A method of underwater tsunami detection includes detecting a trigger event using disruption of at least one of a plurality of hard disk drives (HDDs), each different one of the plurality of HDDs in a different one of a plurality of autonomous underwater vehicles (AUVs). A time and location of each of the at least one HDD for the trigger event is logged. Based on at least one of the HDD disruptions, times, and locations of the at least one HDD of the plurality of HDDs, a size, strength, and direction of a tsunami caused by the trigger event is determined. Information regarding the tsunami is transmitted to a monitoring station.

A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.

A subsea vehicle capable of supporting inspection of underwater objects while underway includes a body that provides a capability to allow the subsea vehicle to submerge underwater and follow or position near an object while maintaining an orientation to the object appropriate for inspection of, and safety requirements for, the object. The vehicle includes a set of deployable, semi-rigid arms to support the movement of inspection sensor probes near or lightly touching the inspection target with the probes. A controller helps tracks the intended inspection object using various sensor inputs along with a priori knowledge of the object to drive and position the subsea vehicle such that the appropriate orientation to the inspection target is maintained.

Embodiments, including systems and methods, for remotely controlling underwater vehicles (such as ROVs) and deploying ocean bottom seismic nodes from the underwater vehicles. A direct data connection may be created between an Integrated Navigation System (located on a surface vessel) and a ROV controller/Dynamic Positioning (DP) system (which may be located on the surface vessel and/or the ROV). The INS may be configured to output the ROV target position and ROV position (such as standard 2 or 3 dimensional coordinates) to the DP system. The DP system may be configured to calculate the necessary ROV movements based on directly received data from the INS. Based on a selected ROV target destination or desired ROV action (which may be done automatically or by an operator), the ROV may be automatically positioned and/or controlled based on commands from the DP system based on commands and/or data from the INS.

A watercraft running system includes a propulsion device, a steering device, a course changing operator, a port-side attitude control plate and a starboard-side attitude control plate, a port-side actuator and a starboard-side actuator, and a controller. The controller is operable in a first control mode in which the steering device is controlled according to the operation of the course changing operator and a second control mode in which the port-side actuator and the starboard-side actuator are controlled according to the operation of the course changing operator. The controller is configured or programmed to prohibit shifting from the first control mode to the second control mode if the steering position of the steering device is not a neutral position, and to permit the shift from the first control mode to the second control mode if the steering position is the neutral position.

The methods and devices described herein provide a sensor array positioning system that may allow a user to program a series of sensor array locations, depths and orientations into a control center, which therein commands two or more unmanned surface or submarine vehicles which positions one or more sensor arrays. The devices consist of at least two unmanned vehicles, two or more tow cables, a flexible sensor array comprising one or more sensors, and one or more buoyancy engines. The unmanned vehicles may consist of a master vehicle and one or more slave vehicles, wherein the master vehicle commands the one or more slave vehicles.

A hand controller for commanding or controlling a target, such as a remote vehicle or a virtual target, includes a display mounted on a free end of a joystick for indicating graphically a direction of the remote vehicle from the hand controller and an orientation of the target relative to the hand controller's frame of reference, based on the location and orientation of the target received by the hand controller from the target and the location and orientation of the hand controller.

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.

A system and method for providing accurate trim and list angles of a ship through an array of sensors incorporating real-time kinematics and inertial measurement units. The software application would create a D model of the localized sensor data for detailed ship characteristics. Artificial intelligence will process all the sensor data through a large database of route data, weather conditions, and past performances to determine the optimum ballast levels to set the trim/list angles for maximum fuel efficiency. Each trip will provide detailed course information for continual improvement.