deflation portion, and the inflation and deflation portion can inflate and deflate the air bladder. The air bladder is installed on the shell component, a containing space is formed in the shell component, and the inflation and deflation portion is partially or entirely installed in the containing space. Each rotor includes a rotor supporting rod, a motor base, a motor and a propeller, which are sequentially connected. A control method for the fixed-wing aerial underwater vehicle mentioned above is further provided.

A fixed-wing aerial underwater vehicle includes a shell component, a flight component and a pneumatic buoyancy component. The flight component includes a fixed wing and rotors, and the fixed wing and the rotors are mounted in the shell component. The pneumatic buoyancy component includes an air bladder and an inflation and deflation portion, and the inflation and deflation portion can inflate and deflate the air bladder. The air bladder is installed on the shell component, a containing space is formed in the shell component, and the inflation and deflation portion is partially or entirely installed in the containing space. Each rotor includes a rotor supporting rod, a motor base, a motor and a propeller, which are sequentially connected. A control method for the fixed-wing aerial underwater vehicle mentioned above is further provided.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The main body of the vehicle is a spherical body.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The main body of the vehicle is a spherical body.

The underwater vehicle with variable configuration (1) comprises: a hull (2) consisting of at least four elongated elements (20), mutually articulated by means of joints (21), to form a first closed polygonal structure (F1), arranged on a plane; thrusters (3), associated in parallel with said elements (20) of the hull (2); actuating means (22), associated with said joints (21), provided for automatically modifying said first closed polygonal structure (F1), from an elongated shape configuration (AF1) to an expanded shape (EF1), corresponding to an elongated conformation of said hull (2), to determine a low hydrodynamic resistance and a longitudinal thrust of the thrusters (3) in the cruising of said underwater vehicle (1), and to a substantially isotropic conformation, wherein the same elements (20) of the hull (2), as well as the thrusters (3) are mutually angled, intended for the hovering of the same underwater vehicle (1), respectively. The latter can be suitably equipped with robotic arms (4) intended for performing maintenance or similar interventions in underwater locations.