FR2862602A1 - Sailing ship for yachting, has streamlined immersed floater that is fully immersed in water and supports platform through pylon carriers, and auxiliary floater that touches water when ship is at halt or travels at slow speed - Google Patents

Abstract

The ship has a streamlined immersed floater (1) that is fully immersed in water and supports a platform (2) through pylon carriers (16). Auxiliary floater (3) touches water when the ship is at halt or travels at slow speed. A mobile mass and an immersed wing (5) are adjusted in position for stabilizing rolling and sharp turning of the ship.

Description

The invention relates to a device for navigating on the surface of the water,

  fully supported in cruising speed by one or more submerged floats, balanced by moving masses and stabilized by means of hydrodynamic lift adjustable fins, which frees itself at high speed from the parasitic movements usually due to waves.

  1 - STATE OF THE PRIOR ART 1.1 - State of the art with wind propulsion Wind propulsion has given rise to many architectures of ships. Research and innovation efforts in the area of support devices have been mainly focused on improving hydrodynamic performance, "web stiffness" and habitability for a given navigation program, rather than on stabilization by adjustable appendages with hydrodynamic effect, except steering gear. The action of the latter is substantially limited to control of yaw and heading and marginally to the damping of the roll; they do not effectively counter pitching or reciprocating up and down movements of the ship.

  1.1.1 - Archimedes thrust lift Traditional sailboats provide their lift with one or more surface displacement hulls. Their speed is capped by the wake and they are affected by irregular parasitic movements due to the waves encountered.

  1.1.2 - Partially hydrodynamic lift Sailboats with a so-called "planing" hull may, in certain particularly favorable conditions of sea, wind and course, hover more or less long on the water. This, however, is a precarious operating regime, at the mercy of meeting a wave higher than others or a brief decrease in apparent wind speed.

  Some hulled multihull sailboats with large dorsels owe some of their high speed lift to the hydrodynamic lift of these derricks (example: project described in the March 2003 issue of the French magazine "Science et Vie"); compared to multihulls of the same size but without steps, these sailboats are less likely to bake and thus have parasitic movements of lesser amplitude, but the intensity of the hydrodynamic lift of the steps is irregular, as subject to the alternation of the hollows and wave peaks encountered when they are not negligible in size relative to the size of the building.

  Rare multihull sailboats use a significant and sustainable complement of lift obtained by hydrodynamic lift effect on integral appendices of the structure of the building - either partially immersed fins or skis resting on the surface of the water - which allow them a increased speed by partial clearance of the hulls.

  These appendages, when they form a "V" with wings (or "foils") arranged port and starboard, partially immersed and penetrating obliquely into the water, give these multihull sailboats a kind of suspension with vertical elasticity; this reduces certain parasitic movements due to waves; on the other hand, if the gap is almost total, the building being supported almost entirely by its fixed wings, the damping of the vertical movements is weak, which can make the boat unstable at certain speeds.

  These appendages are even more rarely equipped with an automatic device of orientation of the wings to modify dynamically their angle of incidence and their lift in order to further reduce the parasitic movements. These multihull sailboats with wings are still braked by the presence of a large surface wake and are still affected by parasitic movements due to waves, even if they are attenuated.

  1.1.3 - Exclusively hydrodynamic lift The lift exclusively by hydrodynamic lift is found only exceptionally on sailboats because of its difficulty of implementation. The low power available makes it necessary to obtain a lightness difficult to reconcile with sufficient strength and a reasonable cost as soon as the length of the ship exceeds ten meters.

  An example of this is the 5.20 m long, two-seater trimaran sailboat, marketed under the name "Windrider Rave", which was the subject of a test report published in issue 460 of the French nautical magazine "Bateaux" and which is quoted, with photo, by the book "The world book of inventions 2001" (ISBN 2-84563-032-8).

  Sailboats using this mode of lift require to be exceptionally light compared to sailboats of equal length of water of the preceding categories; they have, beyond a certain speed and when the waves are of a height lower than a certain value, a mode of levitation exclusively by wings (or "foils") with hydrodynamic lift, their (they) shell (s) or float (s) no longer touching the water. This mode of lift allows them to reach an exceptionally high speed compared to other types of sailboats of the same size and to have parasitic movements due to waves in general relatively soft.

  However, they are subject to the risk of loss of control by capsizing or rollover due to their precarious stability and the risk of sudden rupture of lifting devices subject to significant mechanical stress - given the required lightness - in the event of a collision. an immersed obstacle or abrupt wave at high speed. This risk can be dangerous for passengers.

  This type of sailboat can hardly exceed the size of a beach sports gear, given a construction cost quickly becoming prohibitive when the size increases, because of the need to resort then to very expensive construction techniques for obtain both the mechanical strength and the lightness required.

  1.1.4 - Conclusion on wind propulsion The known devices of sailing with sail do not eliminate the parasitic movements due to the waves, frequent source of discomfort, seasickness and weakening of the crew.

  1.2 - State of the art with solar propulsion The solar energy captured on board was rarely used for the main propulsion of boats, and only for vessels with Archimedean displacement. The known examples are slow, have no hydrodynamic lift and are fully subject to parasitic wave motions.

  1.3 - State of the art with onboard fuel propulsion The vast majority of surface vessels powered by a combustion engine derive their lift from a hull partially embedded in the water receiving a buoyancy pressure balancing the weight of the building. . These ships, dependent on the forces due to the waves, are subject to parasitic movements causing discomfort and seasickness for the passengers.

  Some of these vessels (including cruise ships and "carferries") are equipped with adjustable fins located on either side of the hull, below the waterline, which provide them with damping of the roll. These fins, however, are very inefficient to dampen pitching movements and they are unable to prevent the alternating up and down movements of the entire building caused by the passage of large waves.

  Engine propulsion using an on-board fuel has resulted in a large number of architectural formulas of fast or very fast speed vessels, in some cases freeing part of the parasitic movements due to waves (or exceptionally all): E Forward-facing passenger-carrying catamarans using skis on the bow, which rise to the water's surface when the ship is sailing at high speed, such as the "Aliscafi" in service from the 1970s onwards. passenger transport, particularly in Sicily, and some catamarans of regular trans-Channel lines also equipped with skis at the stern.

  Cannonboat developed in the USA by the Boeing company, credited with a top speed of the order of 50 knots (described in an article published around the 1960s by the French magazine "Science et Vie"), propelled by jet of water ejected into the atmosphere by a very powerful turbine and supported exclusively by submerged fins controlled by servo controlled by real-time electronic computer connected to a central inertia.

  Hovercraft or "hovercraft" of passenger transport lines between England and the mainland, sailing at nearly 30 knots using propeller overhead propulsion and air-blower-supported air-lift.

  F flying machines with "ground effect", taking off from the water like a seaplane, flying a few meters above the waves with a speed greater than a hundred knots ("Ekranoplanes" developed in the former USSR in the last quarter From twentieth century).

  Thus, a motor of high power compared to the payload allows a stabilization all the more effective and incidentally a speed that much greater than this power is high, to the detriment of passenger comfort by the noise and vibration due to this strong power.

  2 - PURPOSE OF THE INVENTION The object of the invention is to overcome the drawbacks of the devices known hitherto, by presenting simultaneously: - 4 - a stabilization of the ship with respect to the waves (up to a height depending on its size) when it is navigating rapidly, intended to make the parasitic movements due to them mostly imperceptible in cruising for passengers, É a low hydrodynamic drag force relative to the displaced water mass, a source of high speed and by strengthened stabilization backlash, É devices specially designed to reinforce the safety despite the high speed reached, É Optionally a reducible congestion promoting access to the parking spaces of the ports despite a large horizontal space is useful to the effectiveness of the stabilizing couples.

  3 - SUMMARY OF THE INVENTION The invention is written for those skilled in the art mastering both the discipline of naval architecture and the discipline of systems enslaved electronic calculator and software real time.

  3.1 - Informal introductory approach This chapter 3.1, which is an informal introduction to the invention, aims to familiarize the reader with certain aspects of it, so as to facilitate the understanding of the first characteristic. This has indeed a large number of elements - 14 - contributing together and inseparably to the operation of the device according to the invention.

  This chapter does not describe the first feature of the invention in its generality (this is described in chapter 3.3 (p.6)), but only certain aspects useful to the intended familiarization. It is based on the example of a particular and non-limiting embodiment of the device according to the invention which is illustrated in Figure 1: This figure shows a sailboat whose living platform (2) is carried by two pylons (16) which are each surrounded by a pivoting fairing (45) and which rest on a tapered float (1) completely immersed in shallow depths below the surface of the water; the sailboat is drawn in a fast and stable navigation position and it is noted that its auxiliary floats (3) then no longer touch the water (see detail A).

  É This sailing boat has an adjustable tare tank-ballast (17) located in the platform (2) under the cabin floor (see enlargement in Figure 23), the water volume of which can be adjusted in so that the level of the surface of the external water, in the absence of waves, arrives half-way up the pylons (16).

  É The sailboat is balanced by a stabilizing torque provided by four long arms (24) surrounding the platform (2): on the one hand, each arm (24) carries at the end a reservoir housed in the auxiliary float ( 3), partially filled with water, whose weight of water it is quickly adjustable by transfer of water between the four homologous reservoirs by means of pumps, on the other hand, the end of each arm (24). ) is provided with a vertical mast (26) immersed in the external water and carrying at its end submerged fins (27) and (29) with hydrodynamic lift forces whose resultant, of transverse direction, is adjustable very rapidly in intensity and 360 direction by adjusting the orientation of these fins by means of actuators.

  The transfer of water between the reservoirs of the auxiliary floats (3) and the orientation adjustment of the submergible orientable fins (27) and (29) are controlled by an electronic calculator (43) connected to sensors, in particular accelerometers (6). ) and depth meters (7).

  When the boat is at a standstill or at a speed too slow to be stabilized by these immersed adjustable fins, the taring tank is then voluntarily overloaded with an additional body of water, so that the boat s pushes further into the water and is supported by the four auxiliary floats (3) then forming stabilizers.

  It follows from the foregoing that architectural rules are obviously necessary to set certain limits of evolution of the interdependent quantities of the device according to the invention for it to function properly.

  These numerical limits will therefore be defined in the first characteristic of the device according to the invention, given in Chapter 3.3 (p.6), which describes the invention in its greater generality.

  These limits will then be discussed and explained in Chapter 3.4 (p.10), and if necessary, practical recommendations to deviate from them will be provided and justified.

  3.2 - Conventions of writing and designation The following conventions are adopted for the following description of the invention.

  Notation "and / or": The notation "and / or" used in an expression such as "A and / or B" means "either A alone, B alone, A and B together". Example: The term "wind and / or solar propulsion" means that the energy used for propulsion is either wind energy alone, solar energy alone, or both.

  References to text: References to parts of the text are always made by mentioning the number of the chapter and the page where it starts (and not the page where the actual jump is located). Where appropriate, the particular paragraph (s) and / or point (s) referred to are identified by their position in the chapter, for example: "the penultimate paragraph of Chapter 3.8.I2 .b (p.36)".

  Specific terms: Twenty-nine technical terms are given in the remainder of the document with a meaning that corresponds to the precise definition given to them in the text specified by this chapter 3.2: E Twelve terms designating remarkable constituents and obligatorily present in the device according to the invention, which are defined in chapter 3.3 (p.6): "submerged floats", "carrying pylons", "pivoting fairing", "habitable platform", "radiating arms", "floats - 6 auxiliaries "," Adjustable tare device "," Balancing device with moving masses "," Swiveling spoiler "," Swiveling spoiler "(always in the plural, without prejudging whether it carries one or more fins) , "main propulsion device", "attitude and attitude controller".

  Three terms denoting remarkable constituents of the device according to the invention and which are present only in certain embodiments: "hydraulic vane", a term defined in chapter 3.8.12.a (p.35), "hydraulic vane-mast "(always in the plural, without prejudice to whether it carries one or more wind vanes) and" immersed propeller ", a term defined in chapter 3.8.1 (p.18).

  Note: The term "submerged floats" in the plural designates all submerged floats of the carrier device described in the first of the first characteristic, regardless of their number - even if the carrier device has only one "submerged float" - to avoid the repetitive writing of the expression: the (or) 'float (s) immersed (s)'.

  É Five terms designating remarkable behaviors of the device according to the invention, which are defined in chapters 3.6 (p.13) and 3.7 (p.17): "speed slow speed or stop", "speed fast speed", "altitude position low "," altitude high position "and the" critical speed "Vc, defined in Chapter 6.8.4 (p.79).

  N Nine terms identifying orientations or positions, which are defined in chapter 3.7 (p.17): OX axis, OY axis, OZ axis, XOY plane, XOZ plane, YOZ plane, longitudinal axis of the building (synonym of: OX axis) , plane of symmetry of the building (synonym of: plane XOZ), vertical V of the place.

  Throughout the remainder of this document, the above terms which designate constituents of the device or its behaviors (thus excluding terms of orientation and position) are written in quotation marks, except in the titles and except in the claims.

  Any possible contradiction in the text of a term with its definition given in the chapters quoted above would be accidental, this definition alone being authoritative.

  In addition, in the remainder of this document: É The terms "vertical" and "horizontal", applied to the orientation by construction of a building element, or to the orientation of a plane or axis remarkable of this element, refers to the usual notions of horizontal and vertical assuming the attitude of the horizontal building (the axis OZ linked to the building being confused with the vertical V of the place).

  The qualifiers "vertical" and "horizontal", when applied to a "swiveling flap" or to the moving equipment constituted by such a flap with its trailing edge flap, concern the orientation of the axis of rotation of this "orientable flap" (and not that of its carrier plane).

  É The terms "upstream" and "downstream" refer to the direction and direction of the flow of water in relation to the vessel while en route.

  3.3 - First characteristic of the device according to the invention Preliminary note 1: Certain aspects of the first characteristic of the device according to the invention are especially illustrated by the diagrams of FIGS. 2 to 22 (plates 2 to 5) presented in chapter 4.3 (p.45), based on particular and non-limiting embodiments of this device Preliminary Note 2: The device according to the invention comprises a setting device carrying water to maintain its constant buoyancy despite the payload variation and it optionally comprises reservoirs intended to provide it with a balancing torque by moving an on-board water body. "Maximum rated payload" means the maximum payload for which the vessel is designed to navigate with stabilization by its "swiveling fins" immersed at hydrodynamic lift (the setting device is then empty or almost empty of water) .

  According to a first characteristic, the device according to the invention is a surface navigation device on the oceans, seas, lakes, rivers or rivers which comprises all fourteen devices described below in the paragraphs numbered from "first" to "fourteenth" included (the attitude of the building is assumed to be horizontal): FIRST a supporting device, located at the lower part of the building, which consists of one or more "submerged floats" of tapered shape and slenderness greater than 6 , longitudinal axes oriented in the direction of running of the building and buoyant Archimedes thrust equal to the total weight of the building when the volumes of water contained in the "adjustable tare device" (described later, fourth) ) and where appropriate in the "moving-mass balancing device" (described in seventh) are set so that the level of the surface of the external water arrives at mid-height of the vertical distance between the highest point of the present carrier and the lowest point of the "habitable platform" (described in the second), minus the low cumulative buoyancy of the other immersed or partially submerged appendages when the level of the surface of the external water is the one aforesaid, SECURELY a "habitable platform" situated above the carrying device, at a height such that the minimum vertical distance, measured between the point the lower of this platform and the highest point of the aforementioned carrier device, greater than or equal to 5% of the overall length of the carrier device (this length being measured in the running direction of the building), THIRDLY a set of vertical "support towers" that support this "habitable platform" forming spacers between it and the aforementioned carrier device, each pylon being secured to the pl ate-form at its upper end and being integral with a "submerged float" of the carrier device at its lower end, each "submerged float" supporting one or more "carrier towers", OUATRIEMEMENT an "adjustable tare device" consisting of one or more tanks which contain an allowable outside water volume adjustable at any filling rate by means of a bidirectional pump, with a total capacity such that the weight of water contained at the maximum filling of these tanks (17) is equal at the maximum nominal payload of the building, plus the possibility of an overload of at least 10% of the total nominal load weight of the building (this total nominal load being counted when the setting is set so that the surface of the building the outside water is at least half the distance between the highest point of the aforesaid carrier and the lowest point of the aforementioned "habitable platform"), CINQUI EMEMENT a set of at least three "radiating arms", integral with the "livable platform" above, which radiate in a star around this platform and each support one or more elements belonging to one or more balancing devices or stabilization described below (devices with "auxiliary floats" described in the sixth, or moving masses described in the seventh, or "orientable fins" described in the tenth), SIXIEMEMENT a set of at least three "auxiliary floats" to shell closed, waterproof and profiled, distributed around the "habitable platform" to ensure the balance of attitude at a standstill or at low speed, integral with "radiating arms" or the "living platform" itself same, and such that: - the cumulative buoyancy of these "auxiliary floats" (difference between the sum of their buoyancy forces and the sum of their weights) is frankly greater than the sum of the maximum payload the nominal capacity of the building and the overload described in the fourth, this cumulative buoyancy being measured when the total volume of water contained in the possible tanks of the "mobile mass balancing device" (described in seventh) is equal to the average capacity Of these reservoirs, these "auxiliary floats" are sufficiently distant from the center of gravity of the polygon having at its peaks the peripheral ends of the aforementioned "radiating arms" so that their weighted average distance to this center of gravity, weighted by their volume, is greater than 50% of the overall length of the aforementioned carrier device at the second, E the lowest point of each "auxiliary float" is situated at a height between the height of the highest point of the aforesaid carrier device and the mid height of the aforementioned "habitable platform", this mid-height being the average of the altitudes of the lowest point of the platform elm and the highest point of the passenger compartment, SEPTEMBERLY a "balancing device with moving masses" whose horizontal position of the center of gravity can be permanently adjusted by displacements on the one hand towards the front of the building or rearwardly and on the other hand to port or starboard, having counterweights movable along guides, positioned along the latter by mechanisms comprising actuators, or having a body of water transferable by bidirectional pumps between reservoirs distant, the volume of this body of water being equal to the average volume of these tanks, EIGHTHLY "vertical" adjustable "wing-shaped" fixed to the bottom of "auxiliary floats" or "radiating arms" or the "habitable platform", each bearing at its lower end one or more of the "steerable fins" (described in the tenth) and having a sufficient length, having regard to the height at which these fins are located, NINELY a set of shaped "swivel fairings" which individually envelop each of the "carrier pylons" and each of the "swiveling wing poles" - 9 - above, such as: E each "swivel fairing" "is guided in rotation around the wrapped element by means of guiding members integral with this element and this fairing has its hydrodynamic lift center far enough downstream of its pivot axis to spontaneously orient in the current bed as a wind vane is moving in the wind bed, É for each "submerged float" of the carrying device, the sum of the frontal surfaces of the "pivoting fairings" (the front surface of each fairing is the area of its projection on a plane normal to its vertical plane of symmetry) relating to the "carrying pylons" supported by this float is less than 20% of the minimum area of the vertical section of the port passageway to starboard between this float and the habitable platform, passage limited to their common plumb, TENSIVELY "swiveling fins" immersed by force of hydrodynamic lift, in the form of wing or nozzle, each having at least one pivot pin integral with an element of the structure of the building, if necessary via a "steerable wing-lift mast" above, and being oriented by a drive mechanism, these fins being such that: É the highest point each fin, for any orientation of this fin, is located at a height less than or equal to that of the highest point of the aforesaid carrier device, E all of the "steerable fins" with vertical lift has a weighted average distance of these fins at the center of gravity of the horizontal polygon having at its summits the peripheral ends of the aforementioned "radiating arms", weighted by the area of the maximum projected surface on a horizontal plane of e each fin, which is: greater than 50% of the overall length of the aforesaid carrier device in the case of propulsion machinery for the wind speed based on wind energy and / or solar energy and not not requiring the simultaneous use for the propulsion at this speed of an engine using an embedded fuel, - greater than 30% of the overall length of the aforementioned carrier device in the case of a propulsion apparatus for cruising speed exclusively based on a engine using an on-board fuel, É the set of horizontal-lift "orientable fins" has a weighted average distance from these fins to the center of gravity of the polygon having at its peaks the peripheral ends of the above-mentioned "radiating arms", weighted by the area the maximum projected area on a vertical plane of each fin, which is: greater than 50% of the overall length of the aforesaid carrier device in case of pre a propulsion apparatus for cruise speed based on wind energy and / or solar energy and not requiring the simultaneous use for the propulsion at this speed of an engine using an onboard fuel, greater than 30 % of the overall length of the above-mentioned carrier device in the case of a propulsion apparatus for cruising speed exclusively based on a motor using an on-board fuel, ONZIEMEMENT a set of accelerometers for the measurement of linear acceleration, fixed to the structure of the building so as to measure on the one hand the vertical acceleration (upwards / downwards) in at least three distant and non-collinear points of the building, on the other hand the lateral acceleration (towards port / to starboard) in at least two distant points, one towards the front of the vessel, the other towards the rear, TWELY a set of devices for measuring the altitude of the vessel in relation to the altitude of the surface of the surrounding water, fixed to the structure thereof and distributed in at least three distant and non-collinear points, TREIZIEMEMENT an automatic device "attitude and attitude controller": + comprising a connected electronic calculator: the above-mentioned acceleration and altitude measuring devices, the actuators controlling the orientation of the aforementioned "swiveling fins", and, if the aforementioned overall length of the carrier device is greater than 6 m, also connected to the regulating actuators the horizontal position of the center of gravity of the moving masses of the aforementioned "movable mass balancing device", E and this calculator executes a calculation software developing in real time the orders to be sent to the actuators for the control of the attitude and the trajectory of the building, from the measurements received from the aforementioned measuring devices.

  FOURTEENTH a "main propulsion device": E either with wind energy equipped with elastic force-regulating force control devices, E or with solar energy collected by photoelectric sensors, which propels the ship to its cruising speed without assistance of an engine using an on-board fuel, E being a motor using an on-board fuel, with a power not exceeding the speed of 50 knots, E either by combining two or three modes of propulsion above, in any combination.

  Reminder: Cf. noted I at the beginning of chapter 3.3 (p.6) regarding the illustrations of the 1st 30 characteristic.

  3.4 - Explanations on the 1st characteristic / practical recommendations The value of 5% fixed in the "second" paragraph of the first characteristic is a given floor value for characterizing the device according to the invention. In practice, it is recommended to adopt a much higher value, for example around 10 to 20% so that the building is able to cross larger wave heights, while maintaining its stability.

  The weight of the moving masses of the "moving mass balancing device" described in the "seventh" paragraph of the first characteristic can typically be of the order of 10% of the total weight of the building; the value selected depends on the propulsion mode present on board for the cruising speed; lower values are more suitable in the absence of a wind propulsion device; higher values are more suitable in the presence of such a device to balance the wind capsizing torque, then more important.

  The value of 20% set in the "ninth" paragraph of the first characteristic is a given ceiling value for characterizing the device according to the invention. In practice, this value should be as low as possible, while remaining compatible with the mechanical strength of "carrier towers" and their "pivoting fairings".

  The projected surface weighting in the "tenth" paragraph of the first characteristic is approximately weighted by the maximum hydrodynamic lift forces of each "swiveling flap".

  The values of 50% and 30% set in the "tenth" paragraph of the first characteristic are floor values given to characterize the device according to the invention. In practice, it is recommended to adopt higher values, for example around 90% in the case of wind-powered propulsion equipment and around 70% in the absence of such a device, so as to increase the stabilizing torque capacity. "steerable fins" without having to increase their dimensions.

  The height positioning zone of the "auxiliary floats" fixed in the "sixth" paragraph of the first characteristic is also given to characterize the device according to the invention. In practice, it is recommended that the lowest points of the "auxiliary floats" be located in the same horizontal plane, substantially at the same height as the lowest point of the "habitable platform".

  With regard to the distribution around the "habitable platform" of "auxiliary floats", it is recommended that the barycenter of their maximum Archimedean thrust forces (at total immersion) be located in the vertical passing plane. by the center of gravity of the building and that it is also located longitudinally between the vertical center of gravity and the front third of the length of the "habitable platform": preferably in the vicinity of the aforementioned vertical in case of the absence of a wind propulsion device and preferably in the vicinity of the aforementioned third party in the opposite case.

  With regard to the distribution of the "floating platform" of the "steerable fins" with vertical hydrodynamic thrust force, it is recommended that the barycenter of their maximum thrust forces (at maximum incidence) be located in the vertical plane passing through the center of gravity of the building and being further located longitudinally between the vertical center of gravity and the front third of the length of the "habitable platform": preferably in the vicinity of the aforementioned vertical in the absence of a wind propulsion device and preferably in the vicinity of the aforementioned third party in the opposite case.

  In the "fourteenth" paragraph of the first feature, the onboard fuel booster speed is limited because of cavitation which would make the "steerable fins" completely inoperative beyond 50 knots.

  3.5 - Overview of the development of stabilization control commands In fast speed, when the calibration of the building is properly adjusted, the surface of the external water remains at an intermediate level between the carrying device and the "habitable platform" and is not in contact with it or the "auxiliary floats". The process of developing control commands for building stabilization devices is explained below by the software of the "attitude and trajectory controller" electronic calculator.

  The acceleration measurements at various points of the building structure, after integration with respect to time, make it possible to know local velocities at a constant rate; a second integration with respect to time makes it possible to know the corresponding local positions, also to a constant close.

  Measurements at various points of the building structure of the instantaneous local elevation relative to the surface of the external water, after calculating sliding average over a series of consecutive measurements, make it possible to know the local altitudes relative to the average surface outside water. These heights, not being tainted by any cumulative error, make it possible to know the integration constant of position in height and to recalibrate the local altitudes obtained by the two aforementioned integrations.

  Knowledge of the geometry of the installation of acceleration sensors and instantaneous height sensors on the building structure in relation to the surface of the external water then makes it possible to calculate the components of the inclination of the building. The altitude and inclination deviations from their nominal values then make it possible to calculate the overall stabilizing force and torque required to cancel these deviations, taking into account the mass and moments of inertia of the building, as well as taking into account other destabilizing efforts known.

  The knowledge of the force capacity and torque properties as well as the response time of the "moving mass balancing device" and the "swiveling flap" stabilization device allow the expected balancing and stabilizing forces to be distributed. different sub-devices component to balance this force and overall parasitic torque and finally control accordingly corresponding positional servocontrols.

  In the case where, thanks to optional sensors connected to the "attitude and attitude controller", the wind direction and speed are known, as well as the settings of the wind turbine apparatus, the drifting force and the wind turbine capsizing torque can be taken into account by the software to cancel the drift angle of the building.

  In the case where, thanks to optional sensors connected to the "attitude and attitude controller", the horizontal speed of the building is known and where the components of the water speed are known in the axis of each "float" immersed "and upstream thereof, the software calculates in an approximate and slightly anticipated way the components of parasitic transverse lift force imminent on this float and the components of parasitic torque induced imminent transverse axis.

  This allows the software to correct the actuator control commands to partially compensate for the response time of the stabilizers and thereby improve the stabilization devices.

  3.6 - Overall view of the behavior on the water of the device The "habitable platform" is totally located above and out of the water while sailing in "fast speed mode", ie building at "l ' altitude high position ", horizontal building level, average level of external water reaching mid-height between the highest point of the carrier and the lowest point of the" habitable platform "," auxiliary floats "stabilize the vessel by pressing on the water in" slow speed or stop mode "(building at" low position altitude "), but they are located totally out of water and above it when navigating in" fast speed regime "(ie building at" altitude high position ", attitude of the horizontal building, average level of external water reaching the mid-height above)," mobile mass balancing device "is intended to balance the main and slow-moving component of the cascading pair due to a possible defect in centering the payload or to the action on the building of the fluid flows encountered or to the action of the "main propulsion device", the stabilizing device with "adjustable fins" is intended to balance the remaining disruptive forces, including wind drifting force and rapidly changing components of the imbalance (the usual cause of pitch and yaw movements) to maintain attitude, altitude, course and course of the vessel 3.6.1 Introduction to operation in fast and steady navigation When the vessel is in fast navigation (a notion to be specified later), the average level of the external water is at a height halfway between the point the higher of the carrier device and the lowest point of the "habitable platform". The recommended vertical distance of these two points is of the order of 20% of the overall length of the carrier device (computer simulations have shown that the stabilized operation of the device according to the invention was possible up to a similar height 30% of this length overall, with "steerable fins" remaining acceptable size, the length of the "radiating arms" being set equal to the overall length above).

  With this typical value of 20%, the "submerged floats" or "submerged floats" are located at shallow depths below the surface of the external water: here at 10% on average of the above-mentioned overall length (on average, because the depth of immersion of the "submerged floats" is weaker at the passage of the wave hollows and stronger at the passage of the wave peaks).

  As a result, for example, a building with a single "submerged float" of 20 m length and a vertical guard of 4 m between this "submerged float" and the "habitable platform" has its float covered on average 2 m of water when in rapid navigation and: E in waves less than 4 m in height, the vessel may maintain its dynamic stabilization - 14 - by the "moving mass balancing device" and the device "swiveling fins" if its speed is sufficient, because the height of water covering the highest point of the "submerged float" varies between 0 m and 2 m at the passage of the wave troughs and between 2 m and 4 m at the passage of wave ripples, E waves greater than 4 m in height, the dynamic stabilization by the "moving mass balancing device" and the device "steerable fins" is no longer sufficient and the buoyancy of Archimedes "auxiliary floats" and / or "habitable platform" intermittently touching the water i As well as the drop in Archimedes' thrust of the "submerged floats" when they partially discover intermittently: the regime is no longer that of "fast speed" and the building is then subjected to parasitic movements due to waves.

  When the vessel is in fast stabilized navigation, as the buoyant load of the buoyant device is equal to the total laden weight of the vessel minus the cumulative buoyancy pressure of the other submerged or partially immersed appendages when the external water level is at the midpoint above, the weight of the water admitted into the "adjustable tare device" shall be equal to the difference in weight between the payload actually loaded and the nominal maximum payload set during the design of the building.

  This nominal maximum payload is calculated as follows: it is equal to the accumulated buoyancy force of the "submerged floats", increased by the low buoyancy of the other submerged parts of the vessel when the outside water arrives at the half-height above, less the weight of the structure of the building, and finally, if necessary, the weight of the water loaded in the tanks of the "balancing device with moving masses" (the volume of water on board these reservoirs is equal to the average volumes of these).

  The "main propulsion device" drives the structure of the building composed mainly of the "habitable platform" and the carrier device. The latter offers a low resistance to advancement through the profiled shape and large elongation or "submerged floats" and the immersion of the latter which limits the wake surface.

  The building, whose center of gravity is located much higher than the Archimedes center of thrust, is maintained in horizontal equilibrium (in other words: attitude maintained horizontal) and stabilized at altitude by the action of different devices according to the pace. : "High position altitude", during the "fast speed" periods, the "moving mass balancing device" and the "adjustable fin" stabilization device, "E" at the "position altitude" low ", during the periods of" speed slow speed or stop ", by the" auxiliary floats ", which are then supported on the water.

  3.6.2 - Payload - building settings for both high and low positions 35 The "adjustable tare device" is used to set the building altitude: E either at "low position altitude": the "auxiliary floats" rely on the water, in which they partially sink, - 15 - E either at "altitude high position": the attitude of the vessel being kept horizontal, no "auxiliary float" nor the "platform "do not touch the water and the average level of the outside water comes halfway between the highest point of the carrier and the lowest point of the" habitable platform ".

  The function of the "adjustable tare device" is to establish the total load weight of the vessel: E at a pre-determined value (set during the design phase of the vessel), regardless of the weight of the payload on board, as long as its value remains between zero and the maximum payload weight (also fixed during the design phase), so as to allow the ship to be at "high position altitude" during the "steady state" periods. fast speed ", now at a much higher value, achieved by fully filling the tank of the" adjustable tare device ", so as to positively support all" auxiliary floats "on the water during periods of" slow speed regime " or stop ".

  The payload of the ship includes mainly crew and passengers, their baggage, bunkering, and possibly cargo, as well as accommodation, safety and rescue equipment.

  The payload is rigorously defined here as being all that is embarked on board the ship and which does not functionally belong to one of the constituent elements of the device according to the invention, being specified here that the water contained in the reservoirs of the "adjustable tare device" and, where applicable, the "moving mass balancing device" are not part of the payload, while the other possibly embedded fluids are part of the payload (if their volume varies during navigation, the setting of the "adjustable tare device" must be retouched).

  3.6.3 - Slow speed or stop speed In "slow speed or stop mode", the weight of the "adjustable tare device" is loaded to the maximum, the vessel is at "low position altitude", the "auxiliary floats" are 'support the water and thus ensure the balance of the building, both at altitude and on the plate. The building is not stabilized in this case and it undergoes parasitic movements printed by the waves.

  3.6.4 - Fast speed ratio, In "fast speed mode", the weight of the "adjustable tare device" is loaded to a precise value (close to zero if the payload is at the maximum value expected during the design), the vessel is at "altitude high position", ie the average level of the outside water reaches halfway between the highest point of the carrier and the lowest point of the "flat" "living form", the building's attitude is horizontal, neither the "auxiliary floats" nor the "habitable platform" touch the water, but against the "adjustable fins" remain immersed.

  The "attitude and attitude controller" device, based on the measurements from the acceleration and relative altitude sensors of the vessel, and, if appropriate, imminent wave characteristics, ensures both the equilibrium and the stability of the vessel by continuously adjusting: la the horizontal position of the center of gravity of the ship, by controlling the proper positioning of the moving masses of the "moving weight balancing device" (forwards or backwards, or to port or starboard), which offers a strong stabilizing torque capacity, but with a response time of a significant duration, É the stabilizing forces of hydrodynamic lift, by adequate control of the orientation of the "orientable fins" , so as to keep the ship horizontal, at the right altitude, on its course and on its course, opposing both the capsizing, stuttering and pitch-up pairs as well as vertical transverse forces waves, which offers a greater transverse stabilization capacity than the parasitic transversal stresses of the waves from a certain speed of the ship, as well as a holding torque capacity, which is certainly lower than that of the balancing device with moving masses ", but with a much shorter response time.

  3.6.5 - Fast speed conditions The "fast speed speed" can be reached and maintained in the periods of appropriate conditions: W waves, the height of which must remain below a limit value which depends on the size of the building, and more precisely the difference in height between the highest point of the carrier and the lowest point of the "habitable platform", wind E, which must remain of relative speed and direction acceptable (with gusts) not excessive in case of wind propulsion), É sufficient propulsive force.

  3.6.6 - Influence of the size of the building Computer simulations with exploration of the behavior of parametric models of the waves and the building propelled by sails showed an operation of the device according to the invention which is in first approach independent of the size of the building .

  These simulations show indeed, for buildings with "radiating arms" of length equal to the length of the "submerged float" and with surface of wing proportional to the square of the length of this float: É that the height of maximum waves in " fast speed regime "is of the order of 25% of the length of the" submerged float "(with" carrier towers "of appropriate length), E that the top speed (reached by crosswind) is independent of the length of the this float, É that the height of the waves has a weak influence on this top speed as long as it remains lower than the maximum attainable height in "speed fast speed" (the maximum speed decrease due to the waves is of the order of a few percent).

  With regard to these simulation results, however, the following remarks should be made: - 17 - The height of practicable waves to be retained in practice is lower, that is to say of the order of 10 to 15% of the length of the "submerged float", on pain of being able to benefit from the "fast speed regime" only in rare conditions of waves of constant height and sufficiently strong, regular and well directed wind (if one retained 20 to 25% , this regime could be maintained only in strong wind and only direction close to the crosswind).

  For very small buildings (for example a 5m beach sport boat with two or three passengers), the height of fast-moving waves in "fast speed mode" is very low and navigation in this regime requires a plan of relatively sheltered water.

  For larger vessels (eg a 100m cruising seam), the maximum height of the transient waves in "fast speed mode" is not increased in proportion to the length, partly because of the technical difficulty of making masts proportionally as high (which limits the surface of the sails) and secondly because of the breaking energy of high waves likely to break.

  3.7 - Trihedron of reference In the continuation of the document, it will be used an orthonormed reference trihedron [OXYZ] to designate the privileged directions of the space. Point O, unless otherwise stated, is the center of gravity of the structure of the unladen building, ie without payload and empty ballasts, axis OX is the horizontal line passing through point O of direction parallel to the fore-and-aft axis of the ship and facing forward (longitudinal or moving direction of the ship as it moves forward without drifting), the OY axis is the horizontal line, passing through the point O, perpendicular to the axis OX and oriented to port (transverse or starboard-port), the axis OZ is the line perpendicular to the axes OX and OY passing through point O and pointing upwards.

  In implicit reference to this trihedron, it will thus be possible in the rest of the document to speak unequivocally in direction parallel to the axis OX, to the axis OY, or to the axis OZ, as well as to a plane parallel to the horizontal plane XOY , or in the vertical plane XOZ, or in the vertical plane YOZ.

  Similarly: É The term "longitudinal axis of the vessel" (or vessel or vessel) shall unambiguously denote the axis OX, "The plane of symmetry of the vessel" (or ship or vessel), shall mean unambiguously the plane XOZ (even the building is not rigorously symmetrical with respect to this plane, its mass is divided half to port and half to starboard).

  3.8 - Characteristics of particular and nonlimiting embodiments This chapter 3.8 describes the characteristics of particular and non-limiting embodiments of the device according to the invention. Most of them will be illustrated later in an example in Chapter 6 (p.51), except for the last two chapters, which will be illustrated in examples in Chapters 7 (p.82) and 8 (p.96).

  3.8.1 Characteristics relating to submerged floats and carrier pylons In a particular and nonlimiting embodiment of the device according to the invention, the shape of each "immersed float" is a volume of revolution, of parallel axis. to the axis OX and relative thickness of about 8 to 12%, generated by a wing profile (for example a profile NACA 0010).

  In a particular and nonlimiting embodiment of the device according to the invention, each "carrier pylon" has its axis located in the vertical plane of symmetry of the "submerged float" adjoining.

  In a particular and nonlimiting embodiment of the device according to the invention, in the case of a plurality of "submerged floats", their distribution is symmetrical with respect to the plane XOZ and the centers of gravity of the volumes of water they move are located at approximately the same height.

  In a particular and nonlimiting embodiment of the device according to the invention, some "submerged floats" comprise a "submerged propeller" of horizontal axis at their downstream point, whose shaft is mechanically coupled to a propulsion motor and / or an electricity generator.

  In a particular and non-limiting embodiment of the device according to the invention, the wall of some "submerged floats" and the caséchéant some internal partitions thereof have an opening closed by a removable watertight door allowing access to internal equipment during dry dock operations.

  In a particular and nonlimiting embodiment of the device according to the invention, each "carrier pylon" consists of a metal column (for example stainless steel) recessed at the ends, generally cylindrical or slightly conical between recesses, the the thinnest section is at the bottom, the recesses in robust housing of the structure of the "submerged float" and that of the "habitable platform" being provided by mechanical interlocks (eg locking nuts braked on pylon with threaded ends) and the crumbling demountability of the "habitable platform" being guaranteed by a fine channel provided at half height of each recess housing for the injection of oil under high pressure dilating the bore.

  In a particular and non-limiting embodiment of the device according to the invention, the punching effect of the structures by the axial compressive force in the "carrier pylon" is avoided by shoulders on the shaft of this pylon which is are supported by robust metal washers, which in turn bear on the discharge plates distributing the force in the surrounding structure of the "habitable platform" or the "submerged float".

  In a particular and non-limiting embodiment of the device according to the invention, "submerged float" compartments can be used to embark goods, or with access by a "carrier pylon" tubular if the building is of sufficient size to that the barrel of this pylon has a sufficient diameter, either with access by a hatch removable and sealed to the upper part of the "submerged float". In the latter case, access is only in sheltered waters; a rigid cylindrical skirt, the base of which is designed to fit exactly the shape of the float around the hatch, is lowered (for example by means of hoists) from a well with a watertight wall provided in the "living platform" "in which it slides vertically; the foot of the wall of the skirt is widened on the inner side to form an annular support; the lower face of this support is provided, near its inner edge and its outer edge, two coil seals held in concentric grooves; after docking the skirt against the float, a vacuum pump depresses the interstitial space between the two joints, plated and crushed between the float and the skirt whose foot forms a suction cup and which then constitutes a watertight barrier around the hatch ; a depletion pump then dries the bottom of the skirt; the wall of the "submerged float" comprises a crown of threaded blind holes along the foot of the skirt, internal side, very close to it; these holes are normally closed by flush plugs which are then unscrewed and replaced by threaded rods and anchored by nuts to brackets integral with the skirt to mechanically ensure the plating of the latter against the "submerged float"; eccentrics threaded at the foot of the tie rods, provided with an angular screw locking device, also allow to block laterally the skirt foot by buttressing to prevent any lateral sliding may cause leakage; the hatch can then be dismounted dry and safely, which allows access to the internal compartment of the "submerged float"; reverse operations, performed in reverse order, can close the watertight hatch and lock its screws, release the eccentric and the nuts of the tie rods, unscrew them and screw in their place the plugs, release the suction effect under the foot of skirt, go up the skirt, close and lock the curved trapdoor of the well of the hull of the "habitable platform" to restore the original hydrodynamic form of this hull and make the building again fit for navigation; the precautions necessary to monitor the tightness of the "submerged float" hatch are described at the end of chapter 3.8.11 (p33).

  3.8.2 - Characteristics concerning: platform, radiating arms and auxiliary floats In a particular and nonlimiting embodiment of the device according to the invention, the "habitable platform" has its center of gravity located substantially on the vertical of the Archimedes thrust center of the carrier device.

  In a particular and nonlimiting embodiment of the device according to the invention, the "habitable platform" is a decked hull whose rear part comprises a cockpit with coamings and longitudinal benches to sit, including the front of the bridge is unobstructed for jib maneuvers and is equipped in the center of a cockpit arranged for life on board as most habitable sailboats of ten meters in length, with the exception of the presence of a computer console (keyboard and screen). This is used by the crew to interact with the "attitude and attitude controller", particularly at the beginning and at the end of navigation, during the regime changes decided by the crew (take-off and landing phases). ), during changes of course and, if necessary, during major changes to the wing (tack, change of sail, catch or release of reef).

  In various particular and nonlimiting embodiments of the device according to the invention, the "habitable platform" is monobloc and comprises at its lower part a single shell or several shells forming separate hulls, or is composed of separate bodies distant each provided with a hull forming a hull, secured by beams forming spacers.

  In a particular and non-limiting embodiment of the device according to the invention, the "radiating arms 40" are substantially horizontal and the peripheral ends of the neighboring "radiating arms" are connected by inextensible cables stretched by turnbuckles.

  In a particular and nonlimiting embodiment of the device according to the invention, the "radiating arms" are such that any point of these arms not directly overhanging an "auxiliary float" or a "steerable wing-mast" is at a minimum. altitude higher than halfway up the "habitable platform". This embodiment is illustrated in Figure 4.

  In a particular and non-limiting embodiment of the device according to the invention, the "auxiliary floats" are shaped and very elongated in the direction of the building and they have the bow-shaped front to split the waves.

  In a particular and nonlimiting embodiment of the device according to the invention, each "auxiliary float" has a volume of between 20% and 30% of the volume of the carrier device.

  3.8.3 - Characteristics concerning the pivoting fairings 3.8.3.a Hydrodynamic form of the fairing In a particular and nonlimiting embodiment of the device according to the invention, each "pivoting fairing" has an external shape whose horizontal section is progressive on the along the height of the fairing: at the bottom, it is a wing section with a very advanced master-torque (for example the master torque is 20% of the length of the profile rope from the edge of attack) and at the top, the profile is equally thin, see more, in relative thickness, but its length of rope is much larger, the leading edge forming a bow angle increasingly pronounced from half height. Over the entire height, the profile is offset as far back as possible, so as to have the hydrodynamic thrust center very downstream of the axis of the pivot column (for example by having 85% of the surface of the plane carrier located downstream of this axis). The fairing has a torque master as small as possible over its entire height, the wall thickness just needed for the mechanical strength required closest to the side contour of the column, except local bulge at the lower end to accommodate the guiding member and the seal (s) and except for any local bulge near the upper end in the case of a "steerable aileron mast" for accommodating the control actuators of the " swiveling fins ".

  In a variant of the previous embodiment, each "pivoting fairing" has an external shape whose horizontal section remains equal to the foot section over its entire height (the volume of the shroud is then a cylinder with symmetrical wing profile) .

  3.8.3. b - Internal structure and materials of the fairing According to particular and non-limiting embodiments of the device according to the invention, the "pivoting fairings" are made of metal or fiber-resin laminate material; they have, where appropriate, watertight compartments which are either filled with air or filled with a filling material, such as rigid plastic foam or wood; the compartment of the front is optionally filled with special material to form "crash box" energy dissipator in case of obstacle collision; these fairings are designed so that their buoyancy is low or zero to reduce the friction of the bearings, if necessary by adding a ballast dense material with low moment of inertia (for example a lead tube embedded in the thickness of hub wall); where appropriate, a ring of elastic material is interposed between each bearing and either the column or the housing of the bearing, so that the radial elasticity in case of encounter obstacle allows a slight decline of the fairing canceling the game on the front and allows the fairing to lean directly on the column; if necessary, a section of elastic material (such as a hard rubber ring) or deformable and replaceable martyr (such as a hardwood profile) is attached to the leading edge perfectly flush with the hydrodynamic surface (for example by embedding in longitudinal bleeding at the leading edge).

  3.8.3.c - Guidance in rotation of the fairing In a particular and nonlimiting embodiment of the device according to the invention, each "pivoting fairing" is guided at its upper end by a rotational guiding member fitted on the one hand on the tubular hub of the fairing exceeding its hydrodynamic shape and secondly in a housing of the lower wall of the upper structural element of the building; this member, according to different variants, is either a radial ball bearing radial contact inner ring held axially by circlips slipped into outer grooves of the fairing hub, or a pair of tapered roller bearings mounted in opposition and blocked axially at the top by a braked nut screwed on the threaded hub of the fairing and down against a shoulder of this hub. The outer ring (s) of the one or more rotational guiding members are locked axially at the bottom of the housing of the upper structure element of the building by a tight cover located below; this cover, composed of several pieces with radial gasket and sealed to be removable, is embedded in the wall in a slightly wider concentric counterbore to flush with the hydrodynamic shape of the wall and is fixed to the latter by screws; this cover comprises a seal or two rotating seals cascaded and rubbing against the outer face of the hub, provided at this location with a metal ring embedded in a sealed manner and mirror-polished surface; the housing of the bearing or bearings has in the upper part a thin lubricating channel feeding the oil bath in which he or they operate.

  In a particular and nonlimiting embodiment of the device according to the invention, each "pivoting fairing" is guided at its lower end by a needle bearing without internal cage, rolling directly on the locally cylindrical surface, rectified, polished mirror and the if necessary treated from the column form pivot of the fairing. A seal or two rotating gaskets cascaded under this bearing, in internal grooves of the fairing hub, rub against the column and provide restraint for the oil bath in which it operates and which is fed from the upper bath through the annular clearance between the column and the wall of the fairing hub.

  In a particular and nonlimiting embodiment of the device according to the invention, the foot of the "pivoting fairing" of a "carrier pylon", which accommodates the housing of the lower rotational guide member, is, according to two Variations: E be located above the surface of the "submerged float", the foot of the "swivel fairing" having, where appropriate, a local bulge to accommodate the bearing, E be entirely concealed from the flow of water while being located lower than this surface by 40 penetration with play of the tubular hub extending the "pivoting fairing" in a housing - 22 - formed in the "submerged float" housing closed at the top by a recessed cover and flush with the top of the float, removable in several parts with radial seal planes, fixed to the wall of the float by screws and provided with a rotating seal rubbing against the outer face of the fairing hub to prevent the penetration of foreign bodies in this accommodation.

  3.8.3.d - Possible passage of vertical connecting members In a particular and nonlimiting embodiment of the device according to the invention, certain "pivoting fairings" are provided with a non-sealed through vertical light, distinct from the light through which crosses the pivot column of the fairing, located downstream thereof; this downstream light allows the passage of cables, pipes or mechanical transmission shafts connecting the upper element to which the column is attached and the lower element or elements which is (or are) integral with the foot of this column (as appropriate) : "submerged float", "swiveling spoiler (s)" or "wind vane (s)"). The horizontal section of this light is provided to allow pivoting of the fairing despite the presence of these trees, cables or pipes (for example, it has a shape of circular ring sector centered on the axis of the column).

  In a variant of the embodiments of the device according to the invention described in previous Chapter 3.8.3.c (p.21), eccentric, unbalanced cylindrical rings located on the downstream side of the column (which is, according to the case, a " carrier pylon ", a" steerable wing-lift mast "or a" hydraulic wind-ax mast "), are fitted on the latter at the height of the rotating guiding members of the" swiveling fairing ", and immobilized with respect to this column ( for example by brazed needle screws, radial axes, penetrating into conical notches of the column); the upper bearing (s) are fitted on the upper eccentric ring; the fairing foot bearing needles roll directly onto the ground, mirror-polished and optionally treated surface of the lower eccentric ring; these eccentric rings allow the passage through vertical orifices, formed in their unbalanced part, cables, pipes or transmission shafts between the upper element and the lower element braced by the column (as the case, the lower element is a "submerged float", or one or more "steerable fins", or one or two "hydraulic vanes").

  According to two sub-variants of the variant described in the previous paragraph: E is the light through which the column passes is watertight over its entire height and in this case the tightness of the oil bath common to all fairing guide bearings is provided by a seal (or two cascade seals) mounted in one (or two) inner grooves of the fairing hub and rubbing on the outer cylindrical face of each eccentric ring, and , on the lower side of the lower eccentric ring and the upper side of the upper eccentric ring, E is the light through which the column passes is not waterproof and in this case the sealing of each of the baths individual oil at each rotation guidance is provided by a seal (or two cascade seals) mounted in one (or two) inner grooves of the fairing hub and rubbing on the outer cylindrical face of each eccentric ring, and of each next to each rotation guide and the communication between the individual oil baths is provided by a thin longitudinal channel formed in the thickness of the wall of the fairing hub.

  3.8.4 - Characteristics relating to the wind propulsion apparatus In a particular and nonlimiting embodiment of the device according to the invention, the "main propulsion device" is aeolian and it comprises aerial appendages whose aerodynamic lift force is adjusted by the orientation of each appendage by means of a listening whose opposite end to the appendix is retained by a force-regulating device with elastic behavior law, this regulator having its built-in solidarity with the structure of the building or solidarity of a spar whose position is not / edified by the shifts of the listening.

  3.8.4.a - Force-regulating devices In a particular and nonlimiting embodiment of the device according to the invention, the force-regulating devices with an elastic constitutive law of the "main device of propulsion" wind each consist of a drum freely rotating on a shaft integral with the frame of the regulator; this drum is a double winch comprising two tracks in the form of cams of different profile which receive the antagonistic windings of the listening of retaining of the Aeolian appendix and a second cable; the latter has its opposite end anchored to a rigid element integral with the aforementioned frame by means of a pneumatic cylinder with low friction connected by large diameter pipe to a compressed air tank; the latter is of very large volume relative to the maximum volume of the cylinder chamber and its internal pressure is adjustable to adapt to the wind force and the size of the wind appendix in use, for example by compressor, valves and manometer or by refillable high-pressure gas cylinders and adjustable regulator.

  In a particular and non-limiting embodiment of the device according to the invention, the cam profiles of the opposing windings on the drum of the regulator are provided so that the moment, with respect to the integral axis of the building structure around which pivots the Aeolian appendix, the tensile force of the listening, has a linear growth as a function of the angle of the average carrier plane of this wind appendix when this angle changes from 0 ("end to the wind") to 180 (full "tailwind" and average plane of the appendix parallel to the wind direction), this growth being relatively small (of the order of 10 to 20% when the angle increases from 0 to 180).

  In a particular and nonlimiting embodiment of the device according to the invention, some of the cables of the force regulators are guided close to their winding on the drum being sandwiched between the grooves of two quasi-tangent pulleys whose axes are carried by a carriage sliding parallel to the axis of the drum, on a guide rail secured to the frame of the regulator, the displacement of the carriage being controlled by a device connected to the rotation of the drum; according to two non-limiting variants, it is either a drive by a cable secured to the carriage in the middle and driven at its ends, via pulleys with axis integral with the frame, by opposing windings on both ends of the drum, cylindrical and of smaller diameter, forming winches annexes, or a screw-nut system whose nut is fixed to the carriage and whose screw, held by axial stops integral with the frame, is rotated by a gear , a chain or a toothed belt, themselves driven by a pinion or a toothed pulley secured to the drum.

  In a particular and nonlimiting embodiment of the device according to the invention, some of the above-mentioned force-regulating devices are located below the bridge and the sheets join them through a set of ball-bearing derricks crossing the bridge. by openings, located where appropriate at the locations where the winches are usually attached to the sailboats.

  In a particular and non-limiting embodiment of the device according to the invention, the drum of the above-mentioned force regulators is integral with a sensor of a current type for the absolute measurement of angular position and a limiting actuator. force or torque (for example a stepping motor of a standard type and of a suitable torque, possibly associated with a gear reducer) or associated with a force or torque limiter; the actuator control and the sensor are connected to the electronic computer of the "attitude and trajectory controller" whose software refines the listening adjustment to compensate for the internal friction of the force regulator.

  In a particular and non-limiting embodiment of the device according to the invention, each force regulator device comprises a plurality of mechanically coupled pneumatic cylinders, some of which can be put into service instantaneously or out of service (in a sense "disengaged", their two chambers being vented) by means of valves, so as to adapt immediately in case of sudden change in wind speed.

  In a particular and non-limiting embodiment of the device according to the invention, each force-regulating device has its pneumatic cylinder that can be instantly connected by means of valves to a pneumatic reservoir chosen from among several different sustained pressures, so as to react immediately to a sudden change in wind force.

  3.8.4.b - Devices for wing and rigging with large angular deflection In a particular and nonlimiting embodiment of the device according to the invention, the mast or masts of the wind turbine device are provided to be able to pivot on an angular stroke exceeding 180 and reaching where appropriate 360; for this purpose the cables that are now erected are moored by rotating fittings on rolling bearings and their path is provided for any appendage rotating with the mast does not hang (boom, sails ...).

  In a particular and nonlimiting embodiment of the device according to the invention, vertical candlesticks with rotating sleeves on bearings are located on the "living platform" or on "radiating arms" to guide the listening of the wind device according to a favorable pulling angle by intercepting them as they pass forward.

  3.8.4. c - Emergency stop device In a particular and non-limiting embodiment of the device according to the invention, an emergency stop device is provided, controlled by the software of the "attitude and attitude controller" to which each actuator is connected, as soon as it is crossed either the predefined warning threshold of admissible speed of the building as a function of the depth of water, or the minimum permissible water depth, and according to two variants of the embodiment: E is a solenoid valve of a current type, with sudden opening and large flow, connected to the open air, allows to instantly drop the pressure in the chamber of each pneumatic cylinder of the force control devices with elastic behavior law retaining the listening of the aeolian appendices and simultaneously the motors of angular adjustment of the drums - 2 5 - the force regulators are controlled to let the plays of the plays in large, É be a dispo instantaneous release device is provided on each listening (for example each carabiner holding the point of listening of a sail is remotely controllable opening by a cord brutally pulled by an electric actuator of a current type, force and time of 5 appropriate answer).

  3.8.5 - Characteristics relating to non-wind modes of propulsion In a particular and non-limiting embodiment of the device according to the invention, the "main propulsion device" operates on solar energy collected by photocell panels. a common type, chosen high efficiency. These panels cover a floor integral with the "radiating arms" and they are connected by electric cables to a regulator, to a storage battery and to one or more electric motors driving one or "submerged propellers" located (s) for example to the back of the (or) "submerged floats". The regulator, the battery and the electric motor (s) are each of a current type chosen with appropriate characteristics. According to different variants, each of these three last electrical equipment is housed in the "habitable platform" or in the carrier device; where appropriate, one or more electrical transmissions by cable and / or mechanical transmissions by rotary shafts with gear end angle references connect (s) the "habitable platform" and one (or more) "submerged floats" .

  In a particular and non-limiting embodiment of the device according to the invention, the "main propulsion device" uses the energy of an on-board fuel and comprises one or more engines of a standard type intended for marine propulsion, driving one or "submerged propellers" located (s) for example at the rear of (or) "submerged floats". According to different variants, the one or more motor installations are housed in the "habitable platform" and / or in the carrier device; as the case may be, a mechanical transmission with rotating shafts and gear end angle references or the power supply and control of the motor (s) connecting the "habitable platform" and the (or the) "submerged floats" concerned as described in chapter 3.8.3.d (p.22).

  In particular and non-exclusive embodiments of the device according to the invention: the wall of the "submerged float" comprises a dismountable and perfectly sealed hatch allowing access to a compartment containing equipment for operations in dry docking on assembly and the maintenance of these equipments; the leaktightness of this hatch is for example ensured by a plane joint tightened by a line of very close screws, engaged in threaded blind holes in the wall of the float, which follows the perimeter of the hatch.

  E the "submerged propeller" shaft seal and the hatch seal are monitored by breather devices as described later in Chapter 3.8.11 (p.33).

  3.8. 6 - Characteristics relating to the device with moving masses and the reservoirs In a particular and nonlimiting embodiment of the device according to the invention, each tank or ballast of the "adjustable tare device", as well as of the "mobile mass balancing device" "in the case where the latter is based on the displacement of a body of water, is provided with a sensor of a current type, measuring the height of water contained, which is connected to the computer - 2 6 - electronic the "attitude and trajectory controller" and this reservoir is also provided with vertical internal walls making a compartmentalization of the internal volume to limit the sloshing; these walls are provided with openings calibrated at the bottom for the passage of water and at the top for the passage of air during water transfer operations.

  In a particular and non-limiting embodiment of the device according to the invention, the "balancing device with moving masses" comprises a compartment-ballast located in each "auxiliary float". These tanks are interconnected by pipes converging in an intercommunication chamber located in the "habitable platform" and each comprises a bidirectional pump low flow at low pressure, coupled with a valve of a current type closure fast if the pump is not waterproof at shutdown. Each pump may be for example (non-limiting) a bow thruster of a standard type or a peristaltic pump of a standard type. Each bidirectional pumping function in this device can also be provided by two unidirectional pumps mounted head to tail in two pipes forming "bypass" with a distributor putting into operation a line or the other. The above-mentioned intercommunication chamber is also connected to the external water by a pipe provided with a bidirectional pump and a closing valve of common types and a strainer for filling and emptying (important reminder: the volume of water admitted for navigation in "fast speed regime" is equal to the average volume of the tanks of the device, and not to the sum of their volumes); these operations normally only occur during launching and when leaving the water (for overwintering for example).

  In a particular and non-limiting embodiment of the device according to the invention, the transfer pumps between the tanks of the "balancing device with moving masses", as well as the possible solenoid valves associated with these motor pumps, are controlled by the software of the electronic calculator of the "attitude and course controller" to which they are connected.

  3.8.7 - Characteristics concerning the fixing of the wing poles or wind vanes 3.8. 7.a - Rigid link with calibrated breaking load In a particular and nonlimiting embodiment of the device according to the invention, each "steerable aileron mast" is extended in the upper part by a robust fitting embedded in an "auxiliary float" ". The lower part of the fitting and the upper part of the mast are constituted by two sturdy flat flanges vis-a-vis, assembled against each other by bolts with calibrated breaking strength, calculated to avoid any excessive effort. may damage the "auxiliary float" and the rest of the building structure in the event of a collision with the mast or "swiveling wings".

  In a particular and non-limiting embodiment of the device according to the invention, each "hydraulic vane-holder mast" is extended in the upper part by a robust fitting integral with a horizontal beam fixed to the front of the "platform Living ". The lower part of the fitting and the upper part of the mast are constituted by two sturdy flat flanges vis-a-vis, assembled against each other by bolts with calibrated breaking strength, calculated to avoid any excessive effort. may damage the beam and the rest of the building structure in the event of an obstacle collision on the front by the mast or the "hydraulic vanes".

  - 27 - 3.8.7. b - Link with force limitation by balls, spring and cables with calibrated rupture In another particular and nonlimiting embodiment of the device according to the invention, the connection of each "adjustable wing-bearing mast" and / or each "Hydraulic wind vane mast" to the upper structure element of the building is provided by two robust flat plates which are superposed and horizontal or inclined upstream, normally secured to one another by a positioning and plating device against each other with effort limitation; the upper plate is rigidly secured to the upper structural element of the building and the lower plate is rigidly secured to the head of the mast, with possibly reinforcements consisting of vertical triangular stiffeners arranged radially around the mast, housed in the form flared from the top of the "swivel fairing".

  The non-slip positioning of the two plates is ensured by three balls crimped into one of the plates and coming to fit into three hollow recesses of the other plate; the clamping of the plates against each other is ensured by three tensioned cables, by force of calibrated rupture.

  These three cables are anchored to the lower plate and they pass through the upper plate perpendicular to it by holes with lower holes flared, rounded and polished so as not to be damaged, then they pass on three grooved pulleys located above of this upper plate, axes orthogonal to the longitudinal axis of the "radiating arm" (cases "adjustable wings") or the front beam (case "hydraulic vane").

  Finally, these three cables meet and merge into a single traction cable of oversized strength and direction substantially parallel to the axis of the upper structural element of the building ("radiating arm" or aforementioned front beam); the other end of this single pull cable is attached to a compression spring (of the type of those interposed on the boat moorings as dampers).

  The other end of the spring is hooked to a second oversized dragline, the other end of which is attached to a lockable lever or hoist that can be used to energize the cables and the spring to lock the link, and sometimes to release them to be able to separate the two plates in order to voluntarily raise the mast; each of the balls is close to the lower anchorage of one of the calibrated resistance cables and the three pairs they form are arranged at the vertices of an isosceles triangle whose base, adjacent to the downstream edge of the plates, is parallel to the axis OY and the opposite peak to this base is located on the upstream side relative to the base.

  The mast is provided by mooring to the building by means of a long cable of intermediate resistance, arranged folded in accordion on the upper structural element of the building and maintained by elastic bracelets or wire to break; in the event of an obstacle collision with a brief and slight dislocation of the balls, the connection is restored by itself; in case of more intense effort, it dislodges completely and it is necessary to relax and then gradually retend the cables to restore it; in case of violent force, one or more calibrated cables break and their replacement is necessary to restore the connection.

  In a variant of the embodiment of the device according to the invention described in the preceding paragraph, the linkage rods with force limitation by balls, spring and cables with calibrated breaking load are provided with a voluntary lifting device to the downstream and upwards by means of a cable attached to an ear of the trailing edge of the "pivoting fairing", located on its upper half, possibly doubled by a cable anchored lower to complete the raising; this or these lifting cables pass over a pulley bearing on the upper structural element of the building, if necessary via a davit secured to the latter by its base; the mast can be raised by relaxing the cables and the spring ensuring the tightening of the two plates of the link and hoisting it by this or these cables.

  In a variant of the embodiment of the device according to the invention described in two paragraphs above, the three pulleys are replaced by three quarter-shaped sheave pulley elements, made of a material with a low coefficient of friction (PTFE for example), forming sliding angle guides for calibrated resistance cables.

  3.8.7. c - Hinge-to-stop connection and abutment by magnetic attraction In another particular and nonlimiting embodiment of the device according to the invention, the connection of the "adjustable portage rods" and / or "hydraulic vane carriers" to the element of upper structure of the building, each of which is secured by a robust safety hinge axis parallel to the axis OY having on the one hand a stop limiting the pivoting of the mast upstream so that it mast is in a low vertical position and secondly a force-limiting device for holding in abutment against the stop, which allows the mast to retract by pivoting downstream and rising in the event of a collision. obstacle from the front; the breaking strength of the hinge fastenings on the mast and / or the upper structure element of the building is designed to prevent excessive forces that could damage the main structure of the building in case of hooking without releasing the "swiveling fins" or "hydraulic vane" by an obstacle attached to the bottom (chain or cable for example). This device is thus constituted: É In the case of a "steerable wing-lift mast", according to two particular and non-limiting variants, the axis of the hinge is integral with the underside of the "auxiliary float" or is integral with a fitting affixed to the downstream side of the "radiating arm" and a cable attached to an ear on the upper half of the trailing edge of its "swivel fairing" allows its voluntary raising, if necessary up to the vertical; if necessary, this cable is lined with a second cable, anchored lower than the first, to allow the end of lifting the mast.

  É In the case of a "hydraulic wind vane mast", according to two particular and non-limiting variants, the axis of the hinge is integral with the underside of a beam located at the front of the structure of the building and is the "pivoting fairing" is truncated at an inclined cut in the upper part of its trailing edge to allow partial raising of the mast, ie the safety hinge is offset laterally with respect to the beam by means of a fitting to allow a bearing complete the mast without the latter or the weathervanes hitting the beam; in both cases, a cable is possibly attached to an ear located on the upper half of the trailing edge of the "pivoting fairing" of the mast to allow the voluntary raising of the latter, if necessary up to the vertical in case deported fittings; if necessary, this cable is lined with a second cable, anchored lower than the first, to allow the end of lifting the mast.

  In a particular and non-limiting embodiment of the device according to the invention, the restraint device with force limitation of the safety hinge is a robust permanent magnet magnetic closure and pallet of ferrous material closing the air gap when the closure is closed. The plane of contact of the two parts of the magnetic closure is parallel to the axis OY (and not to the axis of the "radiating arm"). According to two variants of the embodiment: E is a first part of the magnetic closure is attached to the lift mast via a robust horizontal leg directed upstream and forming with this mast a rigid bracket and the other part of the magnetic closure is attached to the upper structural element of the building, E is the horizontal leg forming an arm square with the mast is instead directed downstream, the first part of the magnetic closure is fixed on the underside of this tab and the second part is fixed on top of a similar tab, located below the first leg and secured to the upper element; the root of the fixed leg is offset so that the movable leg does not hit any structural element by getting up with the mast; this second variant offers the advantage that the mobile tab is slipping upwards, which prevents this mobile tab hooks the obstacle if it is flush with the surface of the water.

  In a particular and nonlimiting embodiment of the device according to the invention, the lifting lugs with magnetic safety hinge are provided with a forward biasing device, with tension spring and / or cable on pulley bearing on the upper structural element of the building, if necessary via a davit secured to the latter upstream; if necessary, a pulley cable and davit device is provided on the downstream side of the arms for the voluntary lifting of the masts by the crew by means of a hoist or a winch.

  3.8.8 - Characteristics concerning orientable fins and their component Note: Relevant to the state of the art in naval architecture, the knowledge of the operation of the hydrodynamic fins is not exposed here, the experimental data used to write the present description come from CA Marchaj's "Aero-Hydrodynamics of sailing", Editions Adlard Coles - William Collins Sons & Co Ltd, 2nd edition, 1988 (ISBN 0-229-11835-6).

  In a particular and nonlimiting embodiment of the device according to the invention, each "swiveling wing" has its fulcrum integral with a "steerable wing-support mast" at the lower end of this mast, or not far from this end. .

  In a particular and non-limiting embodiment of the device according to the invention, the "steerable fins" are grouped at the lower end of the same "steerable wing-shaped mast" by a complementary pair consisting of a spur-axle. vertical rotation and a fin with horizontal axis of rotation parallel to the axis OY.

  In a particular and nonlimiting embodiment of the device according to the invention, the "steerable fin 35" with vertical axis of rotation of a pair of complementary fins is located above the "pivotable flap" axis horizontal rotation.

  In a particular and nonlimiting embodiment of the device according to the invention, the "orientable fins" are symmetrical profile wings NACA between NACA 0008 and NACA 0020 - 30 - (the choice of a value between NACA 0012 and NACA 0015 is recommended).

  In a particular and nonlimiting embodiment of the device according to the invention, the "steerable fins" have a span of between 7% and 10% of the overall length of the carrier device and have an elongation of about 2 (7% allows a slightly higher speed in a crosswind, at the expense of upwind capability, 10% allows a better wind angle, with minimal loss of crosswind speed, a value between 8 and 9 % is a recommended compromise).

  In a particular and non-limiting embodiment of the device according to the invention, the "steerable fins" have a flat shape with a trailing edge that is rectilinear and with a leading edge that is slightly in an arrow, the rope of the profile gradually decreasing in the middle. from the wingspan to the ends of the wing.

  In a particular and nonlimiting embodiment of the device according to the invention, the "steerable fins" are compensated at about 20% (that is to say that about 20% of the surface of their carrier plane are located upstream of the pivot axis) and they have a trailing edge flap of the same size as them and whose profile cord has a length of about 20 to 30% of the length of their own profile cord.

  In a particular and non-limiting embodiment of the device according to the invention, according to two variants, the flap and the flap have geometrically similar cross section profiles and a clearance of the order of 10 to 20% of the length. the flap cord remains between the trailing edge of the "swiveling wing" and the leading edge of the flap, ie the flap has its leading edge embedded in a trough along the trailing edge of the flap. 'adjustable fin' so that when the dihedral angle of the carrying planes of the flap and its flap is 180, the flap and the flap together form a quasi-continuous hydrodynamic surface with a wing profile section (for example - non-limiting with a profile NACA 0015).

  In a particular and non-limiting embodiment of the device according to the invention, the articulations of the "orientable fins" with their trailing edge flap are bearings under oil bath under permanent pressure. The oil is distributed by a network of pipes and channels starting from the "habitable platform", skirting the "radiating arms" then the "adjustable wing-shaped masts" and comprising flexible sections (or rotating and waterproof connections). ) in the vicinity of the moving parts (safety hinge with force limitation and "swiveling fins").

  In a particular and nonlimiting embodiment of the device according to the invention, the pivot shaft flap is stationary relative to the "steerable flap" associated with being secured by its ends two plates perpendicular to the axis of rotation of this fin, fixed in wing ends of the latter.

  In a particular and nonlimiting embodiment of the device according to the invention, the "orientable flap" with vertical axis of rotation, and if necessary its flap, comprise horizontal guard plates ("slots" in English) at the ends. of the span and some intermediates, distributed equidistantly, intended to delay cavitation in the event of partial and accidental emergence of the fin in a particularly large wave trough These plates protrude on either side of the hydrodynamic profile of the a width equal to about 20 to 30% of the maximum thickness of the wing profile, except in the area of connection of the flap with the flap so as not to hinder the movement of the flap.

  3.8.9 - Characteristics of the dihedral angle control mechanism 3.8.9. a - Overview In a particular and non-limiting embodiment of the device according to the invention, each "swiveling wing" is provided with a trailing edge flap and the dihedral angle of their carrying planes is imposed by a actuator controlled by the electronic computer software of the "attitude and attitude controller"; The "steerable fin" is thus automatically oriented with respect to the local direction of the water flow so that the resultant hydrodynamic lift forces balance the reaction force of the pivot of this fin.

  In a particular and non-limiting embodiment of the device according to the invention, an angular measurement sensor of a current and reliable type (for example absolute coding) connected to the electronic calculator of the "attitude and trajectory controller" measures the dihedral angle of the shutter with the fin. In the case of an "adjustable fin" command with a vertical axis of rotation, an additional sensor of the same type connected to this calculator further measures the angle of rotation of this fin with respect to the "adjustable wing-holder mast".

  In a particular and non-limiting embodiment of the device according to the invention, the electronic computer software of the "attitude and trajectory controller" controls an actuator that adjusts the angle of rotation of a vertical rotary transmission shaft or almost vertical. The setpoint angle given by the software is the required value of the above-mentioned dihedral angle in case of "swiveling flap" control with horizontal axis of rotation; on the other hand, the set value given is the sum of the required value and the angle of rotation of the fin in the case of "swiveling flap" control with vertical axis of rotation. The mechanism of each chain of motion transmission of the actuator to the trailing edge flap is as follows: The actuator is of a current type, for example an electric motor with sufficient torque step, possibly associated with a gear reducer, or an electrically controlled hydraulic motor powered by a hydraulic power plant located in the "habitable platform".

  Its frame is integral with the "adjustable wing-mast" and it is situated just under the mast head, on the downstream side, if necessary in a sealed casing, and, where appropriate, away from the upper flared part. the "pivoting fairing", the latter being provided sufficiently large to allow the angular movement of the "pivoting kerning".

  In the case where the rotary driveshaft must also have an additional degree of freedom in order to be able to perform small pendulum movements around the vertical, according to two variants, namely a flexible transmission joint in bending and rigid in torsion. is interposed between the actuator shaft and the vertical transmission shaft, or these two shafts are rigidly coupled, the actuator frame is then mounted on a horizontal pivot to be able to accompany the transmission shaft in its small pendular movements.

  - 3 2 - 3.8.9. b - Articulated quadrilateral flap rotation transmission devices In a particular and nonlimiting embodiment of the device according to the invention, the mechanical transmission between actuators and flaps is ensured in the following manner: E Each trailing edge flap is equipped with two lateral ears forming handlebar receiver, which is oriented by means of two pushrod joints. These pushers are controlled by the rotation of a motor handlebar at the ends of which they are also articulated by ball joints.

  É This motor handlebar is secured by means of a notched torque limiter, tightened by a spring exerting a radial clamping force, of a quasi-vertical rotating transmission shaft coming from the head of the "mast-ailerons directional ".

  É This driveshaft runs along the mast on the downstream side through openings in the eccentric bush unbalanced on the mast, internal to the guide bearings of the "swivel fairing" and, where appropriate, of the "upper swivel" .

  É The handlebars and pushers are articulated quadrilaterals: that of the "orientable flap" with vertical axis of rotation is a plane parallelogram and that of the "orientable flap" with horizontal axis of rotation is a left quadrilateral with handlebars with rotations of orthogonal axes.

  É Each rotational transmission shaft is capable of very small pendular movements in the vertical plane of symmetry of the "steerable wing": It is guided in the upper part, for example by a universal joint connected to the output shaft of the engine or its associated reducer.

  The needle bearing guiding its lower end has its outer ring which slides with a very small clearance between the parallel vertical faces and adjusted oblong light formed in the structure of the fin and forming a vertical plane guide rotating with the fin.

  This ring is pushed towards the flap by a spring bearing on this structure, so as to ensure the support of the spherical contacts of the aforementioned ball joints.

  3.8.10 Characteristics Concerning the Use of Rolling-contact Push Joints In a particular and nonlimiting embodiment of the device according to the invention, each articulation of the deformable quadrilaterals of the flap-head dihedral angle control mechanisms which are consist of exclusively push rods forming with the adjacent handlebars angles which, during operation, oscillate with a small amplitude around their average value, is carried out in the following manner: É The associated ends of a push rod and the arm of a handlebar comprises two zones with concave faces turned towards each other in the form of spherical caps coaxial with the connecting rod axis when the angle of the joint is at its average value.

  É Each pair of cuvettes traps a ball, smaller in diameter than the spheres of the cuvettes, which rolls between them as the angle of the articulation evolves; the mechanism is constructed with a slight axial preload in the connecting rods, so as to eliminate any play and prevent the balls from escaping cups vis-à-vis.

  The cuvettes are possibly made on elements of high hardness material referred to the ends of the connecting rods and guides; where appropriate, some of these cuvettes are formed at the end of a screw passing through the arm of a handlebar and provided at the opposite end with a shape for the rotational drive by a tool to adjust the prestressing and a braking device, for example a locknut.

  Where appropriate, each bowl is situated at the end of a very short cylindrical portion projecting, coaxial with the connecting rod when the angle of articulation is at its average value, of diameter close to that of the ball and a sleeve of elastic material, chemically stable with respect to surrounding fluids, tubular (or curved or bellows-shaped for easy elastic deformation), of internal diameter slightly less than that of these protruding portions located opposite, and of slightly longer length, is forced on these protruding cylindrical parts and protects the rolling surfaces of foreign particles. If necessary, a lubricant (introduced during assembly by syringe) fills the sealed cavity delimited by the flexible sleeve and the two adjacent bowls. Where appropriate, the attachment of this sleeve is reinforced by clamping collars (for example elastic wire or tangent screw) radially compressing each end of the sleeve around the projecting portion on which it is threaded.

  In four variants of the previous embodiment: E Either the ball is crimped on the handlebars or at the end of the connecting rod, E Either the ball is replaced by an equispherical spherical end pin secured to the handlebar or the end of the connecting rod.

  In these four variants, the spherical portion at the end of the connecting rod or the end of the handlebar 25 may optionally overcome a short cylindrical portion receiving the end of a protective flexible sleeve as in the embodiment described above. .

  3.8.11 - Characteristics concerning the protection of joints and openings exposed to water In a particular and nonlimiting embodiment of the device according to the invention, the articulation guide members (such as: plain bearings, rollers, bearings ball bearings, roller or needle) which are exposed to water are protected by seals and by prohibition of entry of water through a higher pressure oil distribution circuit behind the seal, this pressure being maintained in navigation thanks to a pressure switch and to the port thanks to the hydrostatic pressure of a fluid column rising through a pipe to a tank located in height, with free surface at atmospheric pressure; the appropriate pressurizing circuit is selected by means of a distributor valve forming a switch. According to two variants, the pressure switch comprises a pump with automatic triggering by manometric contact with minimum-maximum thresholds, or a tank of air or compressed gas under high pressure connected to a pressure regulator with a constant output pressure. The oil distribution circuit - 3 4 - comprises ducts along the "adjustable wing-bearing masts" which pass through the "pivoting fairings" by a passage provided according to the description of chapter 3.8.3.d (p.22), a flexible connecting section to each "swiveling flap", and in the latter a channel leading to the guide members in rotation of the articulaSW between "orientable flap" and its flap.

  In a particular and non-limiting embodiment of the device according to the invention, the rotating shafts passing through a submerged waterproof wall (such as for example a "submerged propeller" shaft at the rear tip of a "submerged float" or a angular position measuring sensor shaft of a "swiveling flap", a trailing edge flap or a "hydraulic vane") are provided with two successive rotating seals between which there is a bath of pressurized oil brought by a channel in the wall, connected to the distribution network described in the previous paragraph and are further accompanied on the inner face of the wall, a funnel-shaped gutter to collect any oil seepage into the compartment ; the funnel is connected to a thin tube forming a breather; this tube joins a vacuum chamber, located for example in the "habitable platform", in which there is an absolute pressure of about 0.1 bar maintained by a vacuum pump with automatic triggering by a pressure switch; before entering this vacuum chamber, each tube passes through a liquid presence detector; the latter can be for example an electronic detector, or a set of two measuring vessels transparent and graduated, mounted in parallel with two dispensing valves for putting into operation sometimes a vase, sometimes the other to allow their emptying and cleaning after a leak; the crew can thus detect an initial leak of liquid and schedule a maintenance operation; in the case where this compartment does not freely communicate through a pipe opening to the open air, it is provided with calibrated valves communicating with spaces where appropriate pressures prevail, which open and close automatically depending on the deviation the effective pressure in this compartment at the nominal pressure that should prevail, so as to automatically restore this nominal pressure by offsetting the air mass extracted from the compartment by the or breather over time.

  In a particular and non-limiting embodiment of the device according to the invention, the removable watertight hatches which are immersed (for example access hatches inside a "submerged float") or which are strongly exposed to shock pressurized water (eg access hatches to "auxiliary floats" sealed compartments) are leak-proof monitored by a gutter, funnel, capillary, detector, vacuum pump and any valves, similar to the one described in the previous paragraph for leakage monitoring of rotary shaft wall bushings. As the possible leakage rate may be greater, a suitable flow-rate pump with suction strainer at the lowest point of the compartment is also provided if necessary. I 3.8.12 Characteristics concerning the attitude and attitude controller Unless otherwise indicated in the following text, all the sensors and actuators mentioned in this chapter 3.8.12 are of standard type; when particular requirements exist for the choice of model, these are mentioned in this chapter or in chapters 6 (p.51) to 8 (p.96) describing examples of realization (mainly in chapters 6.6.1 (p. .69), 6.6.2 (p.71) and 6.6.3 (p.72)).

  - 3 5 - Unless otherwise stated in the rest of the text, all the connections mentioned in this chapter 3.8.12, on the one hand between sensors and electronic calculator or microcontrollers and on the other hand between calculator or microcontrollers and actuators, unless otherwise specified should preferably be made by cables rather than by radio and if they are made by cables, preferably shielded twisted pair cables shielded individually rather than by simply shielded cables, and preferably by optical fiber for the long links of large size that would not be enclosed in an all-metal structure forming a Faraday cage.

  3.8.12.a - Sensors In a particular and nonlimiting embodiment of the device according to the invention, and according to different variants, the accelerometers for the control of attitude and trajectory, which are of a common type of good sensitivity (it is recommended that it be of the order of 1 to 2 mg or better) and imperatively with bandwidth since the very low frequencies (it is recommended that the bandwidth extends until the continuous one) are fixed near the peripheral end of the "radiating arms", preferably directly on the structure of these arms or, failing that, on that of the adjoining "auxiliary floats" (fixation on the head of the "adjustable wing-holding masts" is also possible, but not recommended) because of the risk of vibrations which could disturb the measurements).

  In a particular and non-limiting embodiment of the device according to the invention, the accelerometers are integrated circuits "ADXL202", "ADXL202E" or "ADXL203" produced by the company "Analog Devices" (each of these circuits - of similar characteristics but increasing performance in the stated order - includes two accelerometers arranged at 90), or an equivalent component with upward functional compatibility of sensitivity performance, background noise at low frequencies and bandwidth from the continuous.

  In a particular and non-limiting embodiment of the device according to the invention, and according to two variants, the height of certain points of the building with respect to the level of the surface of the external water is measured by manometers for measuring the pressure. fixed to the structure of the building in areas always submerged or by ultrasonic sonar sonars or hypersonores waves of vertical axis and the echo return time by reflection on the surface of the water, fixed to the structure of the building in areas always emerged. These manometers or sonars are of a current type and a measuring range appropriate to the unevenness to be measured; average performance in accuracy, sensitivity and response time are sufficient; on the other hand, a high fidelity in the short term is essential (if the measurement drift is of a few% per day, a correction by calibration of the software before the apparatus makes it possible to compensate the defect, on the other hand, a sensor having a drift of some % per hour must be discarded).

  The static pressure tap must be made according to the rules of the art in "fluid dynamics" to minimize the pollution of the measurement by the dynamic pressure (which varies as the square of the speed); if necessary, a software function for correcting the measurement of pressure as a function of the speed measured by a log-speedometer is provided to compensate for the error (this function then relies on a correction table resulting from a control campaign). 'calibration).

  In a particular and non-limiting embodiment of the device according to the invention, static pressure sensors 40 are fixed at the bottom of the "pivoting fairings" of the "wing-poles - 36 steerable".

  In a particular and non-limiting embodiment of the device according to the invention, the static pressure sensors are provided with an intermittent hydraulic or pneumatic flushing device intended to eliminate any impurities that dirty the orifices and whose accumulation could distort measures.

  In a particular and nonlimiting embodiment of the device according to the invention, a pair of "wind vanes" measures the components of the direction of the current upstream and in the axis of some "submerged floats"; the axes of rotation of these vanes are perpendicular to the axis OX and perpendicular to each other; each wind vane pivot is located very close to the leading edge of the wind vane, so that it is frankly and rapidly oriented in the direction of the local current and this leading edge is slightly swept to promote lateral sliding algae eventually encountered and thus keep the vane well cleared permanently. Each "hydraulic vane" comprises an angular position sensor of a current but reliable type (for example with absolute coding), protected from external water according to the device described in the penultimate paragraph of chapter 3.8.12. .b (p.36), which is connected to the electronic calculator of the "attitude and attitude controller". According to two variants, each pair of wind vanes is either carried by a robust horizontal boom integral with the nose of the float and coaxial with it, or carried by a mast dipping vertically in the water and fixed by its top to the front of a beam integral with the structure of the building and always emerged, as the case may be at the front part of the "habitable platform".

  In a particular and non-limiting embodiment of the device according to the invention, the "hydraulic vane-holder mast" comprises a "pivoting fairing" as described in chapter 3.8.3 (p.20) and comprises, where appropriate, at its top. a load-limiting connection whose support is integral with the building structure, as described in chapter 3.8.7 (p.26).

  In particular and non-limiting embodiments of the device according to the invention, other sensors are furthermore connected to the electronic calculator of the "attitude and trajectory controller": notamment in particular the water level sensors in the tanks of the "adjustable tare device", the sensors for filling the reservoirs or the counterweight position of the "mobile mass balancing device", the position measuring sensors for certain moving parts (drums of the wind power control devices) , trailing edge flaps for "swiveling fins", "vertical steerable fins" themselves, moving parts for solenoid valves, ...), log-speedometer, wind vane, magnetic compass, É but also if applicable a possible water depth sounder (necessarily present in the case where the emergency stop software function described in chapter 3.8.4.c (p.24) is present), a possible itif locating relative to radio transmitters of known positions, fixed or mobile, etc., this list is not limiting.

  3.8.12. b - Electronic Equipment and Their Protection In a particular and non-limiting embodiment of the device according to the invention, the computing and control equipment of the "attitude and trajectory controller" comprises one or more digital computers. which may be computers, and possibly microcontrollers some of which are placed in close proximity to sensors or actuators, in some cases below the water level.

  In a particular and non-limiting embodiment of the device according to the invention, the computer or computers are common commercial models of "PC" type or the like, using for example a microprocessor "Pentium IV" (electronic component produced by the company "Intel") clocked by a frequency clock of at least 2 GHz or using a microprocessor offering a numerical computing power comparable to the numbers in floating representation and having the usual mathematical functions, including trigonometric functions.

In a particular and non-limiting embodiment of the device according to the invention, the microcontrollers are integrated circuits "PIC 16C 774 JW" of the company "Microchip", or equivalent microcontrollers with upward functional compatibility (these circuits comprise in particular two serial communication ports).

  In a particular and non-limiting embodiment of the device according to the invention, the "attitude and attitude controller" comprises a modem and a radio transceiver for connection to a computer on the ground (for example via the Internet). for downloading software updates from on-board computers or microcontrollers and / or for sending telemetry related to remote diagnostic operation and receiving back download of optimization settings parameters or instructions to the crew for maintenance.

  In a particular and non-limiting embodiment of the device according to the invention, optical fibers are used for certain signal transmissions between electronic computing, measuring or control equipment, in particular between the computer (s) and remote microcontrollers.

  In a particular and non-limiting embodiment of the device according to the invention, certain electronic equipment is enclosed in a network of sealed compartments connected by pipes for the passage of the signal guides and for the recirculation of the internal air, forming a waterproof enclosure; in navigation, the internal air of this network is maintained by a pressure switch connected to the free air at a pressure higher than the highest external pressure that can be experienced by a point of the network and this air is maintained within specific temperature ranges and hygrometry by common cooling devices (eg forced recirculation fan of air in all compartments, thermometer with mini-maxi contacts and heat exchanger with external water circulation) and dehumidification (for example probe d moisture and desiccant dewatering column with bypass controlled by an electrically controlled dispenser); at the port, sufficient pressure at standstill is maintained in the long term by a pressure reducer connected to a rechargeable compressed air tank; the main computer is in a second similar network, without air communication with the first, whose extension is limited to the still emerged part of the "habitable platform" and which has its own temperature control system and humidity; this second network is against atmospheric pressure, or barely higher, so that transparent walls, and further flexible - at the keyboard, allow the normal use of the screen and keyboard by the crew to interact with the software; the compartments and pipes of the two networks are electrically shielded, with electrical continuity, the shield being loopless and electrically connected to a submerged conductive electrode in permanent contact with the external water for the eventual flow of the lightning. An embodiment for sealing rotary shafts passing through a submerged or exposed wall of the first network is described in Chapter 3.8.11 (p.33).

  In an alternative embodiment of the foregoing embodiment, another gas than air may be used (non-flammable, eg CO2), brought on board in compressed gas cylinders, and used with a regulator permanently, both in navigation and port.

  In a particular and non-limiting embodiment of the device according to the invention, all removable mechanical safety connections, intended to tear, fold or disengage in case of underwater obstacle strike, and along which electrical cables and / or optical fibers or conduits with a controlled atmosphere containing such cables and / or fibers, are provided with connectors sealed and withdrawable under moderate traction for the possible pipe assembly, cables and / or fibers; these connectors are located in areas intended to remain usually emerged; when it comes to the passage of a controlled atmosphere pipe containing cables and a smaller internal pipe for one of the two gas flows (outward or return), the concentricity is interrupted in the immediate vicinity of the connector: the cables and / or fibers as well as the small pipe cross the wall of the large peripheral pipe by sealed passages, so as not to walk locally inside this pipe but locally to go along the outside; the connector is actually triple, providing the connection for the big pipe, the connection for the small pipe and the connection of the cables and / or fibers; the two controlled atmosphere ducts each comprise, on the "living platform" side, a calibrated spring air-tight safety valve which closes automatically in the event of disconnection to avoid depressurization of the main part of the network, and on the opposite side a spring-loaded watertight safety valve, usually kept open by a finger integral with the fixed part of the connector, which automatically closes in the event of disconnection to protect the peripheral equipment if the removable part falls to the water, waiting for its recovery and recovery to dry.

  3.8.12. c - Software In a particular and non-limiting embodiment of the device according to the invention, the software of the electronic calculator "attitude and attitude controller" works as follows: E During navigation in "fast speed regime", the software : calculates the positions of the accelerometers in space by two successive integrations with respect to time (the first gives the speed, the second gives the position), calculates the height of each static pressure sensor with respect to the average plane of the water by a sliding average calculation over a series of consecutive measurements, calculates the heights of the accelerometers recalibrated with respect to this average plane thanks to the knowledge of the geometry of implantation of the sensors, deduces the height from the center of gravity of the building and the angular components of inclination of the XOY plane (related to the building) with respect to this average plane, respectively in a plane normal to the axis OY (incl pitched or pitched in) and in a plane normal to axis OX (heel to port or to starboard), calculates the actual building heading by sliding average on the last measurements from the magnetic compass, deduces the three components of force and the three torque components required to restore the nominal height and attitude of the vessel, - if necessary perform a wind drift compensation calculation (this calculation is optional), if necessary, perform an anticipated calculation of transverse forces. parasites and hydrodynamic couples induced on the "submerged floats" (this calculation is optional, but it is very strongly recommended to enhance the effectiveness of stabilization; it requires the presence of "wind vanes", as described in chapter 3.8.12.a (p.35)), - according to these optional calculations, corrects the six components calculated previously if applicable, distributes the contributions of stabilizing forces required between each heavy moving mass and each "swiveling flap" with hydrodynamic lift force as a function of their maximum force and response time characteristics, finally sends the positioning commands to each actuator, possibly after final correction taking into account certain imperfections known to the latter (in particular: non-zero response time and / or imperfect linearity).

  supervise that the calculated average height of the external water remains between two closely spaced boundaries framing the mid-height of the vertical distance between the highest point of the supporting device and the lowest point of the "habitable platform", otherwise activate an alarm to warn the crew or directly control the pump and the solenoid valve on the "adjustable tare device" to retouch the tare water.

  where appropriate (optional option) monitors the evolution of the measurements of sensors essential for equilibrium and stability, in particular those relating to positions of submerged mobile appendages, by comparing the evolution of the measurements in the last tenths of a second with the evolutions that were predictable from the historical statistics of the last minutes elapsed, in order to detect any abnormal behavior, to instantly identify the case of anomaly among those provided in the software and to immediately initiate the operations programmed for this case, by for example, to sound an audible alarm signal to warn the crew and if necessary to start the landing and if necessary to reduce or stop the propulsion.

  - 40 - - If necessary (optional options), if necessary, perform other additional operations, such as (non-imitative list) the water depth control with audible alarm triggering in case of danger and the automatic dropping of the plays if the vessel is equipped with this device, control of the route followed by a satellite navigation device ....

  É When the vessel is in "slow speed or stop mode" and en route (ie not at full stop), the software no longer sends commands to the "steerable wing" actuators or to the "balancing device with moving masses"; its activity is limited to ensuring the measurement of a small number of sensors (log-speedometer, wind vane, magnetic compass and sonar depth possible), to control the fine tuning actuators of the plays that may be present in case of propulsion wind turbine and to issue a warning signal to the crew in the event of an anomaly (excessive recovery of funds, for example).

  É If the building stops completely, the computer is stopped and the software is not executed.

  In a particular and nonlimiting embodiment of the device according to the invention, certain calculations concerning the measurements of an isolated sensor or a group of neighboring sensors and / or concerning the orders for an isolated actuator or for a group of neighboring actuators, instead of being executed by the central computer, are executed by the software of a microcontroller to which these sensors and / or actuators are connected (non-limiting examples: calculation of sliding average over a series of consecutive measurements of static pressure or correction calculation of an imperfection of a servo).

  3.8.12.d - Power supply In a particular and nonlimiting embodiment of the device according to the invention, a rotating electric generator driven by a "submerged propeller" located at the rear of a "submerged float" is housed in a compartment of this float, provided with a watertight hatch for the visits in dry dock. This generator supplies electricity to a battery located for example also in a compartment of the float, if necessary separated from the first and provided with a forced ventilation by a pump from the "habitable platform" in case of risk of release of hydrogen by electrolysis. The cable or pipe connections to the "habitable platform" are made by passing through one or more "pivoting fairings" associated with "carrier pylons" as described in chapter 3.8.3.d (p.22). The sealing of the float wall penetration by the shaft of the "immersed propeller" is ensured and controlled as described in the penultimate paragraph of Chapter 3.8.11 (p.33).

  3.8.13 - Characteristics concerning the reco fgurable architecture of arms and floats 3.8.13.a - Folding radiating arms In a particular and non-limiting embodiment of the device according to the invention, the "radiating arms" consist of two sections of identical or similar lengths, connected by a hinge of horizontal axis lockable socket in the unfolded position of the arm by bolts engaged radially outwardly; the peripheral section is liftable by an end cable passing over a masthead pulley and is towed down by a winch; where appropriate the or - 41 the masts are then held by low guyers anchored to the fixed sections near the hinges.

  In another particular and nonlimiting embodiment of the device according to the invention, the "radiating arms" consist of two sections of identical or similar lengths, connected by a hinge of vertical axis lockable socket in unfolded position of the arm by bolts engaged radially outwards; when the hinge is unlocked, the peripheral portion can pivot horizontally and fold against the fixed section under the effect of a drive device; where appropriate the mast or masts are then held by low-stay cables anchored to the fixed sections, near the hinges.

  In a particular and non-limiting embodiment of the device according to the invention, the drive device cited in the preceding paragraph is made in the following manner: it comprises a vertical axis grooved pulley located on the top of the movable section, near the hinge; this pulley is secured to this section and is rotated by a cable which is secured in the middle of an anchor at the bottom of the groove; the cable turns one and a half turns on the pulley and forms a loop of which one or the other strand is pulled to the winch by the crew from the "habitable platform" to rotate the movable section in order to fold or unfold the "radiating arm".

  3.8.13.b Locking Folding Radiating Arms in Unfolded Position In a particular and nonlimiting embodiment of the device according to the invention, the connection in unfolded position of the two sections of a folding "radiating arm", when the ends these sections which are close to the hinge form a short socket male / female, is the following: É the two male and female parts nested are secured by a series of bolts radial movement, regularly distributed over a normal plane perimeter to the arm axis (these bolts are arranged similarly to daisy petals); These bolts, radially outwardly engaged, have an approximate parallelepiped shape that is not long in the radial direction of penetration, but broad in the perimeter direction to ensure a good distribution of forces; their central and guiding portion is of parallelepipedal shape and their peripheral and outgoing portion is provided with a small clearance on all four sides, so as to come to block effectively in the radial housings of homologous form fitted to the female part; E each bolt is guided in radial translation by sliding in a housing formed in the male part, of rectangular section and adjusted to the section of the guide portion of the bolt; E each bolt, of rectangular general plan (in view parallel to the axis of the arm), has at each of its two most internal corners with respect to the "radiating arm" a pair of articulated links forming a toggle joint whose other end is articulated on the male part; the two knee pads are identical and the knee joints are secured by a coupling bar, so that the bolt is firmly guided by its ends to avoid a tendency to skew and the risk of jamming; E two antagonistic cables are anchored to the tie rod to impose a displacement parallel to the axis of the arm tending either to fold the two knee pads, sometimes to deploy them; the locking cable of the lock by unfolding the knee pads and engagement of the bolt in the housing of the female part goes directly towards the traction station located in the "habitable platform"; the cable for opening the latch by folding the knee pads and retracting the bolt out of the housing of the female part also goes towards the traction station, but after passing on a pulley 180 return; E each bolt is associated with a sliding safety pin, running parallel to the axis of the "radiating arm"; this pin, pushed by a spring, slides in a cylindrical housing of the male part and engages in one of two paired housing bolt, cylindrical and conical inputs, when the bolt is sometimes in the engaged position and sometimes in position released and immobilizes it in one of the two corresponding positions; E the safety pin is extended by a control rod at the end of which are fixed two antagonistic cables, that of removing the pin by neutralizing the effect of the spring leaving directly to the traction station, that of control of commitment too, but after passing on a pulley of return to 180; E all the safety pin engagement indicator cables are combined into a single cable with a marking mark to control the engagement and locking of all bolts; All control cables and control cables run in an axial light of the "radiating arm" leading to the traction station housed in the "habitable platform".

  3.8.13. c - Fixed or Variable Position of the Auxiliary Floats In a particular and nonlimiting embodiment of the device according to the invention, each "auxiliary float" is fixed permanently under the fixed section of a folding "radiating arm", in the immediate vicinity of the hinge connecting the two arm sections and the accelerometers (6) are then attached to the peripheral end of the movable section of the arm.

  In a particular and nonlimiting embodiment of the device according to the invention, different from that described in the preceding paragraph, each "auxiliary float" is rigidly secured to a sliding carriage suspended from a longitudinal rail secured to the underside of the "radiating arm" folding; this rail comprises two segments connected in extension of one another at the inter-sectional hinge when the arm is unfolded; the carriage is driven by a cable and it locks in one of its two nominal positions under one of the two fixed plates of the underside of the arm; this locking is effected for example (non-limiting) on the one hand by means of anti-slide locks with vertical sliding bolts supported by the fixed plates, which descend and engage in housings on the upper face of the carriage, and on the other hand, by means of leverage claws articulated at the corners of the upper flange of the carriage, which strongly press the latter against the underside of the fixed platen vis-a-vis; one of the fixed plates is located at the peripheral end of the collapsible portion of the "radiating arm", the other at the peripheral end of the fixed section of this arm; the movements of the carriage, anti-slip locks and locking levers are controlled from the "habitable form platform", for example (non-limiting) by means of cables mounted back and forth on pulleys whose clevises are integral with the "radiating arm". This device makes it possible to adapt the position of the "auxiliary floats" to the reduced length of the "radiating arms" when these are folded to reduce the bulk.

  3.8.13.d - Floating immersed float In a particular and non-limiting embodiment of the device according to the invention, each "carrier pylon" is retractable in a vertical well formed in the "habitable platform", well whose base is surrounded by a robust plate integral with the structure of this platform and which has a shaped and fitted opening, just sufficient for the passage of the "pivoting fairing" when the plane of symmetry of the latter is oriented parallel to the XOZ plane; the "carrier pylon" has a robust fitting sliding in the well; this fitting is secured to the head of the pylon by welding with reinforcements by welded radial stiffeners and is guided during its movements between locked positions by a vertical bar integral overhanging; this bar is itself guided for example (non-limiting) by means of two layers of pebbles surrounding it, horizontal axes integral with the "habitable platform"; the sliding fitting integral with the "carrier pylon" and the fixed plate integral with the "habitable platform" are solidarisables for example (non-limiting) by means of horizontal bolts engaged radially, from the periphery to the center, in housings screwed -a-vis.

  The "submerged float" comprises compartments which can be flooded by bidirectional motor pumps and shut-off valves, so that at will it is possible to render its buoyancy almost null and sometimes slightly positive, sometimes slightly negative; a vertical operating means is provided, for example (non-limiting) vertical traction hoists are anchored firstly to the ends of the guide bar and secondly to the structure of the "habitable platform" for hoist the (or) "submerged floats" against the "habitable platform" when stopped and vice versa to lower them to the lower position for normal navigation.

  In the case of a plurality of "carrier pylons" for the same "submerged float", a coupling device is provided to guarantee a synchronized maneuvering of the vertical movements of the "carrier pylons" relative to this float, for example (non-limiting) by means of a shaft parallel to the axis OX and integral with pinions meshing on vertical racks integral with the guide bars surmounting the sliding fittings; a locking device in the up position of the "submerged float" is provided, according to two variants (not limiting) by blocking hoist or by engagement in the housing of the sliding plate of the radial bolts carried by a second fixed plate integral with the "habitable platform" at the top of the well, similar to that of the bottom. This device makes it possible to raise the "submerged floats" to reduce the draft and facilitate the access of the building to the ports.

  In a particular and non-limiting embodiment of the device according to the invention, the permanently immersed connections whose female housings are unoccupied by a corresponding bolt have their orifice temporarily closed by a cover applied by springs; a device for eclipsing the covers before the engagement of the bolts is provided and these housings are provided with a hyperbaric flushing circuit to eject any undesirable foreign bodies before each new bolt engagement.

  In a particular and non-limiting embodiment of the device according to the invention, a longitudinal arch under the lower part of the hull of the "habitable platform" allows a partial embedment of the "submerged float" reassembled, which helps to further reduce the draft at the port.

  In a particular and non-limiting embodiment of the device according to the invention, intermediate height adjustments of the "submerged floats" are provided, for example (non-limiting) by means of intermediate fixed fittings integral with the "platform habitable "along each well in which slides a head fitting of" carrier pylon ". This device makes it possible to adapt the height of the output portion of the "carrier towers" to the expected wave conditions and thus to reduce the stress on the dynamic stabilization devices in the event of low height waves.

  3.8.13. e - Possible Motorization of Configuration Change Commands In a particular and nonlimiting embodiment of the device according to the invention, in the case of a reconfigurable architecture concerning the position of the "auxiliary floats" and / or "radiating arms" and / or or "submerged floats", the devices for direct displacement of these elements, and possibly the devices for operating the bolts or levers for immobilizing the moving parts of these elements and, where appropriate, the safety interlocks of these bolts or levers are driven by winches or cylinders with electric or hydraulic actuators.

  3.8.14 Characteristics Concerning the Airborne Sonar Bypass Device In a particular and nonlimiting embodiment of the device according to the invention, vertical beam ultrasonic (or microwave) sonars mounted on poles at the front "Auxiliary floats" from the front measure by reflection their vertical distance to the surface of the external water and are connected to the electronic calculator of the "attitude and trajectory controller" whose software is then equipped with a function of partial bypass of the occasional higher waves, by temporary adaptation of the orders sent to the stabilizing device with "orientable fins".

  3.8.15 - Characteristic concerning the measurement of vibration of the masts diving in the water In a particular and nonlimiting embodiment of the device according to the invention, additional accelerometers, connected to the electronic computer of the "attitude and trajectory controller "are placed on the structure of the vessel so as to measure the possible vibrations of the" adjustable wing poles "and possibly those of" hydraulic wind vane masts ". These accelerometers for example measure the acceleration in the direction of the axis OX at the head and at the mast foot and the acceleration in the direction of the axis OY at the mast foot.

  The analysis of the measurements of these accelerometers and the raw measurements of the other accelerometers previously described is used to adapt if necessary the settings of the software of the "attitude and attitude controller" in order to avoid the birth of these vibrations or to attenuate them. .

  4 - PRESENTATION OF FIGURES 4.1- Conventions for illustrations Some figures are simplified and do not represent all the details of the embodiment which are cited by the text they illustrate. When this is the case, it is generally mentioned in this text: either that the associated figure is a diagram, and in general in this case the text does not mention what the untagged details are, that the associated figure is a simplified or schematic representation, and in general in this case; text, mentions the unsigned details on this figure.

  In the event of any simultaneous absence of garlic dd in the figure associated with a part of text and {9 ii (HI tt =, one of the mentions provided above, the text is the reference that is authentic compared to the figure.

  When an element drawn on a figure represents sometimes a constituent of the device according to the invention, sometimes another, their two marks are mentioned after each other on the same line, separated by a slash. For example, in FIG. 37, locating "22/23" means that the listening being drawn is either the listening (22) of the mainsail or the listening (23) of the jib, according to the holding mechanism listening considered (the figure remains valid in different cases). This notation with double marks separated by a slash is also used to designate two different elements exactly overlapping contour, one of which hides the other. For example, in FIG. 59, the "171/172" and "171/173" markings designate the mobile carriage (171) masking, depending on its position, one of its two fixed reception plates: respectively ) located towards the middle of the "radiating arm", sometimes the (173) located at the end of this arm.

  The scales of the illustrations are given only as an order of magnitude, the scale matching accuracy between figures being approximate.

  4.2 - Figure 1: overall perspective view of a sailboat according to the invention The Figurel illustrates the device according to the invention, seen in perspective, in a particular and non-limiting embodiment comprising a single "submerged float", two "carrier towers", four "radiating arms" each equipped with an "auxiliary float" and a "steerable wing-lift mast" with two complementary fins and a wind propulsion unit; this figure further comprises in the upper left corner an enlarged perspective view ("detail A") of a "steerable wing-bearing mast" with its two fins provided with trailing edge flaps; it finally comprises in the upper right corner a diagram ("Mechanism 9 (diagram)") of an embodiment of the resilient listening device in the case of wind propulsion, in which the sheet of traction springs symbolizes elements with elastic behavior law (as can be a pneumatic cylinder connected to a compressed air tank).

  Note: Enlarged views of parts of this figure are provided elsewhere for increased readability and for some important unmarked details on it, due to lack of space: Figure 23 (area of the 'liveable platform'), Figure 24 (area the end of the "radiating arm" on the starboard side) and Figure 25 (zone of a "mast with adjustable wings").

  4.3 - Illustrations for the first characteristic Figures 2 to 22 are diagrams which illustrate parameters or laws cited in the first feature of the device according to the invention (described in chapter 3.3 (p. 6)), and sometimes quoted in characteristics of particular embodiments: FIGS. 2 and 3 illustrate the overall length of the carrier device in various particular and non-limiting embodiments of the carrier device (a mono- "submerged float" case and a tri-float case), cited in particular in the "second" paragraph of the first characteristic.

  FIG. 4 illustrates the rule of height of the "radiating arms" which is specific to a particular and non-limiting embodiment of the device according to the invention, described in the before-last paragraph of Chapter 3.8.2 (p.19 ).

  Figures 5 and 6 respectively illustrate the maximum immersed volume of an "auxiliary float" involved in the buoyancy of the latter and the rule of distance of these "auxiliary floats" occurring in the "sixth" paragraph of the first characteristic.

  Figure 7 illustrates the rules relating to the low point height of the "auxiliary floats" and the length of the "adjustable wing poles" set respectively in the last paragraph of the "sixth" paragraph and in the first paragraph of the "tenth" paragraph. 8 to 10 illustrate the projected horizontal surface involved in the rule of removal of the vertically-adjustable "swingable fins" fixed in the second point of the "tenth" paragraph of the first characteristic, respectively in the case of 'a "swiveling spoiler" plane to horizontal swivel axis, then in that of a "swiveling flap" plan inclined swivel axis and finally in that of a "swivel flap" tubular shape with two degrees of freedom in rotation .

  Figure 11 is a diagram illustrating this rule for vertical lift fins.

  Figures 12 to 14 illustrate the projected vertical surface involved in the rule of distance of the "swiveling flaps" horizontal lift fixed at the third point of the "tenth" paragraph of the first characteristic, respectively in the case of a "swiveling flap "plane vertical pivot axis, then in that of a" steerable flap "plan inclined pivot axis and finally in that of a" swivel flap "tubular shape with two degrees of freedom in rotation.

  Figure 15 is a diagram illustrating this rule for horizontal lift fins.

  FIGS. 16 and 17 illustrate the rules of distance of the acceleration sensors fixed in the "eleventh" paragraph of the first characteristic, respectively for vertical accelerations and for horizontal accelerations.

  FIG. 18 illustrates the rule of distance of the relative altitude sensors set in the "twelfth" paragraph of the first characteristic. FIGS. 19 to 22 illustrate the law of low transversal obstruction between the carrier device and the "habitable platform". mentioned above, fixed in the second paragraph of the "ninth" paragraph of the first characteristic, by first schematizing the "orientable fins" in the middle position (starboard view, then from above in section), and then in the 90-degree position (view from starboard, - 47 - then seen from above in section). Important note: Figures 21 and 22 do not include stops that would limit the angular movement of "swivel fairings".

  4.4 - Illustrations for Example 1 (10 m "base" sailboat) and key attitudes As already mentioned, Figures 23 to 25 show enlargements of areas in Figure 1, with some additional details that would have been Figure 23 for the area of the "habitable platform", Figure 24 for the end zone of the "radiating arm" on the starboard side and Figure 25 for the area of a "mast with adjustable wings" (which is it even an enlargement of "Detail A" of Figure 1 and an enlargement of the bottom of Figure 24).

  Figures 26 to 28 illustrate the device of Figure 1 in three views, respectively from the front, the starboard and the top.

  Figure 29 provides an enlarged top view of a portion of the "habitable platform" of the same device which illustrates the location of the tapping points of the plays where the resilient listening devices act, the circular retaining rail of boom-down allowing 360-degree rotation of the mast, as well as vertical drums at the front.

  Figure 30 illustrates the law of evolution of the Archimedes thrust of the same device as a function of its altitude relative to the surface of the external water.

  Figures 31 to 34 show the same device in "fast speed regime" in different remarkable limit attitudes (altitude and inclination) with respect to the surface of the external water: first with a gable on the port side, then with an inclination towards forward.

  Figures 35 and 36 show an embodiment of "pivoting fairing" provided with a through vertical light for the passage of members (cables, pipes or transmission shafts).

  Figure 37 shows an embodiment of the counter-winding cam-shaped doll of the listening voltage regulation device with elastic constitutive law of the wind propulsion unit.

  Figures 38 and 39 show an embodiment of the wind force control device with elastic behavior law by means of a pneumatic cylinder and the overall diagram of the associated compressed air circuit.

  Figures 40 and 41 schematically show two modes of placement of the flap of a "swiveling flap" with respect to the trailing edge, respectively with minimal clearance and play important.

  Figures 42 and 43 show schematically: first a remote flap with attachment of its pivot by two side plates in two perpendicular views, one in section, then a flap whose leading edge is embedded in a longitudinal gutter arranged at the trailing edge of the "swiveling wing", seen in section ,.

  Figure 44 schematically shows a "steerable flap" shaped plan with leading edge 35 slightly in arrows, provided with a trailing edge flap with large clearance.

  FIG. 45 is an enlargement of the lower part of FIG. 25 on which is shown schematically a particular and non-limiting embodiment of the kinematic chain for controlling the orientation of the trailing edge flaps of FIGS. "steerable fins" from two oscillating rotary-drive vertical shafts driven by actuators located above the surface of the external water.

  Figures 46 to 51 illustrate very schematically the position of the main movable members of the device of the previous figure in three remarkable situations (flap pointed in one direction, then in the neutral and finally pointed in the other direction), the first three for "swivel wing" with vertical axis of rotation, the last three for "swiveling wing" with horizontal axis of rotation.

  Figures 52 and 53 illustrate the preferred embodiment for the rolling pin joints of the exclusively push rods with the handlebars of the dihedral angle control mechanism between "steerable fins" and their trailing edge flap.

  Figures 54 and 55 illustrate the maximum effort mechanical connection calibrated between "steerable flap mast" and "radiating arm" described for the "base" sailboat (this connection is only put back in place by itself. condition that the movement of the mast under the impact of an obstacle remains very low).

  4.5 - Illustrations for example 2: 10m long cruising sailboat Figures 56 and 57 illustrate the magnetic linkage with maximum effort calibrated between "orientable flaps" and "radiating arms" described for the "sailboat". long cruising "(connection planned to get back in place automatically, even after significant displacement of the mast).

  Figure 58 illustrates the embodiment of a folding "radiating arm" around a hinge of horizontal axis located towards the length of the arm and shows the two possible positions of the "auxiliary float" along this arm (without representing the connection mode of this float, which is illustrated and detailed in Figures 59 to 63).

  Figure 59 illustrates, in view from below the embodiment of the sliding carriage carrying the mobile "auxiliary float" and elements of the locking device of the carriage at the positions provided along the "radiating arm" (case of the front starboard arm); the fixed part is in strong line and the moving part in thin line. Figure 60 shows the section of the arm (seen along the axis of the latter), the stationary docking plate of the carriage and the locking levers, Figures 61 and 62 illustrate the sliding carriage respectively in top and end view and Figure 63 shows the detail of a wing of the slider. The magnifications shown in Figures 60-63 are by scale reference in Figure 59.

  Figure 64 illustrates, in front view, the embodiment with "submerged float" can be reassembled and recessed under the arch of a tunnel formed under the "habitable platform" to reduce the draft on shoals or at the port and on the other hand the "radiating arms" and "auxiliary floats" in "port" position (drawn in strong line), as well as their "en route" position (drawn in fine line) .

  Figure 65 schematically illustrates the two positions of the "auxiliary float" (noted for the port in strong and low lines for fine-line navigation) as well as the internal contour of the chimneys allowing, in the raised position of this float, to eclipse the "carrier towers" and their "swivel fairings" in the "habitable platform" as well as the raising of the upper guide bars in their sleeves.

  The lifting mechanism of the "submerged float" is further illustrated in FIG. 66 which gives a simplified overview (unstripped stiffeners) and FIG. 67 which shows in three views the profiled slide with horizontal bolts for securing the " carrier pylon "on the" habitable platform "(in a position sometimes lowered and sometimes raised); in the top view, the bolts are drawn in their true orientation, but in an exaggerated position for ease of reading and the upper bevel of the sliding hardware is not drawn; on the view from the front and the top view, the stiffeners have not been designed for legibility, but their position is shown in solid lines on the enlarged diagram of the central area shown in Figure 68, as well as the outline from the top of the "swivel fairing" and the top of the "carrier pylon" (everything else is in fine line). The magnification shown in Figure 68 is by reference to the scale of Figure 67.

  - EXPLANATIONS FOR THE FIRST CHARACTERISTIC The rigorous and austere exposition of the first characteristic will be better understood with the help of the explanations below and the diagrams of Figures 2 to 22. Some of these diagrams include representations of the architecture (or parts of the architecture) embodiments of the device according to the invention which should be borne in mind that they are particular and not limiting.

  Figures 2 and 3 illustrate, in top view, the method of measuring the overall length (LHT) of single immersed "float" carrier devices (or multiple but located at the same X) on the one hand, and " submerged floats "offset in X on the other hand (the overall length is quoted in the paragraphs" SECONDLY "," SIXTHELY "," TENTH "and" THIRTEENTH "of the first characteristic). Only the outline of the "habitable platform" (2) and that of the "submerged floats" (1) are drawn on these diagrams in plan view; the "radiating arms" and "auxiliary floats" are not particularly represented.

  Figure 4 illustrates an application of the rule of the elevation threshold of the peripheral zone of the "radiating arms", in view of the front (this distance threshold is quoted in the penultimate paragraph of chapter 3.8.2 (p.19)). On this diagram: É "a" is the altitude of the highest point of the "habitable platform" (2), É "c" is the altitude of the lowest point of the "habitable platform" (2). É "b" is the average altitude of "a" and "c", ie: 0.5 x (a - c).

  É "d" is the altitude of the highest point of the "auxiliary float" (1).

  "E" is the altitude of the point of intersection between the vertical line passing through the rightmost edge of the starboard "auxiliary float" edge (3) and the underside of the "radiating arm" (24).

  Figure 5 illustrates, in front view, the notion of maximum immersed volume (V) of an "auxiliary float" (3), here located to starboard (this volume is implicitly invoked by the buoyancy mentioned in the first point of paragraph "SIXIEMEMENT" of the first characteristic). This volume extends vertically from the altitude of the lowest point of the general external shape of the "auxiliary float" (3) to the altitude of the highest point of the latter, except for the appendices. connecting to this general external form ("radiating arm" (24) in the upper part and possibly "orientable wing mast" (26) and its "pivoting fairing" (45) in the lower part).

  FIG. 6 illustrates, in plan view, an application of the architecture rule of the distance floor threshold (distances di) of the "auxiliary floats" (3), weighted by their maximum immersion volume (Vi), relative to the center of gravity (G) of the polygon having at its summits the peripheral ends of the "radiating arms" (24) (this distance threshold is quoted at the second point of the paragraph "SIXIEMEMENT.) Only the" auxiliary floats "are drawn in strong lines, the rest of the building structure ("habitable platform" (2), "radiating arms" (24) and "submerged float" (1)) being schematically represented in fine lines.

  Figure 7 illustrates, in the front view, an application of the architectural rule on the altitudes of the low points (e) of the "auxiliary floats" (3) and the low points (f) of the "wing poles". "(26) relative to the mid-height altitudes (b) of the" habitable platform "(2) and the highest point (d) of the carrier (this height range is given in the third Paragraph "SIXIEMEMENT." The structural part of the building shown is identical to that of Figure 4, and the altitudes "b" and "c" are the same as those defined on it.

  Figures 8, 9 and 10 illustrate the notion of horizontal projected surface (SH) of a "steerable flap" (used by the architectural rule illustrated in the following figure 11), respectively in the case of a plane flap to horizontal axis of rotation, of a plane wing with axis of rotation inclined with respect to the horizontal and of a tubular fin (this notion is quoted in the second point of the paragraph "TENENTLY"). "S" is the surface of the carrier plane in Figures 8 and 9. In Figure 9, "a" is the angle of the axis of rotation of the fin with respect to the horizontal. In Figure 10, "D" is the diameter and "L" is the length of the cylinder representing the bearing surface of the tubular fin.

  FIG. 11 illustrates, in plan view, an application of the architecture rule of the floor distance threshold (mean distances i) of the "steerable fins" with a vertical component of hydrodynamic thrust, weighted by their projected horizontal area ( SHi), with respect to the center of gravity (G) of the polygon whose vertices are the ends of the "radiating arms" (24) (this threshold is quoted at the second point of the paragraph "TENSILE"). "LHT" is the overall length of the carrier device. The representation in line fm of the structure of the building indicates that the "orientable fins" considered are located vertically above the end of the "radiating arms": this is a particular and non-limiting embodiment.

  Figures 12, 13 and 14 illustrate the concept of vertical projected surface (SV) of a "steerable flap" (used by the architectural rule illustrated in the following figure 15), respectively in the case of a plane flap to vertical axis of rotation, of a plane fin with axis of rotation inclined with respect to the vertical and of a tubular fin (this notion is quoted in the third point of the paragraph "TENTH"). The elements of the figure play roles similar to those corresponding to them in Figures 8, 9 and 10, permuting horizontality and verticality. In Figure 13, 13 "is the angle of the axis of rotation of the fin relative to the vertical.

  FIG. 15 illustrates, in plan view, an application of the rule of architecture of the floor sill 40 of distance (mean distances d i) of the "orientable fins" with horizontal component of hydrodynamic thrust, weighted by their vertical projected surface (SVi), with respect to the center of gravity (G) of the polygon, the vertices of which are the peripheral ends of the "radiating arms" (24) (this threshold is quoted in the third paragraph of the "TENTH" paragraph). in fine lines of the building structure indicates that the "adjustable fins" are considered located above the end of the "radiating arms": this is a particular embodiment and not limiting.

  FIGS. 16, 17 and 18 illustrate, in a top view, in the particular and nonlimiting case of an embodiment with three "radiating arms", sensor location distributions corresponding to the architectural rules relating to their respective distances, respectively relating to accelerometers (Azi) for measuring vertical acceleration, accelerometers (Ayi) for measuring acceleration in the direction parallel to the axis OY and altitude sensors (Cai) in relation to the level of the external water (these rules of architecture are quoted in the paragraph "ONZIEMEMENT" for the accelerometers and "DOUZIEMEMENT" for the sensors of altitude).

  FIGS. 19 to 22 illustrate an application of the architecture of the minimum threshold of free crossover rate between carrier device and "habitable platform" (2) (threshold mentioned in the second point of the "NINTH" paragraph of FIG. first feature): Figure 19 shows, for starboard, the "pivoting fairings" (45) oriented along the vertical plane of symmetry of the building, Figure 20 shows the corresponding section AA ', seen from above, Figures 21 and 22 are the counterparts of Figures 19 and 20, except that the "pivoting fairings" (45) are shown rotated 90 (where appropriate this orientation is fictitious by exceeding the angular clearance allowed by the embodiment) and FIG. 21 comprises the formula mathematically expressing the application to this case of the rule of the minimum threshold of free cross-over rate (the surfaces mentioned are measured in the plane of the figure): (S2) and (S4) are the frontal surfaces of the "pivoting fairings" (45), (S3) is the surface of the intermediate passage and (S1) and (S5) are the two surfaces of the passage between the "submerged float" (1) of the carrier device and the " habitable platform "(2) which are located respectively upstream of (S2) and downstream of (S4).

  EXAMPLE: 10 m BASE SAILBOAT This chapter describes by way of example a particular and non-limiting embodiment of the device according to the invention, which is a single "submerged float" sailboat of about 10 m in length. long, in a basic version (another more sophisticated version, called "big cruise", will be described later in chapter 7 (p.82)).

  As stated previously in Chapters 4.2 (p.45) and 4.4 (p.47), this particular and nonlimiting embodiment is illustrated in particular in FIGS. 1 and 23 to 55, except for the poles (38) before the two "auxiliary floats" front (3) and sensors (34) visible in Figure 24 carried by these poles (these elements will be present in the so-called version of large cruise).

  For reasons of scale and readability, in some figures - particularly in Figure 1 - elements cited by the text are simply located by a point, or by a remarkable element belonging to them, or are not represented. when it does not hurt the overall understanding.

  6.1 - Basic structure and rigging (Fig. 1, 23 and 26 to 29) The support device is a 10 m long "tapered" submerged "float", supported by two "carrier pylons" (16). (2), closed deck hull type with integrated cockpit.

  The "submerged float" (1) has a form of revolution generated by the rotation around its axis of a profile NACA 0008 (the master-torque of the "submerged float" is located in the front third and has a diameter of 8% of the length). It is made of composite material, for example laminate of glass fabric and polyester resin.

  The "carrier pylons" (16) are stainless steel columns whose free length between recesses in the "submerged float" (1) and the "habitable platform" (2) is such that the vertical guard between the "float auxiliary "and the" habitable platform "(the smallest vertical distance between this float and the platform) is 20% of the length of the carrier device, ie 2 m.

  The length of the "habitable platform" (2) is substantially the same, or shorter by 10 to 20% than the length of the "submerged float" (1). It is made of composite material, for example laminate glass fabric and polyester resin.

  This "habitable platform" (2) contains the reservoir (17) of the "adjustable tare device" (visible in Figure 23), installed in the lower part of the hull under the floor of the passenger compartment, with an internal partitioning -ballottement, accompanied by its device of total or partial filling with volume of controlled water. This tank (17) has a sufficient capacity so that its total filling weighs the building of 10% of its total weight in nominal load (reminder: the total weight in rated load is counted when the setting by this tank is adjusted so that the outside water level at the midpoint of the interval between the highest point of the "submerged float" and the lowest point of the "habitable platform"), so that in "speed regime slow or stop "the" auxiliary floats "(3) rest firmly on the water and sink partially, according to paragraph" fourth "of the first characteristic (described in chapter 3.3 (p.6)).

  The wind propulsion device with a rotating profiled mast (18) comprises a lathed mainsail (19) stretched and oriented by its lower edge by means of a boom (20), and a jib (21) at the front. The mast (18) has a length of the order of 1.5 times the length of the "submerged float" (1).

  6.2 - Special features of section 2 (Fits 1, 29 and 37 to 39) 6.2.1 - Spinning sparers with very large angular deflection The downhaul comprises a vertical cable hoist with locking device, hooked between the boom (20) upper part and a ball carriage at the bottom. r

  - 5 3 - This carriage moves freely on a circular rail (53), visible in Figure 29, fixed on the roof of the passenger compartment and concentric to the mast (18), which allows the rotation of the mast 360.

  The rotating mast head (18) is held by a rotational stop (54) with a vertical axis (visible in Figure 29) provided with two counter-mounted tapered roller bearings.

  The outer cage of this abutment has five radial ears which are anchored the four shrouds (47) and the strut (48) on the front (note: the shrouds are not drawn in Figure 29).

  The shrouds (47) are fixed at the bottom to the ends of the "radiating arms" (24).

  The strut (48) to which is fixed the jib (21) is fixed in the lower part on the beam (33). This beam is reinforced by a sub-barb (49) attached to the base of the bow (see Figure 23).

  The shrouds (47) and the strut (48) are provided with screw tension adjusters (not shown) near their lower end.

  The vertices of the mainsail (19) and the jib (21) are not at the top of the mast (18), but at a lower height, such that the sails can pivot 360 over the shrouds (47) and 'étai (48) without hanging them.

  6.2.2 - Control-controlled sail scooters The controlled-tilt traction devices are illustrated in particular by the diagram of the mechanism (9) in the upper right-hand corner of Figure 1 (the springs (15) symbolize one or more elastic elements ), Figure 37 for the listening winder, Figure 39 for the pneumatic cylinder generating the elastic tension, Figure 38 for the compressed air system of the cylinder and finally Figure 29 for the candlesticks ( 55) with a rotating sleeve guiding the sheets at the front.

  The listening (22) of the mainsail (19) and listening (23) of the jib (21) are held by automatic voltage regulating devices (9) integral with the "habitable platform" (2). ), so that the capsizing torque due to the wing can not increase abruptly by more than 10% approximately. In Figures 1 and 29, the marked points (9) locate the inputs of the sheets (22) and (23) in the controlled voltage devices located below the bridge (50).

  The diagram at the top right of Figure 1 illustrates this automatic voltage regulation device. In this diagram, the sheet of springs (15) simply symbolizes a traction device with elastic behavior law, as would be for example a winding winch controlled by an angular servo imposing this elastic law or (this is the chosen solution) in this example) wound by a second winding of an opposing cable, this second cable being pulled by a pneumatic spring cylinder anchored to the structure of the "habitable platform".

  Robust vertical candlesticks (55), acting as listening spacers (22) and (23) of the axis of the building, symmetrically located port and starboard, are integral with the roof of the cabin and are equipped each of a cylindrical sleeve rotating on bearings. These sleeves have a height and an arrangement such that the sheets (22) and (23), intercepted in passing, rest on them when the mainsail (19) or the jib (21) pivot very far forward of the building. This makes it possible to maintain a favorable listening angle of traction when the point of listening of the sails arrives forwards, thus avoiding increasing the effort capacity of the regulators (9) only for the end of the race. plays.

  The devices (9) controlled traction traction are three in number. The first is located at the rear of the "habitable platform" (2), in the plane of symmetry of the building for listening (22) mainsail (19). The other two, for the two strands of the listening (23) of the jib (21), are located one on the port rear and the other on the starboard rear of the "habitable platform". When the jib is used, the device (9) on the downwind side is in use and the one on the upwind side is not in use. The devices (9) have most of their mechanism located under the bridge (50).

  Only one of the two devices (9) relating to the plays of jib is in service at once, it is the one located on the leeward side. The earpiece (23) located on the windward side is wound at the maximum on the drum (10), the only one protruding from the bridge opening the terminal eye of the earpiece, intended to hook the carabiner of the point d listening to the jib (21) at the next tack.

  The devices (9) of listening voltage regulation are shown by three large points on the general view of Figure 1 and schematically detailed in the diagram at the top right of the same figure. Figure 29 shows more clearly the position of the three "pulling points" of the sheets (22) and (23) by the force control mechanisms (9), which are simply represented by the bridge crossing orifice ( 50) located between the pulleys (51) and (52), visible in Figure 1 in the diagram of the device (9). As already said, the sheet of springs drawn on this diagram simply symbolizes a traction device with elastic behavior law. All pulleys of these devices are common ball models, chosen large diameter to minimize friction and wear of soft links.

  Each of these listening voltage regulating devices (9) comprises a cylindrical drum (10), illustrated in FIG. 37, rotating freely on two conical roller bearings supported by a shaft integral with the "habitable platform" (2). ), on which the listening (22) or (23) is wound; this drum (10) is integral with a variable diameter coaxial drum (11) provided with a multiturn cam profile groove (12), on which a flexible and inextensible cable (13) is wound in opposite directions. The latter provides a torque antagonistic to that of listening by anchoring to a traction yoke integral with the piston rod of a pneumatic cylinder, illustrated in Figure 39, with almost zero friction whose body is secured to the "platform". habitable form ". This cylinder is connected by a large diameter pipe to a compressed air tank, illustrated in Figure 38, very large volume relative to the maximum volume of his room. The crew adapts the average pressure in this tank according to the wind force and the surface of the sail in service by means of a set of compressor, valves and manometer connected to the tank.

  The evolution of the ratio of the winding radii of the earpiece (22) or (23) on the drum (10) and the counter-wave (13) on the drum (11) as a function of the angle of rotation of these drums is provided so that the moment of the tensile force of the listening relative to the pivot axis of the sail increases linearly as a function of the angle of the carrier plane, with a total variation of 10% when this angle goes from 0 (sailing "end to wind") to 180 (sail having completely spun forward).

  - 55 - The almost zero friction cylinder retained is flexible membrane, known principle, of which there is probably a model of trade that may be suitable. Uncertainty that this is indeed the case, we give below a detailed description of a type suitable for sure.

  The jack (70) - see Figures 38 and 39 - substantially collinear with the tensile force of the cable (13), is formed of a female cylindrical bell (78) in which a male cylindrical bell (79) slides with a clearance annular. A flexible tubular reinforced membrane (80) - see detail B -, anchored to the perimeter of the bottom of the female bell (78) and on the head of the male bell (79), is turned over like a glove finger and rolls between the walls sliding to seal. The first anchoring is ensured by the pinching of the membrane between the plate (81) forming the cylinder bottom and the end flange of the body (78) by means of a screw crown (82). The second anchoring is ensured by the pinching of the membrane (80) between the piston head (79) and the counterplate (83) by a screw crown (84). The body (78) of the cylinder is integral with the structure of the "habitable platform" (2) and its bottom comprises the orifice of a large diameter pipe (71) joining a reservoir (72) of compressed air very large volume compared to the maximum volume of the cylinder chamber. The pressure in this tank is adjustable on the one hand by means of the compressor (73) drawing the outside air and the discharge through the pipe (74) provided with a stop valve (75) and secondly by means of of the decompression valve (77) with exhaust in the open air. The piston (79) of the cylinder is secured, via a stirrup (85), two rods (86) each guided by two bushings (not drawn) recirculating balls, the outer rings are integral with the structure of the "habitable platform" (2). A second yoke (85), secured to the rods at their other end transmits the compression force into the rod (79) of the cylinder, converted into tensile force in the rods (86) by an eye ear (87) and then a shackle (88) which is anchored: E either directly to the cable (13) by an eye lug (89) as shown in Figure 39, E is (unscored case) to the eye of the moving yoke of a hoist race multiplier; in this case, the cable (13) passes through the grooves of the hoist ball-bearing pulleys and makes several trips back and forth between the pulleys of its two clevises; the end of the cable (13) opposite to the winding on the drum (11) is anchored to the fixed yoke of the hoist, which is integral with the structure of the "habitable platform" (2).

  To reach the mechanism (9) located under the bridge (50), the listening (22) or (23) passes through the latter (see diagram at the top right of Figure 1) by an orifice in the center of which it is guided on the one hand by an upper pulley (51), horizontal axis and swiveling fork whose vertical pivot is secured to the bridge, and secondly by a pulley (52) non-steerable horizontal axis and clevis fixed under the bridge (50). An auxiliary mechanism (see Figure 37) further provides lateral guidance of the earpiece (22) or (23) near its winding on the cylindrical drum (10), so that the winding is contiguous turns without overlap .

  A second auxiliary winding guiding mechanism is provided (but not drawn) for the cable (13), arranged symmetrically to the first relative to the vertical plane passing through the axis of the drums (10) and (11).

  Each of these two auxiliary winding guiding mechanisms comprises a pair of grooved pulleys (69) of semicircular section, which are tangential and together form a circular orifice delimited by the grooves vis-à- screw and through which passes the listening or the cable to guide. The vertical pivots of these two pulleys are carried by a carriage (67) movable in translation parallel to the axis of the drums (10) and (11). This carriage is guided in translation by guide members on a rail (68) integral with the structure of the "living platform" (2). The carriage is secured to a cable (63) stretched parallel to its stroke and returned by pulleys (64) vertical axis integral with the "habitable platform" to two drums (62) of small diameter coaxial with the main drums and integral with them in rotation, on which they are anchored by their ends and wound in opposite directions. In this way, the translation displacement of the carriage (67) is proportional to the rotation angle of the drums (10) and (11). In an alternative embodiment, the drive of the carriage is provided by a screw-nut system whose rotating member is rotated by the rotation of the drums by means of a transmission gear and chain, or gear, or else pulleys and toothed belt.

  The adjustment of the unrolled length of the listening to a precise value is controlled by the software of the electronic calculator of the "attitude and trajectory controller". For this purpose, on the one hand the angle of rotation of the drum (10) is measured by an angular sensor, of a current but reliable type (for example with absolute coding), integral with the drum, and on the other hand a electric stepper motor of a current type and known stall torque whose output shaft is integral with the drum via a reversible mechanical transmission. The angular sensor and the electronic control device of the motor are connected to the electronic calculator of the "attitude and trajectory controller". This listening adjustment device makes it possible to compensate for the friction while leaving the listening device spinning in the event of abnormal effort due to overselling, without losing the knowledge of the angle of the drum, so as to then automatically restore a setting. optimal. The slight angular locking provided by the retaining torque of the stepper motor dispenses with the continuous supply of energy; this advantage can be increased by the choice of a stepping motor with permanent magnets, with a stronger residual torque.

  6.3 - Swivel Fairings (Fit 1, 23 to 25 and 35-36) Each "Support Tower" (16), each "Swivel Mast" (26) and the "Hydraulic Swivel Mast" (37) - visible in Figure 23 - is provided with a profiled "swivel fairing" (45) of composite material, for example glass fabric and polyester resin laminate, self-steerable in the current by free rotation around the pylon or mast by means of bearings (46) located near the top and bottom ends of the fairing; the bottom bearing is needleless internal ring and its internal raceway is directly constituted by a cylindrical zone treated, rectified and polished mirror of the shaft of the pylon or mast.

  The axes of these bearings (46) are vertical, collinear and located in the plane of symmetry of the "swivel fairing" (45), sufficiently close to the leading edge to ensure frank self-orientation of the fairing under the effect of the running, like a wind vane.

  The horizontal section of the fairing profile (45) is scalable, starting from a NACA 0020 profile at the lower end and terminating at the top end to a profile NACA 0020 modified so as to form at the leading edge a bow angle at 30, with a length of rope double the length of rope of the bottom profile.

  Each fairing (45) has the maximum possible height, with two sets and ends forms, compatible with the mode of connection of the "carrier pylon" or the support mast with the upper structural element of the building. In the case of links with "adjustable wing-holding masts" or "hydraulic vane-carrying masts" with calibrated force limitation, these forms are intended to allow the mast to be raised without damage or to the "pivoting fairing", or to the structural element of the building overlooking this mast.

  Some "swivel fairings" may be protected from front obstacle impact damage (un-drawn details): É by means of a hard rubber rod or a wooden martyr rod embedded in the 10 leading edge of the "swivel fairing", é and / or by means of mounting the inner rings or the outer rings of the guide bearings in rotation of the fairing with the interposition of rubber rings whose radial elasticity allows the contacting and the direct rest of the wall of the central light of the "pivoting fairing" on the resistant mast of the pylon or mast, by slight retreat of this fairing in case of excessive effort from the front.

  These "pivoting fairings" are provided (see FIGS. 35 and 36) with a polyurethane foam filling material (59) downstream of the tube forming the fairing hub, and possibly downstream of the rear wall (58). the through vertical light (56), in the case of fairings having such a light. Devices (57) take this light to pass from the upper structural element to the lower element, such as for example the measurement signal transmission cables of the angular sensors of the "hydraulic vane" to the "habitable platform" and the power cables of these sensors.

  Figure 35 shows the angular clearance of about 30 permits on either side of the average position of the fairing by this light and the section of Figure 36, made slightly above the fairing foot, explains the area of the fairing. light and that of the filling material. 6.4 - Auxiliary floats and ballasts (Fie 1.24 and 26 to 28) The

  stabilizing device for the "slow speed or stop speed" comprises four "auxiliary floats" (3) at the end of horizontal or quasi-horizontal "radiating arms" (24) integral with the "habitable platform" (2). These arms are regularly distributed around the latter and oriented at 45 of the longitudinal plane of symmetry of the building. Each "auxiliary float" (3) has a volume of buoyancy (volume of water displaced in case of complete immersion) of the order of 25 to 30% of the volume of the "submerged float" (1). The "radiating arms" (24) have a length of the same order of magnitude as the length of the "submerged float".

  The balancing device for the "fast speed regime" comprises a device for varying the distribution of masses of water in four compartments-ballasts (4) of equal volumes, each located in the central zone of an "auxiliary float" ( 3) and a capacity equal to about 15 to 20% of the volume of the "submerged float" (1). Each compartment-ballast (4) is delimited by the wall of the hull of the "auxiliary float" (3) and by two transverse bulkheads (25). These - 58 ballast compartments (4) together contain, in total, a volume of water equal to the volume of one of them (they are therefore filled on average to a quarter of their individual capacity).

  The lower part of each compartment-ballast (4) is connected, through the nozzle of an electric bow thruster (of a common type) used here as bidirectional motor pump, to a large diameter pipe that joins the "flat -formable "(2) through the interior of the neighboring" radiating arm "(24). The four pipes from the tank-ballasts (4) converge in an intercommunication chamber after each passing through a solenoid valve severing a current type but fast maneuver; each solenoid valve is open when the associated thruster rotates and is closed when it is stopped. Each compartment-ballast (4) is equipped with a water level sensor contained. These sensors and the electronic power control components of the bow thrusters and disconnecting solenoid valves are connected to the electronic control unit of the "attitude and course controller".

  This transfer device is designed to adjust the distribution of water between ballast compartments (4) to the set values with a maximum response time of the order of one minute (full filling time or full emptying time). a given compartment).

  6.5 - Swiveling flap device (Fits 1, 24-25 and 40 to 55) Reminder: see note at the beginning of chapter 3.8.8 (p.29).

  The stabilization device for the "fast speed regime" comprises four pairs of "steerable fins" (5) with adjustable hydrodynamic lift force by adjusting the dihedral angle of the carrier plane of each with the bearing plane of its flap trailing edge.

  Each pair of fins (5) is composed of a fin (27) orientable about a horizontal axis (28) parallel to the axis OY and a fin (29) orientable about a vertical axis (30). ), with transverse lift forces in directions close to the vertical and port-starboard respectively.

  Each pair (5) is located in the lower part of a vertical mast (26) fixed under the "auxiliary float" (3) or in its immediate vicinity by a very rigid connection to the "radiating arm" (24), provided however in calibrated breaking resistance to avoid any damage to the "auxiliary float" or "radiating arm" in the event of an obstacle hooking by "swiveling wings" or by their supporting mast.

  Each vertical mast (26) has a length such that the top of the upper wing (29) which it carries is situated lower than the highest point of the "submerged float" (1) and such that the average altitude the pair of ailerons (5) that it carries is identical to the altitude of the Archimedes thrust center of the "submerged float" (1), or slightly lower.

  The two "radiating arms" (24) of the rear are about 20% shorter than the two arms (24) of the front, so as to distance the wake of each pair (5) "of orientable fins" of the front of the pair (5) "adjustable fins" of the rear located on the same side of the building.

  To ensure the necessary strength and rigidity, the "radiating arms" (24) are made of metal or composite material of unidirectional carbon fabric laminate and epoxy resin laminated on a rigid foam core and with a large section and the poles (26) consist of a strong section stainless steel bar with connection to the arm by two plates assembled by bolts with calibrated rupture.

  The distributions of rigidities, masses and dampings are designed to prevent the occurrence of resonance phenomena under the effect of mechanical stresses resulting from the rapid flow of the external water around the immersed parts. Where appropriate, computer-based numerical simulation or a prototype test campaign equipped with vibration accelerometers on a "radiating arm" (24) and the "steerable wing mast" may be used for this purpose. (26) associated, followed by additions of concentrated masses at the points to suppress these resonances.

  6.5.1 - Connection between the radiating arm and the adjustable wing-mast According to two variants of the embodiment of this example of a 10 m basic sailboat: E, the "adjustable wing-bearing mast" (26) is fixed under the " auxiliary float "(3), as illustrated in Figures 1 and 24, by means of bolts with calibrated breaking load, in accordance with the description given in chapter 3.8.7.a (p.26), where E is the" door mast The pivoting wings (26) is fixed under the "radiating arm" (24) in the immediate vicinity of the "auxiliary float" (3), as illustrated in FIGS. 54 and 55, by means of a safety hinge with stop and force limitation as described in Chapter 3.8.7.b (p.27).

  This second variant is recommended for its best guarantee of maintaining or restoring the "fast speed regime" without requiring repair at the port after a moderate intensity obstacle strike; it will be described later in this chapter 6.5.1.

  This device is illustrated, for the case of the connection of the "mast portables" (26) of the starboard front to the "radiating arm" (24) overhanging it, by the schematic partial section seen from starboard of Figure 54 and by the view schematic top view of Figure 55.

  In these figures, we see the robust plate (149) secured to the head of the "mast 25 adjustable fins" (26) by a welded connection, reinforced welded stiffeners (151) housed in the flared top of the "swivel fairing" (45) - not shown here - as they do not interfere with its pivoting.

  The anti-slip positioning is ensured by three balls (152) crimped into housings of the lower plate (149) and coming to fit into three recessed bowls (153) of the upper plate (150); the clamping of the two plates against each other is ensured by three cables (154) stretched, calibrated breaking strength, anchored to the lower plate, which pass through the upper plate by holes with flared lower orifice (detail not drawn ), rounded and polished so as not to be damaged, which then pass if necessary in wells crossing the "radiating arm" (24), then which pass on three pulleys with grooves (155) with horizontal axes and integral screeds of the arm (the yokes are not drawn), and finally meet and merge into a single pull cable (156), direction substantially parallel to the axis of the "radiating arm".

  The end of this cable (156) is fixed to a compression spring (157) of the type of those interposed on the boat moorings as dampers, which is hooked to a second cable (158) whose - the other end (not visible in the figure) is attached to a lockable lever or hoist for powering up to lock the link, or to release to raise the "steerable wing-lift mast" (26).

  Each of the three balls (152) is close to one of the three anchoring points of the cables (154) and the three pairs that they form in pairs are arranged at the vertices of an isosceles triangle whose base, close to the downstream edge of the plates (149) and (150), is parallel to the axis OY and the opposite peak is directed upstream.

  The mast (26) is provided with a able (un-drawn) folded accordion-folded on the upper structural element of the building and held by elastic bracelets or wire break, whose end is either fixed to the structure, either integral with a floating beacon (for example a lighted ignition beacon lighting ignition) fixed on a resilient clip secured to the upper element.

  In the event of slight dislocation, the connection of the plates (149) and (150) is re-locked in place of itself; in case of more intense effort, it dislodges completely and it is necessary to relax and then gradually retend the cables to restore it; in case of violent force, one or more calibrated cables (154) break and their replacement is necessary to restore the link.

  In an improved variant of the embodiment: the balls (152) are replaced by nipples penetrated in housings (153) a little deeper, the two downstream studs are placed just at the extreme edge of the plate (152) and the downstream edges of the two plates are provided with chamfers, so as to delay the disengagement as much as possible; the sagging capacity of the spring (157) is chosen accordingly; If applicable, two calibrated (non-drawn) resistance textile cables parallel to the longest edges of the plates, are anchored to the rear edge of the plate (149) and to the upstream edge of the plate (150), with a determined tension. (for example by means of screw turnbuckles) and run in two channels of the lower face of the upper plate, so that a total disengagement is possible with a raising angle of the mast (26) can approach 90 before these cables eventually break, allowing most obstacles to pass through and automatic re-tiling after a brief stop of the building to suspend the drag force.

  In a similar manner to the drawing of Figure 56 (relating to another connection mode, present in Example No. 2), each "steerable aileron mast" (26) is provided with a rear lift device and upwardly by means of a cable (159) fixed on an ear of the trailing edge of the "pivoting fairing", located towards its mid-height; this cable passes over a pulley (160) bearing on the upper structural element of the building, if necessary via a davit secured to the latter; the mast can be voluntarily raised to reduce the draft by releasing the spring (157) normally plating the plates (149) and (150) of the link against each other and pulling on this cable (159) hoist or winch via return pulleys.

  Similarly, a able (161) fixed to the mid-height of the leading edge of the "swivel fairing" and directed upstream allows a crew member perched on the "radiating arm" (24) to return in place the link after descent of the mast (26) by guiding it manually with a 61 - pole to fit the balls in their housing while the cable (158) is gradually retightened by another crew member.

  The electrical cables and any optical fibers leading to the electrical or electronic equipment located on the (or in the vicinity of) "steerable wing mast" include a waterproof pin connector, withdrawable under low tension without damage to the cables. The connector is mounted floating garlic vicinity of the plate (150) on a portion of the bundle of cables and / or pipes consisting of flexible sections, normally relaxed. Each half of the connector is connected by a retaining chain, normally relaxed, to the structural part which must remain attached in case of unplugging. The length of the part of the beam provided with the detachable connector which is between the two closest anchoring points to the "radiating arm" on the one hand and to the "adjustable wing-holder mast" on the other hand and the lengths of the chains In the event of pulling, the tensile force is supported exclusively by the chains and not by the cables and pipes of the flexible bundle.

  6.5.2 - Architecture of a pair of flaps 6.5.2.a - General Reminder: see note at the beginning of chapter 3.8.8 (p.29).

  The "steerable fins" (27) and (29) - see Figure 25 - are rectangular in plan, or better with a leading edge slightly swept with an angle of the order of 20 (uncut solution unless on the diagram of Figure 44) and they are lengthening 2 (wing span I rope profile ratio). Each fin pivots freely, within the angular limit of a range of 30 on either side of its mean position; this angular range is imposed by two stops (not shown) integral with the mast (26): Each fin pivots on needle bearings or tapered roller mounted in opposition and operating in a pressurized oil bath. The above plus or minus angle is chosen to allow an angle of rotation of the "steerable fin" relative to the current, up to an angle of apparent current with respect to the maximum axis OX of to the transverse component of wave motion).

  Each of these fins (27) and (29) is spontaneously oriented under the effect of the opposing pairs due to its own hydrodynamic lift force and the hydrodynamic lift force of its associated flap (31) or (32). As illustrated in the diagram of Figure 42, the pivot axis of each flap is secured to two plates (94) attached to the lateral ends of the associated flap, perpendicular to the pivot thereof and projecting downstream, to beyond its trailing edge.

  The flaps (31) and (32) have the same wingspan as the fins (27) and (29), but have a rope three to four times shorter. The steering of each flap is ensured by an angular orientation servocontrol of the shutter relative to its flap, with a response time of approximately 0.2 s per 5 of variation.

  The "swiveling fins" and their shutters are made of a composite material, for example carbon fiber laminate and epoxy resin, with a cylindrical profile NACA 0018 cylindrical (or surface adjusted for "swiveling flap" in the case of a leading edge in arrow), with a span of about 9% of the length of the "submerged float" (1).

  - 62 - 6.5.2.b - Detailed explanations of figures 40 to 44 Figures 40 and 41 show the "swiveling wing" (27/29) with its pivot axis (28/30) and its edge flap leakage (31/32). In Figure 40, the axis of articulation (92/93) of the flap is coincident with the trailing edge (91) of "the swiveling flap" along a common junction line (90). In FIG. 41, the hinge axis (92/93) of the flap (31/32), located in the middle plane of the "swiveling flap", is parallel to the trailing edge (91) of this flap and at a distance such that there is between the fin and the flap a set "g" of the order of 10 to 20% of the length of rope of the flap.

  In Figure 42 we see the two side plates (94) attached to the wing ends of the "swivel wing" (27/29), which are integral with the ends of the shaft (92/93) forming the pivot shutter and 10 serve as supports. This pivot shaft is fixed relative to the "swiveling flap".

  In Figure 43 we see in section the case of a "steerable wing" (27/29) and its trailing edge flap (31/32) which form a continuous hydrodynamic profile NACA 0015 when the flap is not pointed . For this, the trailing edge of the "swiveling flap" comprises a longitudinal groove in which is embedded the flap nose, which is locally circular profile. A minimal game remains between the fin and the shutter. The profile of the gutter is slightly wider than that of the nose of the flap to allow the angular movement of the latter without jamming.

  Figure 44 shows a "steerable fin" (27/29) of a leading edge shape planar shape, the wing tip ropes being about three times shorter than the mid span rope. The flap (31/32) is rectangular in plan, of the same size as the flap and rope length equal to about a quarter of the maximum length of this flap. The pivot axes are respectively (28/30) for the flap and (92/93) for the flap.

  Recommendations for the choice of solution: É The recommended flap and flap arrangements are those of Figure 43 (preferably) for its strength and that of Figure 41 (at worst) for its torque gain.

  É The arrangement of Figure 40 is not directly recommended, its effectiveness is poorly known.

  É Lateral plate connection mode holding the shutter shaft in accordance with Figure 42 is recommended in all cases; if necessary, identical intermediate plates, integral with the "swiveling flap" and the pivot of the flap can be provided in addition to support the flap pivot shaft in more than two points; slits at the leading edge of the flap, fitted to the faces of the intermediate plates, are then provided to allow the passage of these plates.

  É The swept-out wing arrangement shown in Figure 44 is recommended for its excellent lift performance and anti-hook effect of algae, but only in the case where it is desired to favor top speed by accepting a "critical speed" "Vc a little higher, because of a smaller bearing area at given span.

  Important Note: The above recommendations take precedence over the relative provisions of the flap and flap in Figures 45 to 51, which are chosen solely for ease of drawing and / or clarity of illustration.

  - 63 - 6.5.3 - Steering mechanism of the wing-head dihedral angle 6.5.3.a - Overview of the mechanism Two electric stepper motors, of a standard type and of a model chosen for a high torque and a small radial space, possibly coupled with gear reducers, have their frames integral with each "mast-adjustable wings", just under the mast head and downstream thereof, protected from an impervious casing with shaft outlets in the lower part provided with rotating seals; this casing is protected from the waves in the upper part of the "pivoting fairing", provided with a local bulge provided for this purpose, sufficient to allow an angular deflection of the fairing from 30 to port and from 30 to starboard.

  The output shafts of the motors or their gearboxes are coupled to the quasi-vertical drive shafts along the mast by gimbals under sealed bellows lined with grease. These driveshafts are located downstream of the mast, side by side. They pass through the "swivel fairing" and "the upper swivel flap" either by passing through a vertical slot located downstream of the guide bearings, or by passing through an opening in the downstream unbalance of the eccentric rings located inside these bearings, as described in chapter 3.8.3.d (p.22) and chapter 3.8.9.b (p.32).

  The lower guide needle bearing of each transmission shaft is housed in a small slider with parallel vertical side faces (not shown in the figures) providing plane guidance along the vertical plane of symmetry of the fin by sliding with a very low play in a light with faces parallel to this plane. In order to guarantee the permanent contact of the rolling ball joints of the articulated quadrilateral (described below), this slider is pushed towards the flap by a compression spring bearing on the structure of the fin and on the slider. Its compression force is expected to be sufficient to eliminate the risk of loss of contact of the ball joints in the event of an obstacle collision by the "swiveling wing" or by the flap, taking into account the limit torque of the torque limiter connecting the lower end. from the drive shaft to the leading handlebar.

  This torque limiter is constituted by the lower end of the transmission shaft, below the needle bearing without inner ring of the lower guide, which is slightly fluted, and by a caliper with jaws which are fluted identically on their internal faces and meshing with the fluted part of the tree. These jaws are articulated on a vertical pivot integral with the handlebar leading the articulated quadrilateral and their opposite ends to the pivot are clamped by a tension spring exerting a force ensuring the rotational connection of the shaft with the handlebar up to a transmission torque maximum beyond which the jaws move slightly, the grooves escape and the shaft turns a few notches from the handlebars.

  The angular position of the handlebars leading relative to the "steerable arm-lift mast" is measured by an angular sensor of a current and reliable type (for example of the absolute coding type).

  The electronic power control devices of the phases of the stepper motors, the two angular measuring sensors of the driving handlebars, as well as the angular measuring sensor of the "upper swivel flap" are connected to the electronic computer of the "controller of attitude and trajectory ". These electrical equipment and their connections are protected from moisture in a sealed atmosphere-controlled network, as described by the last three paragraphs of Chapter 6, Chapter 3.8.12.b (p.36) and recalled later, at the front. -last paragraph of Chapter 6.6.4 (p.74).

  The fins and flaps are of the recessed type, as shown in FIG. 43, and the fixed shaft forming the flap pivot is held by side plates, as shown in FIG. 42. The flap comprises two lateral lugs coupled to connecting rods for its orientation. .

  The transmission of motion between each vertical (or quasi-vertical) rotary control shaft and the corresponding flap is provided by a mechanism in which a large part of the members is housed inside the corresponding "pivoting flap", in a cavity arranged for this purpose. To allow the mountability, the fins are each constituted of two parts assembled end to end, separated by a plane of joint perpendicular to their axis of rotation. Centering feet at the joint plane ensure the identity of angular orientation of the two parts and threaded rods, parallel to this axis of rotation, with nuts braked at their ends, ensure the plating of the two parts at the joint plane. Each part comprises a complete rotational guidance on the axis, with at least one bearing in the vicinity of the joint plane and another on the opposite side, at the end of the wing (according to two variants, there may be two adjacent bearings near the joint plane is one, which is then flush with the joint plane or is fitted at half-ring thickness in two housings facing each other in each of the two parts of the fin).

  It is recalled here that Figure 45 is a diagram on which the handlebars are drawn with an exaggerated and disproportionate length to improve readability. In reality, the AB and CD handlebars are buried in internal cavities of the fins (29) and (27) respectively and the handlebars A'B 'and C'D' are in fact made of integral lateral ears respectively flaps (32). ) and (31).

  The overall kinematics of the motion transmission mechanisms from the vertical shafts to the shutters corresponds to the diagram in Figure 45, except for the handlebars, whose rotation axes are actually slightly more downstream than shown in the diagram. . Thus the handlebar leading AB (97) is further downstream from the shaft (104) and its port branch is curved, so as to have sufficient angular movement without hitting neighboring elements. Likewise, the CD handlebar (106) is further offset downstream from the spindle shaft (28).

  Each articulated quadrilateral (A-B-B'-A 'and C-D-D'-C') comprises two exclusively push rods, each cup-shaped end caps a ball crimped on a base integral with the end adjacent to a handlebar; one of the four bases is possibly adjustable by a screw locked by a braked lock nut for the adjustment to the assembly (this is not obligatory); each spherical bearing rolls in a bath of grease contained in a flexible, elastic and tight sleeve, as illustrated in Figures 52 and 53.

  In a variant of the previous embodiment, the receiver handlebars are not concurrent with the axis of rotation of the trailing edge flap, but are deported downstream by a length that minimizes the amplitude of the displacements of the spring slider. supra. In a sub-variant, this spring is even removed and parts of the mechanism (eg the handlebar motor) are provided with an elasticity limiting the possible residual hyperstaticity of the articulated quadrilateral.

  6.5.3. FIG. 45 schematically illustrates the embodiment of the mechanical transmission device for the angular orientation control of the flaps of the "steerable fins", based on homokinetic angles of angles binding by rods a handlebar leading to a led handlebar and constituting articulated quadrilaterals.

  This figure reproduces the lower part of Figure 25, enlarged twice, with the base of the "swivel fairing" (45) modified by a local bulge to be able to accommodate a member (46) of larger diameter for guiding the fairing in rotation. , in order to allow the simultaneous passage of the Mt (26) and the two drive shafts (95) and (104) inside the rotational guiding members of the "swivel fairing" and "upper swivel flap" .

  Compared to FIG. 25, the simplified schematic representation of the driveline control transmission transmission is shown in FIG. 45, with the following graphical conventions: rotational transmission, handlebars or rods, E the large dots represent the joints between these organs, E the notion of depth is suggested by the dashing of the bars located at the rear plane, as well as the back half of the bars seeming elusive to the observer, the drawn length of the sides AB, A'B ', CD and C'D' was voluntarily increased in a ratio of three or four compared to the scale of the rest of the drawing, so as to make it easier to read: in the real world, the handlebars are short enough for AB and CD to be housed entirely inside cavities arranged in the "orientable fins". t. The orientation angle of the flap (32), pivoting about its axis of

  vertical rotation (93) is controlled by the angle of rotation of the short vertical shaft (95). The latter drives at its lower end, via a torque limiter (not drawn), a handlebar leading AB (97) and the axis of this shaft is the mediator of the segment AB.

  This handlebar (97) pivots about the axis of the shaft (95) with a symmetrical angular movement identical to that of the flap (32), but reversed. The driving handlebar (97) is provided at its ends A and B joints (96) and (98) which drive the links (103) and (99) for coupling to horizontal handlebar A'B '(101). These rods have the same length (AA '= BB'). They are connected at A 'and B' to the ends of the handlebars led by the joints (102) and (100). The driven handlebar (101) is directly integral with the flap (32) and pivots in a horizontal plane (parallel to the XOY plane). The handlebars and the flap pivot together about the vertical axis (93). The segment A'B 'admits the axis (93) for the mediator and has the same length as the segment AB. The quadrilateral A-BB'-A 'is a plane quadrilateral located in a horizontal plane (parallel to the plane XOY) whose sides are two by two (AB = A'B' and AA '= BB'). Therefore, the angle of rotation transmitted by the shaft (95) to the flap (32) by this mechanism is equal in module, but of opposite sign.

  The CD-D'-C 'quadrilateral mechanism in the lower part is similar to the previous one, except that the led handlebar (110) pivots in a vertical plane (parallel to the XOZ plane), that this quadrilateral is left and that the articulations of The end of the links should not only allow single-axis rotation, but allow two orthogonal axis rotations.

  The orientation angle of the flap (31), pivoting about its horizontal axis of rotation (92), is controlled by the angle of rotation of the long vertical shaft (104). The latter is secured to its lower part, via a torque limiter (not drawn), a CD leading handlebar (106) and the axis of the shaft is mediator of the CD segment. The handlebar pivots about the axis of the shaft (104), with an angular deflection of equal amplitude (but in a plane perpendicular to) that of the flap (31). The driving handlebar (106) is provided at its ends C and D with articulations (105) and (107) which drive the rods (112) and (108) for coupling to the driven handlebar C'D '(110), which is vertical at mid-stroke angular. These rods have the same length (CC '= DD') and they are connected at C 'and D' to the ends of the handlebars led by the joints (111) and (109). The handlebars (110) is directly secured to the flap (31) and pivots in a vertical plane parallel to the plane XOZ. The driven handlebar and the flap pivot together about the horizontal axis (92). The segment C'D 'admits the axis (92) for the mediator and has the same length as the segment CD. The quadrilateral C-D-D'-C 'is a left quadrilateral with opposite sides CD and C'D' orthogonal whose sides are equal two by two (CD = C'D 'and CC' = DD '). Therefore, the angle of rotation transmitted by the shaft (104) to the flap (31) by this mechanism is equal in module, but in a perpendicular plane.

  Figures 46 to 51 are diagrams illustrating the kinematics of the articulated quadrilaterals formed by the rods and handlebars shown schematically in Figure 45, in three remarkable positions: unreflected flap on the one hand and flap turned to a maximum of one side and on the other hand. The first three figures relate to the upper flap control (32) and the last three relate to the control of the lower flap (31). Each of these six figures has two diagrams on the same scale, drawn aligned one above the other: The upper diagram shows, in profile, the "swiveling wing" with its edge flap of 25 leak and the handlebars and rods (this is a top view for the first three figures and a view from starboard for the last three), E the lower diagram shows the two links with their schematized end joints by a single point (it is a view from starboard for the first three and a view from above for the last three).

  On the upper diagram of these six figures, the led handlebar - which consists of two ears integral with the shutter - is symbolized by two short thick lines adjoining the profile of the shutter. In the lower diagram, the handlebars are not shown, except the handlebar leading the last three figures (symbolized by a thin line joining the joints to the right of the figures).

  The nose of each flap comprises a groove intended to avoid collision of the links with the flap when the steering angle is large; the bottom of this bleeding is symbolized by a dotted line in the form of a "V" lying down (clearly visible in the figures representing the unreflected flap).

  We note on the lower diagrams of the first three figures the slight vertical offset of the rods, which allows them to cross without interference.

  Figures 52 and 53 show the embodiment of the joints of the connecting rod heads on the handlebars, taking as an example the case of two joints of the upper quadrilateral, seen from above, elastic sleeves supposed cut to show the inside.

  Note: it has been adopted here that each articulated quadrilateral had an adjustable ball joint, but this is not necessary (the screw setting can indeed be at the spring 5 or even be absent and the eight ball joints are then identical to the assembly of Figure 52).

  The hinge (96) is drawn in the flap position turned to starboard at 50% of the maximum angle and conversely the hinge (102) is drawn in the flap position ported to port at 50% of the maximum angle; the positions of the rod drawn in fine lines correspond to the deflections of the flap in opposite directions, respectively to 100% of the maximum angle of the flap to port for the articulation (96) and to 50% of the maximum angle to starboard for the joint (102).

  Note: the two drawings have been rotated relative to each other to represent the handlebars always horizontal with respect to the sheet.

  Each end of the connecting rod (103) has a shoulder and a pin (118) ending in a bowl shaped spherical cap. This bowl rolls on a ball (119) of smaller radius, crimped at the end of the stud (120) of the base (121) with double shoulders or (126) shoulder on one side and adjusting screw 'other. A bellows sleeve (125) of flexible and elastic material is force-fitted on the nipples vis-a-vis, on which it is tightened by screw clamps (not drawn).

  In the case of non-adjustable base hinge (121), the lower shoulder rests on a countersink (122) formed on the downstream face of the handlebar (97). The base is immobilized by fitting (123) in a bore of the handlebar. The axis of the bore and the countersink are slightly inclined, so as to coincide with the axis of the rod when it is in the middle position.

  In the case of an adjustable base joint (126), the tail thereof constitutes a screw (127) screwed into a threaded bore (128) of the handlebar (101). The screw is locked by a lock nut (129) resting on a countersink (130) formed on the downstream face of the handlebar. The axis of the threaded bore and the countersink are slightly inclined, so as to coincide with the axis of the connecting rod when it is in the middle position.

  Note on the 100% inclined rod (fine line) of the hinge (96) that the point of contact of the bowl of the rod with the ball is still far from the edge of the bowl (guard 30 anti-escape) and that the edges of the nipples are still far from touching (anti-collision guard).

  The displacement of the rolling contact point causes a small variation in the distance between the contacts, which would cause a variable compression in the connecting rod if there was no elasticity of the spring of the guide slide foot guide . This variation in distance can be reduced by reducing the radius of the balls, those of the spheres of the bowls, as well as those of the pins carrying the balls and the bowls and by treating if necessary the rolling surfaces to increase their hardness in order to durably resist the increase of contact pressure.

  In an undefined variant of the embodiment of the hinge (102), the countersink and the locknut are located on the side of the upstream face of the handlebar (101).

  - 6 8 - 6.5.4 - Dimensions and Sampling The main design and sampling characteristics of this example, selected for a balanced compromise of performance in different areas, are described below.

  Each "swiveling wing" has a rectangular plan that measures 90 cm wingspan and 45 cm of rope. The profile is a NACA 0018 profile. The thickness at the master-couple, located at the front third, is 8 cm. The hydrodynamic lift center is located on the profile rope approximately 25% away from the leading edge, 11.25 cm from this edge. The axis of rotation of the fin is placed slightly upstream, 9 cm from the leading edge, so as to give a compensation of 20% (ratio of the surface located upstream of the axis of rotation to the surface total).

  "Swiveling wing" is composed of two parts assembled with a plane of joint perpendicular to the axis of rotation, centering feet and tie rods with threaded ends and braked nuts, so as to allow the assembly of the components of the control mechanism of deflection of the dihedral angle housed in its internal cavity (as previously described in chapter 6.5.3.a (p.63)). This cavity causes if necessary a slight localized bulge (not drawn) of the hydrodynamic profile to ensure the thickness continuity of the wall of the fin necessary for its mechanical strength.

  A pair of counter-mounted tapered roller bearings provide rotational guidance and double axial abutment of the fin relative to the fixed shaft carrying it. This pair is completed by two or three needle bearings without inner ring, so that each of the two parts of the fin is guided in the immediate vicinity of each of its ends. These bearings are recessed near each side edge of each part of the fin; their outer ring is housed in a possible localized bulge (not drawn) of the hydrodynamic profile of the fin.

  The shaft bearing these bearings is made of stainless steel and has a diameter of 40 mm. Given a radial clearance of 2 mm between the shaft and the wall of the axial light of the fin provided for the passage of this shaft, the minimum thickness of the carbon-epoxy laminate composite coating of the fin The swivel is 18 mm from each side of the tree, in its immediate vicinity, and the thickness of the flap reaches about 76 mm just upstream and just downstream from this tree.

  Each shutter has a rectangular plan of 90 cm wingspan and 12 cm of rope; it pivots on needle bearings without inner ring rolling on its guide shaft which is stainless steel of 20 mm diameter. The latter is integral with the two plates (visible in Figure 42) attached to the ends of the "swiveling flap".

  The vertical mast shaft (26) is a stainless steel column, slightly tapered above the upper "swivel wing" (29); the section located just above the upper bearing of this flap has a diameter of 60 mm and that located at the upper end of the mast has a diameter of 90 mm. The length of the fact above this bearing is such that the top of the "upper swivel flap" is located at the same altitude, or slightly lower, than the top of the "submerged float" (1) when the trim the building is horizontal.

  6.6 - System and equipment (Fi2.1 and 23 to 25) All the sensors and actuators mentioned in this chapter 6.6 are connected to the electronic control unit of the "attitude and trajectory controller", either directly or via a satellite microcontroller connected to this calculator.

  The sensors, electronic computer, possible microcontrollers and actuators mentioned in this chapter are of a common type, the choice of which is the state of the art in the engineering of mechanical systems with digital position control controlled by sensors, actuators and software. real time executed by an electronic calculator. When the choice of model requires increased vigilance on a particular characteristic, this constraint will be mentioned in the text.

  In this example of a "basic" sailboat, the measurement signals of the sensors and the control signals of the actuators are conveyed by shielded electrical cables with pairs of twisted conductors, each pair being further individually shielded.

  6.6.1 - Acceleration and immersion depth measurements Each "auxiliary float" (3) has a dual accelerometer (6) which measures the components of the local acceleration (see Figure 24), on the one hand parallel to the axis OZ (vertical direction) and secondly parallel to the axis OY (port-starboard horizontal direction).

  The accelerometers are of a common type, chosen to have a bandwidth since the continuous and a good sensitivity (approximately 1 to 2 millig of sensitivity is recommended). They must be carefully oriented, the angular error between each axis of measurement and the direction of the reference axis (OY or OZ as the case may be) to remain less than about five degrees.

  Each "steerable mast" (26) is provided with a static pressure sensor (see Figures 24 and 25) for local immersion depth measurement. The orifice of the pressure sensor (7) is located on the side of the "swivel fairing" (45), near its base, so as to remain always immersed under normal conditions of navigation. The necessary precautions are taken to correctly measure the static pressure, with the minimum of pollution of the measurement by the dynamic pressure (which depends on the speed), as described at the end of the third paragraph and the fourth paragraph of Chapter 3.8.12. a (p.35) and according to the additional indications that will be given below, two paragraphs later.

  The average value of the pressure relative to each static pressure sensor is obtained (according to two variants) or by filtering the analog signal representing the pressure through a first-order low-pass analog filter having a time constant of approximately 30 seconds, or by equivalent filtering by numerical calculation (for example sliding average with exponential relaxation) carried out by the software of the "attitude and trajectory controller" in the case of a digital measurement signal (that this signal is thus emitted by the sensor, or is transformed by an analog-digital converter directly connected to its output or constituting an integrated function of a microcontroller placed in interface).

  Each static pressure sensor consists of a pressure sensor of a current type, chosen according to the range of values to be measured, connected by a thin line to the orifice of the probe, located at point (7). However, care must be taken to properly measure the static pressure of the water, without excessive pollution by the dynamic pressure. For this, each static pressure sensor is for example (non-limiting) connected by a small pipe to a very small orifice, or better still to a series of very small vertically aligned orifices, drilled well perpendicularly and without burrs in the oriented wall. parallel to the direction of the speed of the water. If necessary, to improve the measurement accuracy, a dynamic pressure sensor is added to the leading edge of the "swivel fairing" and their orifices are rigorously at the same altitude; this sensor is made in the same way, except that its orifices are located on a wall facing the current, upstream; the dynamic pressure measurement is then used to correct the indications of the static pressure sensor by means of a real-time calculation taking into account a calibration previously carried out during an initial test campaign.

  The acceleration measurements are used by the software executed by the electronic calculator (43) 10 of the "attitude and attitude controller", located in the cabin of the "habitable platform", to calculate the movements of the building. as follows: É The two components of the translation speed of the building according to the directions of the axes OY and OZ and the three components of its speed of rotation in the space around axes of directions parallel to the axes OX, OY and OZ are obtained by integrating a first time accelerations with respect to time, by means of a numerical integration calculation.

* É The movements of the building along the OY and OZ axes and the evolutions of its orientation in space (three angles) are obtained by integrating the above-mentioned speed components by the same calculation method (which therefore comprises two integration passes successive).

  The above-mentioned depth measurements, whose rapid fluctuations at the passage of waves are vigorously attenuated by low-pass filters (analog or digital) described above, are used by the software to set the calculated height values of the building in relation to the horizontal plane. average of the surface of the external water, in order to correct the phenomenon of gradual drift of numerical integration results over time; the recalibrated heights are used for the calculation of building inclination angles around the OX axis (heel to port or starboard) and around the OY axis (tilt backwards or forwards).

  The angle of rotation about the OZ axis (cyclically varying component of course angle due to the passage of the waves) is similarly recalibrated using the heading measurement provided by the magnetic compass, filtered by a first-order low-pass filter with a time constant of the order of 30 s.

  According to three variants, the registration of the double integrations of the accelerations in the direction of the OY axis is either not carried out or is carried out with precision by coupling to the electronic computer of a precise radio positioning receiver (for example a system satellite navigation as GPS), or is performed approximately by an estimated drift calculation with respect to water performed by the software by interpolation in recorded tables established during calibration campaigns, tables giving the drift of the vessel in relation to the direction and speed of the apparent wind, the sails in service, the speed of the vessel with respect to the water, and the state of the sea, the latter being quantified by algorithm for statistical analysis of the recent history of static pressure measurements of the sensors (7).

  The knowledge of safe values at altitude, inclinations (transverse and forward / backward), accelerations according to the directions of the axes OY and OZ, and if necessary in drift estimated or - 71 measured, allows the software to determine the orders to be sent to the adjustment servo-controls of the dihedral angles between the trailing edge flaps and the "swiveling flaps", as well as - when necessary - the orders to be sent to the control device for distribution of the balancing water mass between compartments ballasts (4) electric motor pumps.

  Recalibration principle: The software height adjustment consists in correcting, at each refresh cycle, each theoretical depth of a depth sensor obtained from integration calculations and previous readjustments, by adding to it a fixed proportion of the difference between the effective average height, known from a sliding average calculation with exponential relaxation performed on the recent static pressure measurements of this sensor, and this theoretical height. The rotation registration around the OZ axis is similar, using the low-pass filter-filtered measurement of the magnetic compass heading angle instead of the static pressure.

  6.6.2 - Measurement of the current direction upstream of the submerged float The front beam (33) carries (see Figure 23), at the lower end of a vertical mast (37) immersed in the external water, a " hydraulic vane "(35) with horizontal pivot, provided with an angular sensor for measuring the angle of the direction of the speed of the external water with the XOY plane and a similar vertical vane (36) with a vertical pivot, for measuring the angle with the XOZ plane.

  The head of this mast (37) is connected to the front beam (33) by a safety hinge, of axis parallel to the axis OY, with mechanical stop upstream and downward force limitation by magnetic closure as described in Chapter 3.8.7.c (p.28); this link will be described later in detail for the second example in Chapter 7.2 (p.83) and corresponds to Figures 56-57.

  This mast (37) is placed firstly so that the "wind vane" are closer to the axis of the "submerged float" (1) and secondly at a distance from his nose of at least 10% of the length of the float and such that the mast can rise without him or the "vane hydraulics" do not hit the nose of the float when raising the mast.

  The vertical mast (37) consists of a stainless steel column 40 mm in diameter and 60 mm in diameter at the head, provided with a "pivoting fairing" (45) similar to those of "carrier pylons "(16) but of smaller horizontal section.

  The "wind vanes" (35) and (36) are made of composite laminated material of carbon fabric and epoxy resin and their pivot is mounted on bearings of materials supporting immersion. These bearings are protected from the intrusion of foreign particles by rotating seals. Mass distributions, stiffness and damping are provided to prevent the birth of vibrations of significant amplitude under the effect of mechanical stresses resulting from the rapid flow of the external water around the submerged parts.

  The immersed electronic equipment of these wind vanes is protected in a profiled sealed casing which is connected to the controlled atmosphere network produced as described in the last three paragraphs of Chapter 3.8.12.b (p.36) by means of pipes along the mast (37). ) by means of a "swivel fairing" slot as described in Chapters 3.8.3.d (p.22) and 6.3 (p.56) and the sealing of the casing wall bushings by the drive shafts of the angle sensors is provided by the devices described in the penultimate paragraph of Chapter 3.8.11 (p.33).

  The angular sensors of wind vanes are of a common type, chosen for their absence of risk of loss of reference (for example of the absolute coding type) and for a sufficient resolution; the recommended minimum resolution is of the order of half a degree.

  The current direction measurements on the front provided by the sensors of these "hydraulic vanes" are used by the computer software of the "attitude and course controller" to which they are connected to calculate, a fraction of a second to in advance, the estimation of the transverse hydrodynamic forces (vertical and port-starboard components) which will be exerted on the "submerged float" (1). The latter is considered in the calculations as composed of several adjacent sections to take into account the distribution along the axis of the float imminent parasitic forces in order to be able to express them synthetically in directions and intensities of the force and torque resulting that will practice on the "submerged float".

  This information contributes to the determination by the software of the orders to be sent to the actuators for adjusting the dihedral angles between the average plane of the "orientable fins" and that of their trailing edge flap, and if necessary to the actuators of the "device balancing device with moving masses ". This forecast imminent destabilizing efforts on the "submerged float", whose evolution is generally predominant compared to other sources of parasitic forces because of its speed, allows a control in slightly advance phase of the actuators, which corrects in the disadvantage of the response time of altitude stabilization servos and trim of the building by hydrodynamic lift effect of the "orientable fins".

  6.6.3 - Other measures The direction and the apparent wind speed are measured (see Figure 1) by an anemometric vane (39) located at the top of the mast (18), of a common type but chosen with good precision performance. measurement and response time.

  The speed of the building is measured by a log-speedometer (40) located on the wall of the "submerged float" (1), of a common type (see Figure 23).

  The orientation of the building is measured by a magnetic compass (41) located in the "habitable platform" (2), of a common type but chosen with good accuracy.

  The angles of rotation of the three drums (10) of the listening control devices (9) (22) and (23) - the latter is twofold - are measured by reliable angular sensors of a common type (for example coded absolute) with a measurement resolution of at least half a degree.

  The height of free water under the building may be measured (see Figure 23) by an underwater sonic sounder (42) located on the underside of the "submerged float" (1) of a common type, but selected for its reliability. This is mandatory when the vessel is equipped with an optional (but highly recommended) software feature to navigate very shallow water with automatic shutdown when the depth becomes dangerously low (this function is described in this chapter, a few paragraphs). further).

  The measurements from these sensors are used, except for certain during the "slow speed or stop speed", by the software of the electronic computer (43) of the "attitude and attitude controller": - 73 - É that coming from the wind vane anemometer to calculate the forces exerted on the sails and the superstructures of the building, É those coming from the log-speedometer to compute in particular the ratio lift / incidence of the "orientable fins" (27), (29) and the hydrodynamic forces on the "float immersed "(1), É that from the magnetic compass to know the difference between effective heading and nominal heading, É those from the angular sensors of the drums (10) of the regulators (9) of listening voltage to calculate the orientation sails and deduce the forces on them, in order to take into account these elements in the determination of the orders to be sent: É to the actuators of adjustment of the dihedral angles between mean planes of the "ai" and the associated shutter, E to electric motor pumps and solenoid valves of the "moving-mass balancing device" to modify, if necessary, the distribution of the balancing water mass between the water-ballast compartments (4), É aux stepping motors regulating the listening of sails by the angle of rotation of the drums (10).

  The possible ultrasonic sonic sounder (42) is connected to an audible alarm to alert the crew if the bottom is raised above a pre-set threshold. It is further connected if necessary to the electronic calculator (43) of the "attitude and attitude controller" whose software includes then if necessary a function (optional, but highly recommended) provided for: É automatically prohibit the "regime fast speed "when the distance to the bottom is less than twice the length of the" submerged float ", by automatic triggering" landing "(dihedrals" adjustable wings "- shutters placed in neutral position and filling of the tare tank adjustable (17)), as soon as the limit is exceeded, E automatically suspend the propulsion when the depth of water under the "submerged float" is less than the length of the latter and at the same time the ratio of the speed of the building measured by the log speedometer at the depth measured by the sounder exceeds a given warning threshold (eg 0.1 maximum node per meter of depth).

  The automatic release of plays for the emergency shutdown of the wind propulsion is realized (see Figure 38) by rapid neutralization of the pneumatic cylinders (70) of the devices (9) regulators of listening voltage by means of the simultaneous control closing solenoid valves for isolating the compressed air tanks (72) placed on the pipes (71) and opening the solenoid valves for venting the chambers of cylinders (78) provided for this purpose (these solenoid valves are not shown in Figure 38) and by simultaneously controlling the correct rotations of the stepper motors integral with the drums (10) of the regulating devices (9). These solenoid valves are of the current type, chosen for a response time of less than one second.

  In addition, each tank of the "adjustable tare device" (17) and the "mobile mass balancing device" (4) is provided with a sensor of the level of the water that it contains and each solenoid valve is optionally equipped with a sensor for the confirmation of the position of its movable member.

  - 74 - These sensors are of common types. They are also connected to the electronic calculator of the "attitude and trajectory controller".

  6.6.4 - Calculator, links and interfaces - controlled atmosphere speaker systems The current type of electronic computer (43) is a powerful "PC" type commercial computer (either portable or desktop), for example equipped with a 32-bit microprocessor, with a clock speed of at least 2 GHz (such as a "Pentium IV" produced by the company "Intel" Cl), with a RAM size of at least 512 megabytes, equipped with a read-write memory of at least 10 gigabytes and a communication interface at a sufficient rate (such as a USB port), in order to refresh the measurements and the orders 20 times per second with a sufficient resolution; the keyboard and PC screen serve as a dialogue interface between the crew and the software.

  This electronic calculator (43) of the "attitude and trajectory controller" is connected by shielded electrical cables with individually shielded twisted pairs to the electronic interface cards placed in the vicinity of the sensors, in particular: accelerometers (6), depth meters (7) (see figures 24 and 25), "wind vane" (35) and (36) (see figure 23), wind vane (39) (see figure 1), log-speedometer (40), magnetic compass (41) and depth sounder submarine (42) (see figure 23), water level sensors in the tanks (17) of the "adjustable tare device" and (4) of the "moving mass balancing device" and the angular sensors of the drums (10) plays.

  This electronic computer (43) is also connected by cables of the same type to the interface electronic boards placed in the vicinity of the actuators: actuators regulating the dihedral angles of the planes of the "orientable fins" (27) and (29) with the average planes their respective associated trailing edge flaps (31) and (32), electric motor pumps and solenoid valves of the "moving mass balancing device" by transfer of water between tanks (4) and coupled stepper motors the drums (10) of the devices (9) for adjusting the sheets (22) and (23).

  The particular components used for certain electronic cards (available in 2003 from their producers, as well as the associated technical documentation) include the following: E as dual accelerometer (with two perpendicular measuring axes): the integrated circuit "ADXL 202E" , electronic component produced by the company "Analog Devices" (Internet address: www.analog.com).

  É as a microcontroller: the integrated circuit "PIC 16C 774 JW" CO, electronic component produced by the company "Microchip" (Internet address: www.microchip.com). This microcontroller offers particular features include a transceiver for serial communication, a large number of input-output lines, several analog-to-digital converters and the possibility of reprogramming in situ electrical signals.

  É as TTL-infrared optical fiber digital signal transmission interfaces up to 40 Kbps: the "HFBR-1523" transmitter and the "HFBR-2523" D receiver, electronic components produced by the company "Agilent Technologies" (Internet address: www.agilent.com). Note: the use of optical fibers mainly concerns the 10m long-cruising sailboat described as a second example in Chapter 7 (p.82).

  - 7 5 - A specific electronic card acts as a hub and adapter to one of the types of access interfaces standard to the computer (for example a USB port). All the wires under shielded cable for receiving measurement signals from the sensors and sending commands to the actuators lead to this concentrator card. It is for example equipped with a microcontroller "PIC 16C 774 JW" and it has a direct electrical connection with the main computer; this card is either integrated into the computer case (for example if it is a "desktop" type computer) and then communicates via the internal bus of the computer (for example the PCI bus), or this card is external and it is then connected by external connection to the computer (for example by RS232 serial link at 155 Kbits / s or by USB bus); if it is not integrated, this card is nevertheless placed in the same controlled atmosphere chamber as the computer.

  In accordance with the description given in the penultimate paragraph of Chapter 3.8.12.b (p.36), the electronic computer, the electronic interface boards and the electrical part of the sensors and actuators are isolated from the ambient humidity by being placed in two controlled atmosphere networks consisting of sealed housings interconnected by pipes which are connected to them in a sealed manner and in which pass the cables connecting the equipment housed in these networks. The network containing the computer is at ambient pressure, or at very low overpressure. The other network is heavily pressurized and it includes a manometer and an audible alarm warn the crew in case of pressure drop below a predefined threshold.

  Note: Electronic interface boards, data cables, controlled atmosphere speaker arrays and actuators are not shown in the figures.

  6.6.5 - Submerged propeller and rotating electric unit An "immersed propeller" (44) with an axis parallel to the axis OX (see Figure 23) is located at the rear of the "submerged float" (1) and is integral in rotating, via a transmission mechanism, an electric rotary machine located in a sealed compartment of the float (these elements internal to the float are not drawn in the figures). This transmission comprises a rotating shaft passing through the wall of the "submerged float" which is provided with two rotating seals with pressurized oil bath and breather in the compartment under the inner seal, as described in the second paragraph of chapter 3.8. 11 (p.33).

  This electric rotating machine, of a common type, operates as a generator for the electrical supply of sensors, actuators and electronic equipment of the "attitude and trajectory controller" when the vessel is sailing. It operates as a battery-powered auxiliary motor during brief maneuvers, for example in the port area or during anchorage.

  A watertight hatch for access to the machinery compartment of the "submerged float" is provided in the wall of the latter for maintenance or dry-dock maintenance operations, in accordance with the description given in the fifth paragraph of Chapter 3.8.1 ( p.18) and the tightness of this door is monitored by the device described in chapter 3.8.11 (p.33).

  6.7 - Calculations made by the attitude and trajectory controller (Fig. 1) The electronic calculator (43) of the "attitude and trajectory controller", from the measurements of the above-mentioned sensors, performs the calculation mainly. of the position and spatial orientation of the building, the calculation of the component of the capsizing torque resulting from the combined heights with the weight of the building and the buoyancy force of the "submerged float" (1), together with the calculation predictive over a horizon of a few tenths of seconds (depending on the speed of the building) imminent parasitic transverse hydrodynamic forces on this "submerged float", as well as the wind forces on the wing and the superstructures emerged, then it controls the actuators of tuning d dihedral angle of the flaps (31) and (32) with their "steerable fins" (27) and (29) and if necessary the actuators for the distribution of water masses between ballast compartments (4) so as to obtain the efforts required for the balancing of the building and its stabilization at the horizontal attitude, at the nominal altitude (surface of the external water situated at an average of halfway between the highest point of the "submerged float" and the lowest point of the "habitable platform") and the nominal heading.

  6.7.1 - Main Loop of the Electronic Computer Software Except in the "slow speed or stop mode", the software continuously executes an algorithm in a loop on the following sequence of operations (the jump orders and the labels are in bold) : 1 - "Start": if switching to "slow speed or stop mode" requested, go to "Stop", 2 - Otherwise, check the safety distance at the bottom and if too weak go to "Emergency stop", 3 - If not, calculate the current state parameters of the building and the torque due to gravity, 4 - Calculate impending destabilizing forces (wind, current on "submerged float"), - Calculate the force resultant and the resultant of torque stabilizers required, 6 Calculate the distribution of the elementary contributions required of the stabilizing devices, 7 - Calculate the required positions of the devices to obtain these elementary contributions, 8 - Issue the positioning orders, the case ec héant after amplitude or phase correction, 9 - As long as the building is not in "slow speed or stop mode", return to "Start", - "Emergency stop": order the release of tapes (solenoid valves , stepper motors), 11 - "Stop": order aileron neutralization and max. of the tare (17), 12-Fin.

  This computation loop (and the refreshing of the orders resulting therefrom) is repeated at a high frequency with respect to the rhythm of disruptive events (waves in particular) and to the time constant of loss of equilibrium of the building (function notably of its inertia and the distance of application of the disturbing forces to the center of mass of the building A minimum refresh rate of 10 Hz is recommended.

  6.7.2 - Principle of the position and orientation calculation (example: three arms) The principle of the position and orientation calculation of a building with three "radiating arms" bearing at the end two accelerometers is described below. for vertical acceleration (OZ axis direction) and horizontal transverse acceleration (OY axis direction), as in Figures 16-18. The three-arm limitation allows a more concise description (and at four arms is immediate).

  The main variables for position and orientation calculations are listed in the following table. Their name consists of a mnemonic prefix designating the type of quantity concerned and a mnemonic suffix designating the location of the corresponding sensor. These prefixes and suffixes are listed in parentheses at the top of each column and on each line.

  Sensor location -3 Starboard front Port front Rear Size + prefix: / localization suffix 3 (AvTri) (AvBab) (Arr) Linear acceleration according to OY (ALy) ALy AvTri ALy AvBab ALy_Arr Theoretical drift of the accelerometer according to OY (DT) DT AvTri DT_AvBab DT_Arr Linear acceleration according to OZ (ALz) ALz AvTri ALz_AvBab ALz Arr Calculated theoretical accelerometer height (HT) HT_AvTri HT AvBab HT Arr Instantaneous measured static pressure (PI) PI AvTri PI AvBab PI Arr Calculated average height of the probe (HM) HM AvTri HM AvBab HM Arrest (exponential relaxation computation) Height of the accelerometer (HR) HR AvTri HR AvBab HR Arr For each of the three horizontal linear acceleration sensors, two successive integrations with respect to the time of its measurements ALy _... makes it possible to know its theoretical drift DT _... in the direction of the axis OY.

  For each of the three vertical linear acceleration sensors, two successive integrations with respect to the time of its measurements Alz ... makes it possible to know its theoretical height HT _... in the direction of the axis OZ.

  For each of the three instantaneous static pressure sensors, the sliding average calculated by exponential relaxation on its recent measurements makes it possible to know the local average static pressure, hence the average depth of immersion of the sensor, then the average height H111_. of the vertical accelerometer closest to this sensor taking into account their vertical distance.

  For each pair of neighboring sensors measuring the vertical acceleration and the static pressure, the accelerated height HR ... of the accelerometer is obtained by replacing each HT ... with each calculation loop by: HT ... + K * [(HM ... + D) -HT _...] where D is the slope of the two sensors and K is a numerical factor such that the time constant of the resetting is about one minute (for a frequency of iteration of the loop of 20 Hz, the value of K of the order of 0.001).

  Knowing the recalibrated height HR ... of the three vertical accelerometers with respect to the average level of the water and knowing their geometric position with respect to the point O, fixed by their implantation on the building, the calculation of the angles of inclination of the latter relative to the axes OX (heel to port or to starboard) and OY (tilt backwards or forwards) is immediate, - 78 - thanks to simple trigonometry formulas.

  Knowing theoretical lateral drifts UT ... horizontal accelerometers and their geometry of implantation on the structure, the calculation of the theoretical parasitic rotation around the Z axis (course evolution) is also immediate, thanks to trigonometry formulas. simple. The software recalibrates this angle by a process similar to the previous one, with a relaxation time constant of the order of one minute, but taking as a reference value the heading given by the magnetic compass, filtered by a low-pass filter at time constant of the order of 10 seconds.

  6.8 - Miscellaneous (Figures 26 to 34) 6.8.1 - Overall representation in three views Figures 26 to 28 show the sailboat shown schematically in front view, viewed from starboard and viewed from above. The level of the water surface is shown in Figures 26 and 27 for the "fast speed regime" and in the absence of waves.

  The poles (38) of the front shown in Figures 27 and 28 (but not in Figure 26 for readability) do not exist on the example of the "basic sailboat" described in this chapter 6 (these poles, intended for the support of air sonars for the avoidance of the highest waves, are however present in the example "sailing cruising" described in chapter 7 (p.82)). 6.8.2 - Habitable platform rear area Figure 29, which shows the rear area of the "habitable platform" (2) is a partial enlargement of Figure 28: it shows some classic elements of a pleasure sailboat: a cockpit equipped with lateral longitudinal benches, situated behind a deckhouse bordered by gangways. On the other hand, we see the birth of the "radiating arms" of the rear (24) and the rear end of the "submerged float" (1) and the "immersed propeller" (44). For legibility, the parts hidden under the "living platform" (2), the unstretched strand of the listening (23) and the shrouds (47) are not represented.

  6.8.3 - Law of Archimedean Vertical Force Recall Figure 30 shows, for the front: E the respective heights of the "submerged float" (1), the low point of the "habitable platform", "auxiliary floats" (3), "steerable fins" (27) and (29) and the static pressure probe of each depth gauge (7), É the mean level of the surface of the external water in the absence of waves, when the vessel is in "slow speed or stop mode" (ballast (17) filled to the maximum, the vessel being low on the water and the "auxiliary floats" (3) partially sinking into the water), E different remarkable water heights in "fast speed regime" and in the absence of waves (ballast filling (17) correctly adjusted according to the loads on board): - Nominal average level (located in the middle of the vertical guard) between "submerged float" and - 79 "habitable platform"), Theoretical minimum level (reference "minimum th.") and theoretical maximum level e ("maxi.théo." mark), respectively tangent to the "submerged float" and to the "habitable platform", Practical minimum level (mark ("mini.prat.") and maximum practical level (mark "max. prat. "); the difference between the practical levels is of the order of 75% of the difference between the theoretical levels, taking a safety margin of 25%, É for the "fast speed regime" and in the absence of waves, the diagram excess buoyancy which exerts on the vessel a vertical restoring force towards the average altitude, depending on the level of the surface of the external water. The plot of the curve of the diagram is approximate, with the sole purpose of showing the general appearance of the phenomenon, without going into details. An excess of buoyancy - arrow of the diagram pointing to the right - tends to the emergence of the building, an insufficiency - arrow pointing to the left - tends to drive the building. This variation is due to the variation of Archimedes thrust as a function of the volume of the immersed parts of the building. The average level of the external water surface in "fast speed mode" is located, thanks to the correct setting of the degree of filling of the ballast compartment of the "adjustable tare device" (17), at mid-height between the point the highest of the "submerged float" (1) and the lowest point of the "habitable platform" (2).

  This diagram shows that, as long as the OZ axis remains vertical, the vertical balance of the building is almost irrelevant to the height of the external water by Archimedes' pushing effect as long as this height remains between the levels called "theoretical minimum" and "theoretical maximum". This remains true in the presence of waves, as long as the highest wave peaks and the deepest wave hollows remain between the aforementioned theoretical minimum and maximum levels.

  6.8.4 - Remarkable Attitude Patterns This same sailboat is shown schematically in Figures 31-34, in the absence of waves (a horizontal line represents the surface of the water), in several remarkable situations of incorrect attitude ( semi-critical or critical) from the point of view of maintaining the "fast speed regime".

  In this chapter 6.8.4, the orthogonal coordinate system [0-XYZ] shown in these figures, related to the building, is centered on the buoyancy center of Archimedes of the "submerged float" (1), the axis OX is the longitudinal axis of this float, the axis OY is normal to the vertical plane of symmetry of the building and the axis OZ is perpendicular to the axes OX and OY.

  The axis V drawn in these figures represents the vertical of the geographical location at the point O. The angle of lateral location a and the longitudinal angle of heel 13 of the building are counted, in the plane of the corresponding figure, between the projection of the axis V and that of the axis OZ.

  Figure 31: The building is in "fast speed mode", at the nominal altitude, but with the angle (a1) of maximum lateral siding to port. For a heeling angle greater than (a1), one or two "auxiliary floats" (3) on the port side would touch the water, and the "steerable fins" above 80 - (29) on the starboard side would begin to cavitate and then emerge. This would lead to a trail tending to rotate the vessel to port and loss of lift tending to derail it to port. These parasitic phenomena could compromise the maintenance of the "fast speed regime" (semi-critical situation).

  Figure 32: The building is in "fast speed regime", accidentally at the maximum altitude and with the maximum heeling angle (a 2) beyond which the "submerged float" (1) would begin to be totally immersed and to discover and / or one or two port "auxiliary floats" (3) would begin to sink into the water and furthermore the two "steerable" upper fins of starboard (29) would be almost totally emerged and both " "Starboard lower (27) steerable fins would begin to cavitate and would be about to emerge. This would result in a recall of the building, which is very rapidly increasing with its altitude, a port braking action tending to pivot the vessel to the port side, a skidding to the port side, then a sudden and total loss of vertical lift of the steerable wings. "lower (27) starboard resulting in a sudden increase of the heel to port and a pronounced support of" auxiliary floats "(3) port, accelerating the pivot to port. These parasitic phenomena would compromise with a high probability the maintenance of the "fast speed regime" (critical situation to avoid imperatively).

  Figure 33: The building is in "fast speed regime", at nominal altitude, but with a maximum forward heeling (131) beyond which one or two "auxiliary floats" (3) from the front would begin to sink into the water, where the downward hydrodynamic bearing and lift of the "submerged float" (1) is no longer negligible and where the upper "steerable fins" (29) of the stern are on the point of emerge. These parasitic phenomena cause a braking of the building (the second by obligation to solicit more the lower "orientable" fins (27) from the front to compensate for it, resulting in increased drag), and a beginning of loss of capacity to horizontal stabilization efforts of the upper "steerable fins" (29) of the rear. This braking and this loss of stabilization capacity may compromise the maintenance of course and "fast speed regime" (semi-critical situation).

  Figure 34: The vessel is in "fast speed mode", accidentally at the maximum altitude and at the maximum forward heeling (132) beyond which the "submerged float" (1) would begin to be no longer totally immersed and to be discovered and / or the "auxiliary floats" (3) from the front would start to sink, and where the "upper adjustable" fins (29) of the rear are already partially emerged, having lost more of the half of their horizontal stabilizing force capacity. These phenomena compromise with very high probability the maintenance of the "fast speed regime" (critical situation to avoid imperatively).

  The angles shown in the figures give here approximately: É for the lateral deposit: al = 4 and a2 = 7 approximately, É for the forward deposit: = 3 and 132 = approximately 4, Therefore, to preserve the "fast speed regime" the longitudinal site must be maintained in an interval around zero, about twice as small as that in which the transverse deposit must be maintained.

  The building is constantly stressed by original parasitic imbalance forces: Wind turbine (wind action on the sails and superstructure of the building), 5 Hydrodynamics due to waves, mainly on the "submerged float" (1), gravity in case of inclination of the OZ axis, the center of gravity of the building deviating from the vertical V of the buoyancy center Archimedes "submerged float" (1).

  To remain in "fast speed regime", the building must therefore: E maintain its OZ axis close to the vertical, generally far from semi-critical positions and 10 imperatively below the aforementioned critical positions, E maintain its altitude close to the nominal relative to at the average level of water (average over a period of the order of a few tens of seconds), E these postures must be all the more strongly ensured: that the causes of instability are strong, ie by conditions of high waves with low wind or strong wind but with large gusts, that the stabilizing capabilities of the "steerable fins" (27) and (29) are reduced by a low speed or a rate of succession of waves encountered too high compared to the response time of their lift.

  These two supports (attitude and altitude) are provided under the control of the electronic computer software of the "attitude and course controller" (43): E by continuously adjusting the direction and intensity of the transverse forces vertical and horizontal hydrodynamic lift acting on the "steerable fins" (27) and (29) by adjusting the actuator control dihedral angles of the average planes "steerable fins" and their trailing edge flap, angles measured by sensors, É and adjusting, when necessary, the adjustment of the center of gravity position of the water bodies contained in the tanks-ballasts (4), by modifying their distribution between these tanks by the control of motor pumps, distribution known thanks to sensors in these tanks.

  These "steerable fins" having a lift force capacity and a lift force response time dependent on the speed of the flow, the "fast speed regime" requires a sufficient speed of the building, higher than a "critical speed" Vc that depends on wind conditions, waves and heading of the moment.

  6.8.5 - Wave height at fast speed Given the vertical clearance of 2 m between the "submerged float and the" habitable platform "(which was fixed in the third paragraph of Chapter 6.1 (p.52)), this vessel is capable of maintaining the "fast speed regime" in non-breaking waves with a theoretical height of 2 m.

  - 82 - In practice, the average height of the "fast-speed" transient waves is 1.3 m to 2 m in appropriate wind conditions (in speed, regularity and direction), according to the regularity of the height of these waves.

  Note: a similar building with a "submerged float" length of 20 m, with the same proportion of height of the "carrier pylons", ie 4 m, would in these conditions pass waves of average height between 2.6 m and 4 m, according to the regularity of their height.

  7 - 2nd EXAMPLE: SAILBOAT OF GREAT CRUISE This chapter 7 describes a particular and non-limiting embodiment of the device according to the invention, corresponding again to a single "submerged float" sailboat 10 m long, but intended for the great cruise and as such better equipped than the basic version of the first embodiment of sailing boat according to the invention described above.

  As said previously in chapter 4.5 (p.48), the particular and nonlimiting embodiment of this second example is illustrated in FIGS. 1 and 56 to 68.

  This sailboat is strictly identical to the basic sailboat previously described as the first example in chapter 6 (p.51), except for the following six points: É The auxiliary thruster is an internal combustion engine providing a speed of approximately 6 to 8 Knots in "speed slow speed or stop", which improves safety, the speed to reach a shelter in case of bad weather announcement is thus guaranteed.

  É "Swiveling wing poles" are attached to brackets on the back of the "radiating arms" by mechanically locked and mechanically locked safety hinges, which improves immunity to impact. obstacles (more precise limitation, instantaneous and automatic reassembly safer during weak shocks).

  É The "auxiliary floats" slide and they can be brought in the middle of the "radiating arms", whose peripheral section is collapsible, thus reducing the horizontal size at the port, É The "submerged float" can be reassembled and partially embedded in the base of the "habitable platform", which contributes to reducing the draft and facilitates access to the port; alternatively, the height of the "carrier towers" is further adjustable according to the expected navigation conditions, which reduces the energy consumption of the actuators "attitude and trajectory controller" low waves and favorable wind.

  É Air sonars placed on poles at the front of the auxiliary "auxiliary floats" and an additional software function allow to circumvent the highest current waves, which, at the cost of a minimal degradation (because occasional) comfort stability , substantially increases the wave height in the "fast speed regime".

  The "attitude and path controller" electronic computer is connected by optical fibers to microcontrollers located near the sensors and actuators; optional (optional), it is also connected to vibration sensors to counter their appearance - 8 3 possible and if necessary complement the comfort on board.

  Only the differences above with the first example are described later in Chapter 7.

  7.1 - Auxiliary thruster with internal combustion engine "Submerged propeller" (44) and electric rotary machine present in the example of the embodiment of the basic sailboat described in Chapter 6 (p.51) are still present in this second example, but the electric rotating machine has only a generator function and the propeller shaft is here driven by an auxiliary engine with internal combustion.

  This engine is a 20 kW marine diesel engine located in a soundproof compartment of the "habitable platform" (2). Its output shaft is connected to a gearbox located in the same compartment, then to two gearbox gears under oil-bath sealed housings with an intermediate vertical transmission shaft which runs along the downstream "carrier pylon" (16). . The upper return is housed in the "habitable platform" and the lower return is housed in the "submerged float", where it is connected to the shaft of "submerged propeller" (44).

  The intermediate drive shaft runs along the "carrier pylon" just downstream of its Mt, away from the outflow in the "swing fairing" (45), passing through a vertical through-hole (56), as described in Chapter 3.8.3.d (p.22) and illustrated in Figures 35 and 36.

  This intermediate shaft rotates in the leakproof light of the fairing. Each wall penetration through the shaft, when it enters the "habitable platform" (2) or the "submerged float" (1), is provided with two rotating seals cascaded. A pressurized oil bath fills the space between the two adjacent joints and in the case of the lower crossing a breather can check the absence of leakage, as described in the penultimate paragraph of Chapter 3.8. .11 (p.33).

  7.2 - Magnetic safety hinge plunging masts 7.2.1 - Adjustable flipper masts The figures illustrating the attachment of the mast in this embodiment are shown in Figure 56, which illustrates in particular the angular deflection of the "steerable mast" and the Figure 57 shows the detail of the hinge fastening, mechanical stop and magnetic bonding.

  In this embodiment, each "steerable wing-bearing mast" (26) is articulated on a bracket integral with a "radiating arm" (24). This fitting is located at the peripheral end of the lift section of the arm, the downstream side thereof and even more periphery of the building than the most peripheral position of the "auxiliary float" (3) carried by this "radiating arm" (In this embodiment, the floats (3) are indeed sliding along the arms (24), as will be described in Chapters 7.3 (p.86) and 7.4 (p.87) and illustrated in Figures 58 and 59 ).

  This hardware is massive and it is very rigidly linked to the "radiating arm". The "steerable wing mast" has at its upper end a solid head articulated to this bracket by a robust pivot hinge parallel to the axis OY, pivot located at an altitude close to the altitude of the bottom of the "radiating arm" in its vicinity (the altitude of this pivot will be specified later).

  This safety locking hinge which, in normal operation, rigidly holds the mast in a vertical position against a stop forwards, allows this mast to retract by turning backwards and upwards when a obstacle struck by the front exerts on the hinge a torque whose value becomes excessive and reaches a predetermined tripping threshold.

  For this purpose, the mast head (26) has a robust horizontal arm extending upstream, with a length of the order of magnitude of the horizontal width of the cross-section of the "radiating arm" (24) in this region, constituting the horizontal branch of a rigid square formed with the mast (26). This square arm is made of soft iron or is attached to a soft iron plate attached to its upper face. A strong permanent magnet fixed under the "radiating arm" (24) via a horizontally lower face support, just above the soft iron arm or plate, holds this bonded element by magnetic attraction, ensuring thus the verticality of the mast (26).

  The precise height of the axis of the pivot of the hinge on the integral fitting of the "radiating arm" is provided so that the underside of the magnet secured to the "radiating arm" is worn against the upper face of the soft iron plate. integral with the horizontal arm of the above-mentioned bracket.

  When excessive force pushes the "swivel-down mast" (26) downstream, the tearing force exceeds the magnetic gluing force, the magnetic gluing torque then collapses very rapidly with increasing the air gap and the mast pivots backwards, thus limiting the risk of damage to "steerable fins" and their supporting mast.

  The "swivel fairing" has an eye lug located on its leading edge, near the head of the mast, to which is hooked: E is a return spring for the automatic return of the mast upright after the abnormal effort has disappeared, if necessary assisted by a brief stop of the building, É is a rope for the crew to be put back in place by means of a winch located on the "habitable platform", that the cable joined by a set of return pulleys, the closest of 25 of the aforementioned ear is attached to a davit secured to the "radiating arm".

  In a variant of this embodiment, the head of the "orientable carrier mast" comprises on the downstream side an integral part in the form of a pulley sector forming a receiver winch with anti-escape lateral flanges, a winch to which a rope is attached for the voluntary lifting of the mast. by means of a hoist hooked on a second davit, which is integral with the "radiating arm" on the downstream side of the arm. The lifting is controlled by the crew from the "habitable platform" thanks to a winch and a set of cable angle pulleys, to the yokes attached to the davit and the arm.

  Figure 56 schematically illustrates, in starboard view, the embodiment of the safety hinge device having a mechanical stop limiting the forward movement and a magnetic torque limiter retainer opposing the raising of the mast towards the downstream.

  The lift assembly is schematized in the low position by strong lines and in position (s) raised (s) by fine lines. The upstream cable or spring for the post-upright position of the mast and the cable downstream for its voluntary lifting are symbolized in broken lines.

  The lifting mast (26) carrying at its lower part (not shown in this figure) the "adjustable fins" (27) and (29) with their trailing edge flaps (31) and (32) - see the Figure 25 - is secured to the upper structure element consisting of the lower part of a "radiating arm" (24) via the hinge (163), which is better visible in Figure 57. This hinge is fixed to the "radiating arm" by means of a rigid support, so that its pivot is of axis parallel to the axis OY and is situated at a suitable distance to enable the lifting up to a certain angle of the arm equipped with its "swivel fairing" (45) and its "swiveling flaps" with their trailing edge flaps.

  The mast (26) has a robust forward (165) forward, forming with it a squared rigid square leg reinforced by a welded vertical stiffener (164). This branch (165) directed upstream carries one of the parts of the magnetic closure, which is fixed on its upper face.

  A powerful holding device (not drawn) rigidly solidifies, but with a maximum calibrated vertical tensile force, the horizontal leg (165) of the bracket with the overhanging building structure element (24).

  Figure 57 schematically illustrates the magnetic glue closure of the hinge; the lifting members (159) and the retaining elements (161) visible in the preceding figure have not been drawn there. This magnetic closure comprises on the one hand a permanent magnet (167) flat and horizontal lower face having magnetic north and south poles; this magnet is attached to the upper structural element (24) via a support (168); this support is adapted to the shape of this structural element and has a horizontal lower face. This magnetic closure further comprises a pallet (166) made of ferrous material integral with the horizontal arm (165) forming a square with the mast (26), placed opposite the permanent magnet (167) and just under it, so as to close the magnetic circuit. Where appropriate, the permanent magnet consists of a juxtaposition on a horizontal plane of parallelepipedal bars oriented parallel to the axis OY and magnetized parallel to the axis OX, with the north pole upstream and the south pole towards downstream; each bar is fixed in the groove facing downwards from a "U" section made of ferrous material, so that the lower surface of the magnet sheet has alternating north and south magnetic poles appearing at the end. bottom of the wings of "U" profiles; each "U" profile is attached to the upper support (168), for example by means of two vertical screws at its ends forming eye ears.

  In a variant of the previous embodiment, not drawn but strongly recommended because it avoids the dive down the right angled branch to hang an obstacle flush with the water, the horizontal branch of the head square mast (26) is directed not upstream, but on the contrary downstream. In this way, this branch rises in case of pivoting of the mast (26). An integral fitting of the upper structural element (24) passes just under this horizontal branch. The magnetic closure keeps this horizontal arm pressed down against the magnet fixed on the top of the part of the fitting passing under the branch.

  7.2.2 - Hydraulic wind vane mast The embodiment of the "hydraulic wind vane mast" (37) link to the structure of the vessel is similar to that of the "swiveling wing poles" (26) except: - 86 - É that the horizontal beam (33) - visible in Figure 23 - is the upper structural element, É that the fixed fitting integral with this beam and carrying the safety hinge is not right in line with the beam, but provides the lateral offset of the hinge, so that the pivoting plane of the "hydraulic vane mast" (37) is slightly offset on the side, for example to port, so that no element n ' collides when raising this mast.

  7.3 - Folding radiating arms The "radiating arms" can be folded in such a way as to reduce the horizontal size to facilitate port parking and possible interventions on "swiveling wings".

  In this embodiment, illustrated globally and in a simplified manner in FIG. 58, the "radiating arm" is drawn out, with the "auxiliary float" drawn in a strong line near its end; the folded position of the arm and two intermediate positions are drawn in phantom for the movable section and the corresponding position of the "auxiliary float" is drawn in fine lines.

  Each "radiating arm" consists of two sections connected by a robust locking hinge (179), with a horizontal axis perpendicular to the axis of the arm (24), made to give a very high rigidity to the connection when it is locked with the arm in the extended position.

  The section located on the side of the root is fixed and integral with the "living platform" (2).

  The "steerable wing poles" (26) which are integral with "radiating arms" (24) and bear "pivoting fairings" (45) are attached to the end of these arms by a locking hinge and torque limiting as previously described (hinge not drawn to lighten the figure).

  The "auxiliary floats" (3) slide along the "radiating arms" (24) by means of a mechanism described in chapter 7.4 (p.87) - not shown in Figure 58 - and they are integral with these arms: É for the configuration with arms extended near the peripheral end of the arm and as close as possible to the "steerable wing mast" (26) without interfering with its raising, E for the folded arm configuration near the end of the fixed section of the arm (24), and as close as possible to the hinge (179) connecting the two sections of this arm.

  In navigation, the peripheral section is held rigidly in the extension of the fixed section: the two flanges of the hinge (179) forming flanges, each integral with a section of the arm (24), are held pressed against each other by a removable clamping device by a series of radially star-shaped bolt locks with corner slopes, locking and unlocking either by on-site intervention of a crew member or by remote control from the "habitable platform" (2) by means of cables and pulley returns. These locks each comprise a safety pin which is engaged by the thrust of a spring and which is released by a pull cord. All these cables are maneuvered from the "living platform".

  When anchored at the port, and possibly when sailing in "slow speed or stop mode" by sea too strong, the outer section can be raised in a vertical position (or very upright), or even be folded to 180 towards the "platform habitable "(2), by means of the stay (47) coming from the - 8 7 - head of the mast (18) and fixed to the peripheral end of the movable section (the rest of the lifting mechanism is not drawn); for this purpose the stay (47): Leaving the peripheral end of the arm, passes over a pulley at the top of the mast (18) and ends at the end of the strand descending vertically along the mast by a pod which abuts against a horizontal fork secured to the mast (18) situated slightly lower than the pulley when the movable portion of the arm is deployed, and which is otherwise driven by a halyard fixed to this lug, descending at the foot of the mast ( 18) to be driven by a manual hoist or winch with safety lock.

  Each stay (47) is lined with a low-stay (not drawn) ensuring the vertical maintenance of the mast (18) when the main stay is relaxed; this low-stay cable connects the masthead (or a lower mast point if it does not interfere with the orientation of the sails) and the end of the fixed section of the arm, in the vicinity of the inter-section hinge (179). The foot of the lower stay is equipped with a quick fastening device to the cadenae and tensioning having a hook, a lever driving an eccentric and a locking of the lever in the up position against the tensioned cable by styling it with a section of sliding tube threaded on the cable. In navigation, the low-stay is not in service: its foot, detached from the cadena, is brought against the foot of the mast where it is stowed, stretched by sandow.

  To assist the rotation maneuver of the peripheral section driven by the mobile shroud (47), which becomes ineffective when the section and the stay near the common alignment, the hinge (179) may comprise a shaft along its axis, solidary of this section and provided at its end with a mechanism for exerting a couple; it may be for example a roller chain wheel fixed on the shaft, chain driven by a bidirectional electric gear motor transmission pinion and irreversible worm.

  A complete folding to 180 is not essential, because to bring the movable section in the extension of the stay (47) may be sufficient to reduce the size, but it facilitates the possible maintenance operations on the "adjustable wing poles" or on the fins themselves by making them easily accessible from the "habitable platform" (2).

  The cables, optical fibers or pipes along the folding "radiating arms" (24) comprise flexible sections at the hinges (179), or sealed rotary unions for the pipes, where appropriate with an axis of rotation collinear with the hinge pin, and with electrical continuity in case of electrically shielded pipe.

  7.4 - Auxiliary floats sliding along the radiating arms 7.4.1 - Overview of the mechanism In Figure 59, we see the "radiating arm" front starboard (24) drawn in bottom view, in folded position (in strong line ), the "auxiliary float" being assumed removed, but its position is nonetheless indicated in fine lines; the positions drawn in thin line of the lifting section of the "radiating arm" and the peripheral mounting plate of the "auxiliary float" correspond to the deployed position of the arm; the root of the arm on the "habitable platform" (2) is visible at the bottom right of the figure, as well as the location of the "orientable wing-mast" (26) marked by the cross ( 169) on the upper left; we also see the mounting plate of the "auxiliary float" (3) in "parking" position in the center of the figure and in "navigation" position in the upper left.

  The "auxiliary float" (3) is integral with a robust sliding plate (171) forming a sliding carriage to which it is rigidly suspended (the embodiment of the connection is not detailed in the figures). This movable plate has at its upper part a slider visible on the section of Figure 60 seen along the axis of the arm, in the top view of Figure 61, and on the end view of Figure 62.

  This slide engages in a longitudinal groove with flanges and a "T" section forming a guide rail in translation, located on the lower face of the "radiating arm" (24); this sliding assembly is visible on the section made perpendicular to the axis of the arm in Figure 60; the vertical flanks (170) of the flanges of this guide rail are visible in the bottom view of Figure 59. The vertical faces (180) for guiding the slider against these faces (170) are visible in Figures 60 to 63; Figure 63 shows the lower horizontal face of each wing of the slider which is provided with a pad (181) of antifriction material (PTFE for example) fixed by braked screws (182).

  This groove is extended with the same section "T" over the entire length of two robust fixed plates (172) and (173), each rigidly secured to the lower portion of a section of the arm (24), at the locations provided for the two locked positions of the "auxiliary float" (3).

  The sliding carriage (171) is moved from one locked position to the other by means of a loop cable controlled from the "living platform" (2), forming a back and forth along the arm (24). ) passing through the "T" groove with flanges (170) and on a vertical pivot pulley secured to the peripheral end of the arm (24) and one of the strands is anchored to the carriage (171) by a cable tie ; this cable passes through two anti-friction material grommets integral with the arm and placed in the immediate vicinity of the pulley to prevent the cable from escaping the groove when it is relaxed; this cable is maneuvered using a winch located on the "habitable platform" (2).

  The drive device of the carriage (171) is not drawn, as well as the groove on the ceiling of the groove "T" allowing the passage of the cable clamp fixed on the top of the carriage.

  The travel of the sliding carriage (171) is limited by an internal stop (174) and a peripheral stop (175) visible in Figure 59. The stop (174) can be dismantled by means of bolts with braked head for the access of the carriage (171) to the zone (176) of the groove, locally without any flanges, during the ground operations of mounting or removal of the carriage and the "auxiliary float" (3).

  7.4.2 - Locking devices and their actuators The sliding carriage (171) is positioned alternately under one of the fixed plates (172) or (173) by means of four bolts, with a conical upper part, sliding vertically in housing (177) of the carriage located near the four corners thereof and which engage alternately in the conical housings provided for this purpose near the four corners of one or the other fixed platen.

  Details for each bolt (not drawn): The bolt with vertical axis and conical upper end comprises at its cylindrical lower part a square pad overflowing and forming shoulder; a spring bearing on the underside of the carriage (171) bears on this shoulder and pushes the bolt downwards; this lower face of the carriage comprises, vertically above each bolt, a fixed stirrup integral with the carriage and in which slides, parallel to the axis of the "radiating arm", a steep sloping wedge operated by two antagonistic hoists hooked on it and controlled from the "habitable platform"; the bottom end square shoe of the bolt is supported on the flat upper face, slightly inclined, of the sloping wedge; one of the hoists engages the sloping wedge by pulling it towards the periphery of the building, which pushes this bolt upwards; the other disengages the sloping wedge by pulling it towards the "habitable platform", which allows the bolt to descend under the effect of the spring.

  This carriage (171) is further pressed against the fixed plate under which it is positioned by means of claw levers (184) at its four corners and drawn in fine lines in Figure 60. Each lever rotates around a pivot axis (185) which is parallel to the axis of the groove "T" and which is secured to the carriage via a pair of ears (178) located on the underside of the latter. The active face of the claw carried by each lever is flat and slightly inclined when the lever is vertical, so as to ensure a progressive jamming of the upper plate towards the upper limit of the lever. This active face, as well as the contact areas facing the top of the fixed plates (172) and (173), are provided with pads (not drawn) of antifriction material held by braked screws (similar to the skate drawn in Figure 63); these pads are replaceable to compensate for their wear and retain the plating force of the carriage against the fixed platen over time. Each lever (184) has at its upper end an eye for the attachment of an anchoring shackle of a pulling cable terminated by an eye lug. In Figure 60, we see the eyes (186) and (187) of a pair of levers (164) associated vis-à-vis.

  The present paragraph now describes the device for the manual control and locking of the levers (184) - not shown in the figures, as well as the sloping corners and preceding hoists -: É to ensure that the heads of the levers (184), the locking of the carriage 25 (171) under the fixed plates (172) or (173), the eyes (186) and (187) opposite each pair of levers (184) are connected by a cable terminal operated from the "habitable platform".

  In order to ensure the spacing of the lever heads (184) necessary to unlock the carriage (171), a male and female sliding tube telescopic spacer further connects the two lever heads (184) of each pair having its hinged ends. to these heads by pivots of axes parallel to the axis of the "radiating arm"; the female tube comprises a longitudinal slot in which slides a ring hook integral with the sliding end of the male tube; the female tube has an identical ring secured to its open end; these two rings are connected by a second cable hoist maneuvered from the "habitable platform".

  E to lock the levers (184) is in the tightened position for locking the carriage (171), or in the retracted position for the sliding of the carriage, the telescopic spacer further comprises a spring-loaded safety pin and disengaged by a cable puller operated from the "living platform"; this pin engages in holes of the two tubes, perpendicular to the axis of the spacer and placed so as to ensure the spacer sometimes one, sometimes the other of the two lengths required for these provisions of the levers.

  - 90 - The cables of hoists and drawbars counterparts of the two pairs of levers of the carriage are brought together in pairs to reduce the manipulations necessary to move the "auxiliary float".

  Wire guides are provided at appropriate locations to support the cables when they are relaxed, especially near the reciprocating pulleys to prevent them from escaping.

  A clearance large enough to survive after clamping is provided between the top of the slider and the bottom of the groove "T" forming guide rail (this game is visible in Figure 60).

  A detailed analysis of the times of the sequence of elementary gestures necessary for the complete configuration change of the building (transition from the unfolded arm state to the refolded arm state, or vice versa) shows that the duration of the transformation is of the order of 22 minutes for a single person, 9 and a half minutes for two people acting simultaneously and 4 and a half minutes for four people (case of a boat with "submerged float" of 10 m long and four "radiating arms").

  7.5 - Floating and semi-recessed submerged float under the platform The "submerged float" lifting device (1) is illustrated in Figures 64 to 68, which are simplified figures, some of the devices present and described below. not being drawn there.

  The "submerged float" (1) is provided with a device allowing it to be brought closer to the "habitable platform" (2) and partly recessed under a longitudinal arch that conforms to its upper shape and is provided for this purpose on the lower part of the hull of this platform.

  For this purpose, for each "carrier pylon" (16): The "carrier pylon" is provided with a connecting device sliding vertically in the "habitable platform", with two lockable positions, a low position for normal navigation and a high position for the port or maneuvers in shallow depths.

  The hull of the "habitable platform" includes a vertical chimney (188) with side walls sealed with the hull, of horizontal section provided just for the passage with a minimal clearance of the "carrier pylon" (16) with its "fairing pivoting "(45), the latter having its plane of symmetry kept rigorously parallel to the plane XOZ just before entering the chimney (188).

  The low opening of the chimney (188) is arranged (see Figure 67) in a horizontal metal fitting (198) which is very robust and firmly fixed to the structure of the "habitable platform" (2) and the upper end the chimney comprises another similar horizontal fitting, also very robustly and rigidly secured to this structure.

  É The chimney wall (188) has two floors of horizontal cylindrical housings in which bolts (194) run around the perimeter of this chimney at the same horizontal level slide, the first floor at the mid-thickness of the fitting lower (198) and the second half-thickness stage of the upper homologous fitting.

  The head of the "carrier pylon" (16) consists of a solid sliding fitting (190) which is very robustly and rigidly secured to the upper end of the pylon frying, by welding and - 91 triangular and vertical radial stiffeners (191) welded on the perimeter of the barrel and under this fitting, these stiffeners being housed in the upper cavity of the "swivel fairing" (45), locally enlarged to accommodate them without hindrance to pivoting. Figure 68 is an enlargement which illustrates this detail by showing the limitation of horizontal extension of the stiffeners (191) allowing the angular movement of the "pivoting fairing" (45); the wall of the latter is schematized in strong lines in its average orientation and fine line in its two extreme orientations.

  É This sliding fitting (190) comprises slightly conical housings (193) with horizontal axes receiving robust bolts (194) with horizontal sliding and slightly conical end, the cylindrical portion of which is guided in the bores with horizontal axes of the lower fixed fitting ( 198) or the upper homologous fixed fitting, (the lower one in normal navigation, the upper one when the "submerged float" is reassembled). The taper of the bolts and the chamfer of the sliding fitting (190) are not drawn in the top view in Figure 67.

  É The horizontal bolts (194) are equipped with double seals and are pulled or pushed by a mechanism (not drawn) operated by the crew and this mechanism includes a manual safety lock to prevent the accidental disengagement of the bolts (194). ).

  É According to the taper of the bolts, a device (not drawn) hyperbaric water pump located in the "habitable platform" and an armed flexible pipeline circuit feeding fine channels opening laterally in the middle of each housing (193) of the Sliding fitting (190) is provided, if necessary, to guarantee the disengagement without seizing the bolts (194).

  The vertical travel of the sliding fitting (190) is limited by abutments (not drawn) integral with the lower fixed fitting (198) and the upper homologous fixed fitting, the lower stop being removable to allow mounting.

  É This sliding fitting (190) is surmounted by a cylindrical metal bar (192), coaxial with the barrel of the "carrier pylon" (16), of lower section than that of the top of the latter and very rigid and robust fastening mode ; this bar (192) is guided in vertical translation by a vertical chimney (189) in which it slides just or by two stages of pebbles surrounding it (not drawn), the horizontal axes of these rollers being integral with the "platform habitable "(2); the length of the bar (189) and the length of the chimney (189) or the levels of the roller stages are provided for the amplitude of the displacement of the "submerged float" (1).

  É The "swivel fairing" (45) is oriented parallel to the XOZ plane before penetrating into the chimney (188) by means of a cable fixed permanently at the top of its trailing edge and running under the "habitable platform" until 'at the back of the building where it goes back on this platform to be tanned by the crew just before the start of the rise of the "submerged float". Two complementary chamfers, visible one at the bottom of the view from the front of Figure 67, the other by the edge line (196) of the top view on the same figure facilitate the beginning of penetration by self-alignment of the "swivel fairing". The sloshing of the cablôt in navigation is limited by passing it through integral grommets from below the "habitable platform" (2), the closest of the "pivoting fairing" being located at a distance of the same order of magnitude that the height of this fairing, and stretching it very slightly by a bungee cord, this voltage must remain low enough not to interfere with the spontaneous orientation of the "swivel fairing".

  The fitting (190) optionally comprises a slot (197) for the possible passage of cables, pipes or transmission shafts; this fitting is located in line with the possible through-light (56) of the "pivoting fairing" (45) visible in FIGS. 35 and 36.

  É Each chimney orifice (188) is surrounded by a dovetail groove with an inflatable hollow seal flush with atmospheric pressure. When the "submerged float" is reassembled, this seal is inflated with compressed air and then plates to the wall of the float, thus preventing any pollution of the chimney by algae or molluscs during stays at the port.

  É The "submerged float" includes retractable flush punches intended to emerge normally to the wall by a mechanism to penetrate into housing of the shell of the "habitable platform" vis-à-vis, provided with spring covers provided to be repulsed, so as to firmly (1) and (2) and prevent them from beating against each other in case of choppy.

  The inner volume of the "submerged float" (1) is almost entirely filled with compartments that can be filled at will at an appropriate dosage, sometimes air, sometimes water, so as to make its buoyancy is maximum (in navigation), either slightly negative (downhill) or sometimes slightly positive (up), which ensures the movements of the float despite friction.

  The floodable compartments of this float are provided with a network of pipes having their opening at the bottom for the supply of water or its suction using a device located in the "habitable platform"; this device comprises a manual valve and a motorized bidirectional pump with manual emergency means and is connected to the external water by pipeline and strainer; a second network of pipes having their opening in the upper part of each compartment can be used as an air intake and is connected to the open air, at a point of the "habitable platform" protected from water outdoor; each of these two networks communicates between "submerged float" and "habitable platform" by a pipe passing through the "pivoting fairing" of a "carrier pylon" (16) according to one of the embodiments described in chapter 3. 8.34 (p.22).

  An on-board water level indicator informs the crew of the progress of the filling or emptying of each submarine compartment of the "submerged float" (1).

  The displacement of each guide bar (192) is controlled by an operating means which can be two upward and downward opposing hoist hoists, fixed on the one hand to the top of the bar and on the other hand to the structure of the "habitable platform" (2), or a geared control mechanism such as that of river stream diversion dam valves, or a double-acting hydraulic cylinder whose piston is integral with the top of the bar (192) and whose body is formed by the chimney (189) then wider than drawn and provided with a tight cover and removable at the bottom, passing with sliding seal for this bar (192).

  A mechanism for synchronizing displacements is provided to avoid the risk of jamming in the case of a plurality of "carrier towers" (16) for the same "submerged float" (1), for example by means of hoist traction cables. aforementioned homologues joined in a single cable, passing on 93 - pulleys whose clevises are integral with the "habitable platform" (2) and it is then this single cable that the crew maneuver, or by means of a rotary shaft parallel to the axis OX secured to toothed wheels engaged with racks fixed along the guide bars (192).

  In the case where rotary transmission shafts (for example for the propeller propeller drive) run along "carrier towers", these shafts are telescopic, for example each formed of splined half-shafts male-female spline; in the case where cables or pipes run along the "carrier towers", these cables or pipes are possibly guided by biellemanivelle sets serving as articulated support, to which they are fixed (for example by collars) and they comprise the if necessary near the joints of the flexible sections or tight rotating connections in the case of pipes.

  7.6 - Bearing towers with adjustable length for the fast speed regime In an optional variant of the device according to the invention, the device previously described in chapter 7.5 (p.90) for lifting the "submerged float" is completed in the following manner, for each "carrier pylon": E along the chimney (188) provided for the displacement of the sliding fitting (190) of the "carrier pylon", one or more fixed intermediate plates, similar to the lower fixed plate (198) and at the similar upper plate, are provided at intermediate stages between these two plates, so as to adjust the output length of the pylon at different staggered lengths, E or these intermediate plates have exactly the same housing system (193) for receiving latches (194) with horizontal engagement for locking the sliding fitting (190) of the pylon at a given height relative to the "habitable platform" and this or these intermediate plates are very robustly and very rigidly secured to the structure of this platform by massive structural parts and where appropriate are provided with stiffeners provided to distribute the thrust force of the "carrier pylon".

  By adapting the free height of the "carrier towers" to the expected wave height conditions, the crew can thus facilitate the stabilization of the building and consequently reduce the energy consumption of the "steerable wing" actuators.

  7.7 - Front Sonars and Highest Wave Avoidance Software Each of the two "Auxiliary Floats" (3) located at the front of the building (see Figures 1 and 24) has a surface echo air sonar (34). ) for the instantaneous measurement of the vertical distance between this sensor and the surface of the external water, attached to the end of a pole (38). Each pole is secured to the front end of the "auxiliary float", has a length of about one third of the length of this float, and is inclined at 45 upward and forward, so as to raise the sonar largely above the highest waves expected in "fast speed regime".

  The distances to the surface of the external water measured by these air sonars are used by the software of the electronic calculator of the "attitude and trajectory controller" to contribute to the development of the orders to be sent to the actuators for adjusting the dihedral angles between medium planes of the "orientable fins" and their associated trailing edge flap.

  The role of these instantaneous height measurements is not to stabilize the building in the short term, but rather to allow it to follow somewhat the movement of a wave or trough of exceptional amplitude in order to avoid or to mitigate the accidental contact of "auxiliary floats" with the external water or accidental partial emergence of the "submerged float" or of "orientable fin" This slight deterioration of the stabilization is not too troublesome for the comfort of the passengers as it is occasional, which is common, the highest waves being the rarest, this allows the building to keep the "fast speed regime" longer.

  A transfer function provides a nonlinear transformation of instantaneous water height measurements provided by these forwardmost sensors. It is performed on analog signals using a nonlinear electronic amplifier or digital values by software. It is the result of this non-linear transformation that is used by the general algorithm, developed for this purpose, of the "attitude and trajectory controller" software, and not the true measures: This transformation consists of a compression of the measurement signal all the more pronounced as the measured height approaches one of the theoretical minimum or maximum limits (whose difference corresponds substantially to the smallest free height of the "carrier towers"), like a progressive and symmetrical saturation amplifier. The gain is one for the small signals and it gradually decreases to a certain value (eg 0.7) when the amplitude of the input signal reaches one of the aforementioned maximum or minimum limits.

  É The general algorithm for calculating position and orientation of the building by means of double integrations and readjustments, previously described in chapter 6.7 (p.75), is adapted to take into account these modified measurements, concurrently with other depth measurements, and considering them as "true" measures (which is false) and filtered by a low-pass filter (which is also false). As a result, the feedback signal of the feedback loop is unchanged for parasitic movements due to small waves and is further attenuated for high waves as their height approaches or exceeds the theoretical limit. The result is a certain accompaniment of the movement of the highest waves by the building and a sensible practical raising of the height to be crossed in a "fast speed" mode.

  Taking into account the statistical distribution of the height of the waves encountered under given navigation conditions, it can be estimated that the raising of the height of waves that can be crossed by the device according to the invention, when it is equipped with this advanced detection device of height and the software function of bypassing the highest waves, can go up to about 30% by accompanying a corresponding extension of the "carrying pylons" of the building.

  In order to introduce only the necessary degree of follow-up of the high waves, the value of the saturation gain (0.7 in the concrete example given above) is adjustable by the crew from the computer console between two predefined terminals. As a first approach, we can suggest for these 0.5 points for a strong follow-up and 0.9 for a weak follow-up, knowing that a strong follow-up requires to be effective that the waves are long enough for the building to have time to - 9 move vertically from the required unevenness to the appropriate rhythm.

  7.8 - Lightning protection of the attitude and attitude controller All arrivals of power supply cables to equipment or electronic boards are provided with ultra-fast surge protection diodes ("Transil" diodes for example) for protect the components against overvoltages. As far as measurement or control signals are concerned, their routing by shielded electric cables is limited to very short distances, routing being otherwise systematically ensured in digital optical fiber mode for transmitting infrared signals.

  Each "steerable wing mast" head (26) has an electronic equipment box which is integral with the mast head. This box is part of a controlled air circulation network controlled by pressure, temperature and hygrometry, electrically shielded network and grounded to the surrounding water, as previously described in the penultimate paragraph of the chapter. 3.8.12.b (p.36). This equipment box includes: E the two electric stepper motors of the dihedral angle fins-flaps, 15 É the electronic components of power control of the aforementioned stepper motors, É a double accelerometer "ADXL 202E" (component produced by the company "Analog Devices") measuring acceleration according to the directions of the axes OY and OZ, É a microcontroller "PIC 16C 774 JW" (component produced by the company "MicroChip"), comprising analog-digital converters and two ports serial communication, two TTL-infrared converters for digital transmission at 40 Kbps, the transmitter "HFBR-1 523" and the receiver "HFBR-2523" (electronic components produced by the company "Agilent Technologies"), as well as the departures of the two corresponding optical fibers to the central computer for the upstream channel and for the downstream channel, the departures of the shielded electrical cables with pairs of shielded twisted wires for the signals relating to the other sensors carried by this "orientable wing-lift mast": the static pressure sensor (7), the two sensors for measuring the dihedral angles between each "swiveling wing" and its edge flap leakage, as well as the sensor for measuring the angle of orientation of the "upper swivel" 30 (29) relative to the mast (26).

  The role of the aforementioned microcontroller is to provide the interface between the sensors and actuators to which it is connected by links for electrical signals and the double serial communication link at 40 Kbits / s by infrared signals on optical fibers going to the central computer. by a separate up and down path.

  The other electronic interface plates associated locally with the other sensors are "hydraulic vane" (35) and (36), wind vane (39), loch-speed9meter (40), - 96 - magnetic compass (41) and sounder under -marine (42), are connected by optical fibers for infrared digital transmission of the measurement signals to the central computer and if necessary equipped with analog-digital converters. The two neighboring "water vane" are interfaced by a microcontroller and communicate by a single pair of fibers; it is the same for the log-speedometer and the underwater sounder which are then implanted in the vicinity of one another.

  The other electronic interface boards locally associated with the other actuators that are in particular the motor pumps and possible solenoid valves of the "moving mass balancing device" by transfer of water between tanks (4), the stepper motors and sensors angular rotation of the drums (10) and (11) of the devices (9) adjusting the sheets (22) and (23), are also connected by optical fibers to the central computer; two fibers and a microcontroller are dedicated to the set of motor pumps and solenoid valves; two fibers and a microcontroller are dedicated to each of the elastic listening retention devices (stepper motor plus angular sensor): one for the mainsail, one for listening to the jib on the port side and one for listening to jib to starboard.

  All optical fibers arrive in the "habitable platform" to an electronic card acting as a concentrator and adapter to one of the standard access types to the electronic calculator "attitude and trajectory controller". This board is equipped with TTL-infrared - receivers "HFBR-2523" and transmitters "HFBR-1523" (electronic components produced by the company Agilent Technologies ") and it has a direct shielded electrical connection with the aforementioned calculator; is integrated in the computer housing and then communicates via its bus (eg PCI bus), or this card is external and is then connected by external connection to the computer (eg serial link RS232 155 Kbps) or USB bus), if this card is not integrated in this case, it is nevertheless placed in the same chamber with controlled atmosphere as the computer.

  7.9 - Optional device for measuring mast vibration In an optional variant, one or more additional ADXL 202E accelerometers are added and are connected to the central computer, if necessary via the microcontrollers of the heads of the "adjustable wing poles" or the "hydraulic wind vane mast", in order to measure the transverse horizontal acceleration of the arm (24) or of the beam (33) at the head of these masts and / or the accelerations parallel to the axes OX and / or OY (and / or OZ for weathervanes) at the foot of these same masts.

  This allows the software to monitor the occurrence of any vibrations due to the rapid flow of water on submerged bodies at certain operating conditions and reduce and / or record their history for analysis and subsequent corrective action. to reduce them.

  8 - OTHER EXAMPLES OF EMBODIMENT 8.1- Cruise boat with solar propulsion In a particular and nonlimiting embodiment, the device according to the invention is identical to the "basic sailboat" of 10 m described in Chapter 6 (p.51) except that it is electrically powered and that: É it no longer includes a wind tower, sails, sheets or hold-down devices (9), and has a wide polygonal floor with vertices adjacent to the ends of the "radiating arms" (24) and which is lined with photocells, E these photocells are connected through an electric regulator device to an electric propulsion motor and to a storage battery, accumulators and the electric motor are housed in the "submerged float" (1) and this engine drives the "submerged propeller" propeller (44) located at the rear tip of this float, the electric motor is enclosed in u n sealed compartment connected to the controlled atmosphere network, as described in the penultimate paragraph of chapter 3.8.12.b (p.36). The wall of this compartment has a watertight hatch openable in dry dock for access to the interior during the installation and maintenance of equipment, as described in chapter 3.8.11 (p.33).

  The connection by electric cables between the "habitable platform" (2) and the "submerged float" (1) passes through a through-light (56) of the "pivoting fairing" (45) of the "carrier pylon" (16) of the back as described in the penultimate paragraph of Chapter 6.3 (p.56).

  The watertightness of the "immersed float" (1) by the submerged propeller shaft (44) is ensured by the device described in the penultimate paragraph of Chapter 3.8.11 (p. .33).

  The sensing area of the photocells is about 400 m2. The peak solar power received is about 400 kW on a clear day at the equator and at solar noon. With efficiencies of 25% for cells, 75% for the electric motor, the power on the propeller shaft is of the order of 75 kW, which ensures a sufficient speed for navigation in "speed fast speed ".

  8.2 - Cruise Ship with Internal Combustion Engine In a particular and nonlimiting embodiment, the device according to the invention is identical to the solar powered boat described in chapter 8.1 (p.96), except that its "main device for propulsion "is based on the use of one or more internal combustion engines and: É It no longer includes, for the main propulsion, either solar floor or photocells.

  É The internal combustion engine is a diesel engine with turbocharger, marinized and placed with its reducer under a soundproof hood in the "habitable platform" (2), cooled by an external water circuit drawn by a pipe with a pump. suction and strainer.

  É This motor drives the "submerged propeller" shaft (44) by a rotating shaft along the "carrier pylon" (16) from the rear via a through-hole (56) of the "pivoting fairing" (45), as described in the penultimate paragraph of Chapter 6.3 (p.56); this intermediate shaft is provided with 90 angle deflectors at each of its upper and lower ends.

  8.3 - Cruising boat with mixed propulsion sail and engine In a particular and nonlimiting embodiment, the device according to the invention is capable of navigating in "speed fast speed" sometimes with the sail alone, sometimes with the engine alone and for this combines the embodiments of the example of Chapter 7 (p.82) - 10m "long-cruising" sailboat - and Chapter 8.2 (p.97) with an internal combustion engine driving a "submerged propeller" "(44) located at the rear of the" submerged float "(1).

  This embodiment allows passengers to enjoy the silence of sailing when the wind is good and continue to drive the engine in the opposite case, with certainly less silence, but still enjoy the comfort of stability of the "fast speed regime".

  Note: Silence in the event of engine navigation can be greatly increased by enclosing the diesel engine in the "submerged float" (1), provided that accessibility is provided for inspection and maintenance by a crew member in case of Needed: either by an access device to the float under water by a hatch open after dry by a skirt down the 'Living Platform' and form cofferdam, as described at the end of chapter 3.8. 1 v.18), either by a tubular "carrier pylon" with a manhole and ladder in the case of a building of sufficiently large size (approximately from a "submerged float" of 50 m length).

  9 - CONTENT OF THE INVENTION AND APPLICATIONS The device according to the invention, in "fast speed regime", makes it possible to remedy the disadvantages of the different types of ships mentioned in chapter 1 (p.1) "State of the prior art" in eliminating or making almost imperceptible the parasitic movements due to the waves, frequent source of discomfort and seasickness for the passengers, that for any size of ship between a few meters and more than a hundred meters, É since the wind is sufficiently strong and regular (in case of wind propulsion) É and / or when the sun is sufficient (in case of solar propulsion), É and as long as the height of the waves is lower than the guard under the " livable platform "or slightly exceeds this guard when the option to front sonar and software function of 25 bypassing the highest waves is present.

  This device also has the following attractions: faible low drag, with regard to the displaced water mass, hence high speed and / or energy saving, É operation silence wind or solar propulsion and noise very attenuated the motor propulsion if it is housed in the carrier device, E absence of particular danger of passenger accident for the passengers due to the absence of risk of rollover in wind propulsion thanks to the tension regulators listening and thanks to a smooth landing in the event of failure of the "attitude and attitude controller", E good protection of fragile building components in case of collision of small floating object, despite the high speed achieved, thanks to the joints The safety features of the "swiveling wing poles" and the "hydraulic wind vane mast" do not require expensive and ultra-light construction techniques. for the construction of the structure of the building, or the use of exceptional components or equipment for the "attitude and attitude controller", E good portability in the foldable "radiating arm" version and "liftable immersed float": the same length of hull, the size is comparable to that of a catamaran 5 current and the draft is comparable to that of a current keelboat.

  The device according to the invention is particularly intended for pleasure boating and comfortable cruising navigation, in particular: E the wind-powered version in regions with favorable wind conditions (such as the coastal zones of the continents of the zone temperate of the globe and the trade winds area) É the solar powered version in regions with strong sunshine (such as the Mediterranean or equatorial areas).

- 100 -

Claims (28)

  1) Device for navigating the water, comprising a means of propulsion, which from a certain speed: on the one hand to its weight fully supported by the buoyancy of one or more profiled floats (1) completely submerged, each of these submerged floats being secured to the building structure by one or more load-bearing pylons (16) provided with an individual movable hydrodynamic fairing (45) pivoting like a wind vane under the effect of the current and secondly its equilibrium and its stability ensured by steerable appendages (27), (29) with hydrodynamic lift effect, some of these appendages being supported in the lower part of masts (26) crossing the surface of the water and each provided with a movable hydrodynamic fairing (45) also pivoting like a wind vane under the effect of the current and some of these masts (26) being supported by arms (24) holding them at a distance from the port and starboard vertical plane of symmetry of the pack which is greater than one-third of the overall length of the submerged float (s) (1).   2) Device according to claim 1, characterized in that it comprises all thirteen devices described below in the paragraphs numbered "first" to "thirteenth" included (the building attitude is assumed horizontal), the combination of which gives it stability: firstly, a carrier device, located at the lower part of the building, which consists of one or more submerged floats (1) of tapered shape and slenderness greater than 6, with longitudinal axes oriented in the running direction of the building and cumulative buoyancy force equal to the total laden weight of the building when the volumes of water contained in the adjustable tare device (described below, fourth) and, if applicable, in the device balancing devices (described in seventh) are set so that the level of the surface of the external water reaches halfway up the vertical distance between the uppermost point of this load bearing device and the lowest point of the habitable platform (2) (described in the second paragraph), minus the low cumulative buoyancy force of the other submerged or partially immersed appendages when the level the surface of the external water is the aforementioned one, secondly a living platform (2) located above the carrier device, at a height such that the minimum vertical distance, measured between the lowest point of this platform and the highest point of the aforementioned carrier device is greater than or equal to 5% of the overall length of the carrier device (this length being measured in the running direction of the building), thirdly a set of vertical carrier towers (16 ) that support this living platform (2) forming spacers between it and the aforementioned carrier device, each pylon (16) being secured to the platform (2) at its end sup and being secured to a submerged float (1) of the carrier device at its lower end, each submerged float (1) supporting one or more carrier towers (16), fourth an adjustable tare device consisting of one or more tanks ( 17) which contain an allowable external water volume adjustable at any filling rate by means of a bidirectional pump, with a total capacity such that the weight of water contained in the maximum filling of these tanks (17) is equal to the maximum nominal payload of the building, plus the possibility of an overload of at least 10% of the total nominal load weight of the building (this total nominal load being counted when the setting is set so that the the outside water is halfway up the gap between the highest point of the aforesaid carrier and the lowest point of the habitable platform (2)), fifth a set of at least three radiating arms (24), integral with the living platform (2), which radiate in a star around this platform and each support one or more elements belonging to one or more balancing or stabilizing devices described further (auxiliary float devices described in the sixth, or movable masses described in the seventh, or steerable fins described in the tenth), sixthly a set of at least three auxiliary floats (3) with closed shell, sealed and profiled, distributed around the habitable platform (2) to ensure the balance of attitude at rest or at low speed, integral with radiating arms (24) or the living platform (2) itself, and such that: É the cumulative buoyancy of these auxiliary floats (3) (difference between the sum of their Archimedes' thrusts at complete immersion and the sum of their weights, including that of the water contained in their possible rests) ballast tanks (4)) is frankly greater than the sum of the nominal maximum payload of the building and the overload described in the fourth, this cumulative buoyancy being measured when the total volume of water contained in the possible tanks (4) of the balancing device with movable masses (described in seventh) is equal to the average capacity of these tanks (4), É these auxiliary floats (3) are sufficiently far from the center of gravity of the polygon having at peaks the peripheral ends of the radiating arms (24) so that their weighted average distance to this volume-weighted center of gravity is greater than 50% of the overall length of the aforesaid carrier device at the second, E the lowest point of each auxiliary float (3 ) is situated at a height between the height of the highest point of the aforesaid carrier device and the mid-height of the habitable platform (2), that m i-height being the average of the altitudes of the lowest point of the platform (2) and of the highest point of the passenger compartment, seventhly a balancing device with moving masses whose horizontal position of the center of gravity can be permanently adjusted by movements on the one hand towards the front of the vessel or on the other towards port or starboard, with movable counterweights along guides, positioned along the latter by means of mechanisms comprising actuators, or having a body of water transferable by bidirectional pumps between remote reservoirs (4), the volume of this body of water being equal to the average volume of these tanks (4), eighthly of the masts vertical steerable fins (26) attached to the lower part of auxiliary floats (3) or radiating arms (24) or of the habitable platform (2), each bearing in the lower part one or more of the steerable fins (27) , (29) (described in the tenth) and having a sufficient length, having regard to the height at which these fins are located, ninthly a set of shaped swivel fairings (45) which individually envelop each of the carrier towers (16) and each masts (26), ailerons, adjustable, such that: E each pivoting fairing (45) is guided in rotation around the wrapped element (16) or (26) by means of guiding members integral with this element and this fairing (45) has its hydrodynamic lift center sufficiently far downstream of its pivot axis to spontaneously orient itself in the bed of the current as a wind vane is moving in the wind bed, É for each submerged float (1) of the carrier device, the sum of the front surfaces of the pivoting fairings (45) (the front surface of each fairing is the area of its projection on a plane normal to its vertical plane of symmetry) relative to the supporting towers (16) supported s by this float is less than 20% of the minimum area of the vertical section of the port to starboard passageway between that float and the habitable platform (2), passage restricted to their common plumb, and tentatively orientable fins ( 27), (29) submerged by hydrodynamic lift, in the form of a wing or a nozzle, each having at least one pivot axis (28) or (30) integral with an element of the building structure, where appropriate by via a direct drive mechanism or by the hydrodynamic lift force of a trailing edge flap pointed by a drive mechanism, these rods (26) can be steered by means of a drive mechanism. orientable fins being such that: + the highest point of each fin (27), (29), for any orientation of this fin, is situated at a height less than or equal to that of the highest point of the aforementioned carrier device, É the set of directional fins with vertical lift wedge (27) has a weighted average distance from these fins to the center of gravity of the polygon having at peaks the peripheral ends of the radiating arms (24), weighted by the area of the maximum projected area on a horizontal plane of each fin, which is: greater than 50% of the overall length of the aforesaid carrier device in the case of the presence of propulsion apparatus for wind speed based on wind energy and / or on solar energy and not requiring the use simultaneous for the propulsion at this speed of a motor using an on-board fuel, greater than 30% of the overall length of the aforementioned carrier device in the case of a propulsion apparatus for the cruising speed exclusively based on a motor using an on-board fuel , É the set of horizontally-supported steerable fins (29) has a weighted average distance from these fins to the center of gravity of the polygon the peripheral ends of the radiating arms (24), weighted by the area of the maximum projected area on a vertical plane of each fin, which is: - greater than 50% of the overall length of the aforesaid carrier device in case of presence propulsion apparatus for cruise speed based on wind energy and / or solar energy and not requiring the simultaneous use for the propulsion at this speed of an engine using an onboard fuel, greater than 30% of the overall length of the aforesaid carrier device in the case of a propulsion apparatus for the cruising speed exclusively based on a motor using an on-board fuel, eleventh a set of accelerometers (6) for the acceleration measurement linear, fixed to the building structure so as to measure on the one hand the vertical acceleration (up / down) in at least three distant and non-collinear points of the building, of on the other hand, the lateral acceleration (port / starboard) in at least two distant points, one towards the front of the vessel, the other towards the rear, twelfth a set of altitude measuring devices (7 ) of the building in relation to the altitude of the surface of the surrounding water, fixed to the structure of the latter and distributed in at least three distant and non-collinear points, thirteenth an automatic device controlling attitude and trajectory: 15 comprising an electronic computer (43) connected to: - the acceleration (6) and altitude measuring devices (7), to the actuators regulating the orientation of the steerable fins (27), (29), and, if the above-mentioned overall length of the carrier device is greater than 6 m, also connected to the actuators adjusting the horizontal position of the center of gravity of the moving masses of the balancing device described in seventh, É and this calculator executes software developing e n real-time orders to send to the actuators for control of the attitude and trajectory of the building, orders calculated from the measurements received from the aforementioned measuring devices.   3) Device according to any one of claims 1 or 2, characterized in that it comprises a wind power propulsion device provided with force-regulating devices with elastic behavior law.   4) Device according to any one of claims 1 to 3, characterized in that a wind propulsion appendix (19) or (21) with aerodynamic lift effect is provided with a retaining cable (22) or (23) pulled by a force-regulating mechanism (9) with an elastic constitutive law regulating the value of the moment of the traction force in this cable with respect to the axis of rotation of this wind appendix when the orientation of this latter varies, and in that the frame of this regulator (9) is integral with the structure of the building or is integral with a spar whose position is not modified by the variations in orientation of said wind appendix.   5) Device according to claim 4, characterized in that the mechanism (9) with elastic behavior comprises on the one hand a device using the elasticity of a material or the compressibility of a gas which provides the principal of the traction force and further comprises an auxiliary device 104 for contributing to the positioning of the retaining cable, and in that this auxiliary device is provided with an actuator with a force or torque transmission mechanism with a maximum intensity of one precise value for which there is slip under constant force or torque, this actuator being controlled by the software of the electronic computer (43) of the attitude and trajectory controller to which it is connected by a communication means, the output member this transmission mechanism is provided with a position sensor, also connected in the same way to this calculator.   6) Device according to claim 4, characterized in that the force control device (9) with elastic behavior law comprises a drum (10) freely rotating by means of guide members in rotation about a fixed axis by relative to the structure of the building, this drum having two tracks in the form of multiturn cams with different profiles receiving the opposing windings of the cable (22) or (23) for retaining the Aeolian appendage and a second cable (13), and in that this cable (13) has its opposite end to the winding which is anchored to a point. fixed relative to the structure of the building by means of a pneumatic jack (70), this jack being connected by a pipe (71) to a compressed air tank (72) with a volume much greater than that of the chamber of the cylinder, the average gas pressure in this tank being adjustable by valves (75) and (77), a compressor (73) and a manometer (76) or by one or more cylinders of strongly compressed gas associated (s) to a pressure regulator with adjustable outlet pressure.   7) Device according to any one of claims 1 to 3, characterized in that it comprises a mast (18) pivoting on an angle greater than 270, the potential cables now this mast erected being anchored to the latter by rotating hardware on rolling thrust bearings and in that vertical candlesticks (55) with freely rotating cylindrical sleeves are located on the habitable platform (2) or on radiating arms (24) and intercept the passageways (22) or (23) ) by causing them to change the direction of their pulling force when they reach the front of the building.   8) Device according to any one of claims 1 to 3, characterized in that it comprises auxiliary floats (3) fixed by a movable connection to several lockable positions to bring these floats (3) closer to the center of the building when the last is at a standstill, and in that it comprises radiating arms (24) provided with movable sections to reduce the horizontal size of the building when it is at a standstill.   9) Device according to any one of claims 1 to 3, characterized in that it comprises fasteners masts (26) steerable appendages pivoting hydrodynamic lift each consisting of a hinge horizontal axis (163) with detachable locking device of the mast in a substantially vertical position and removable locking for raising these masts (26) and / or in that it comprises a movable link mechanism vertically with removable locking, adjustable in height at several positions, allowing reduce the vertical distance between the habitable platform (2) and the submerged float (s) (1) to reduce the draft when the vessel is in a harbor.   10) Device according to any one of claims 1 to 3, characterized in that it comprises a fairing (45) movable and pivoting as a wind vane under the effect of the current, enveloping a carrier pylon (16) or a mast ( 26) steerable appendages (27), (29) with hydrodynamic lift effect, fairing which is generally hydrodynamic profiled and of constant horizontal section along its height or increasing area from bottom to top along this height, some areas of the latter being however optionally bulged locally to allow housing within the fairing bodies (46) for guiding rotation of the fairing or, in the case of a fairing surrounding a mast (26) door -adjustable appendices (27), (29) with hydrodynamic lift, to allow housing of the mechanisms of the orientation control mechanism of these appendices or control of the dihedral angle formed by each appendix with its possible flap bo rd leak (31) or (32).   11) Device according to any one of claims 1 to 3, characterized in that it comprises pivoting fairings (45) guided at their upper end by one or ball or roller bearings (46) and guided at their end low by a needle bearing without inner ring rolling directly on the column (16), (26) or (37) and in that these bearings are provided with gaskets and are lubricated with a water inlet prohibition by a pressure lubrication circuit greater than the highest surrounding external pressure likely to be encountered.   12) Device according to any one of claims 1 to 3, characterized in that the foot of a pivoting fairing (45) enveloping a carrier pylon (16) ends with a tubular hub, possibly bulged to accommodate the housing of the lower member (46) for guiding this fairing in rotation, and in that this hub is completely masked with respect to the current thanks to its penetration with play in a recess provided on the top of the submerged float (1) supporting this carrier pylon (16), this housing being closed at the top by a recessed cover flush with the top of the float (1) and this cover, removable in several parts, being fixed to the wall of this float by screws and being provided with an anti-seal -Intrusion of foreign bodies rubbing against the outer cylindrical face of the aforementioned hub.   13) Device according to any one of claims 1 to 3, characterized in that it comprises a cylindrical ring fitted in a rotational guiding member (46) of a pivoting fairing (45) which is eccentric with respect to the column axis of the carrier pylon (16) or the mast (26) with hydrodynamic lift-off directional appendages (27), (29) or the mast (37) with hydraulic vanes (35), (36) column on which this ring is itself fitted and immobilized, and in that the imbalance of this ring comprises one or more vertical orifices giving passage to one or more cables, pipes or mechanical transmission shafts connecting the upper element and the lower element of the building which are secured by the column (16), (26) or (37) above.   14) Device according to any one of claims 1 to 3, characterized in that it comprises a pivoting fairing (45) around a carrier pylon (16), a mast (26) adjustable appendages hydrodynamic lift member (27), (29) or a mast (37) with hydraulic vanes (35), (36) which is provided with a vertical light (56) passing through this fairing from top to bottom, distinct from the light through which the column crosses (16), (26) or (37) pivoting and located downstream thereof, the downstream light (56) providing passage to one or cables, pipes or mechanical shafts (57) connecting the upper element and the lower element of the building which are secured by this column, the horizontal section of the downstream lumen (56) having a shape and dimensions allowing the angular clearance of the pivoting fairing (45) despite the presence of these cables, pipes or mechanical shafts (57).   15) Device according to any one of claims 1 to 3, characterized in that it comprises a balancing device with moving masses comprising tanks (4) partially filled with water which are located in auxiliary floats (3) , in that these tanks are interconnected by pipes converging in an intercommunication chamber, each of these pipes being provided with a bidirectional pump controlled by the electronic computer software (43) of the attitude and trajectory controller this pump is connected by a communication means, and in that this balancing device further comprises sensors also connected to the aforementioned calculator for measuring the distribution of water between these tanks (4).   16) Device according to any one of claims 1 to 3, characterized in that it comprises a connection between on the one hand a mast (26) pivotable appendages (27), (29) hydrodynamic lift effect or a mast (37) carrying hydraulic vanes (35), (36) and secondly the upper structure element of the building which is constituted by two superimposed plates (149) and (150), secured not only by a device anti-sliding constituted by balls (152) or lugs embedded in one of the plates and engaged in housings (153) of the other plate vis-à-vis, but also by an anti-peeling device comprising tension cables (154) having a calibrated breaking force tensioned by a spring (157).   17) Device according to any one of claims 1 to 3, characterized in that it comprises a connection between on the one hand a mast (26) pivotable appendages (27), (29) with hydrodynamic lift effect or a mast (37) carrying hydraulic vanes (35), (36) and secondly the upper structure element of the building which is constituted by a horizontal axis safety hinge (163) comprising not only a limit stop limiting the rotation of the mast (26) or (37) upstream substantially vertically, but also a force-limiting device by magnetic attraction force using a permanent magnet (167) with a movable armature (166) for maintaining the support of the mast against the stop above to a maximum torque given.   18) Apparatus according to any one of claims 1 to 3, characterized in that it comprises two hydrodynamic lift-adjustable complementary fins grouped in pairs at the bottom of a mast (26) immersed in water, mast which is integral with the end of a radiating arm (24), either directly or via the adjoining auxiliary float (3), this pair of fins being composed of a fin (29) with an axis of rotation vertical (30) and a fin (27) with a horizontal axis of rotation (28) parallel to the port-starboard direction, and in that the fin (29) is located above the fin (27) .   19) Device according to any one of claims 1 to 3, characterized in that it comprises a steerable wing (27) or (29) hydrodynamic lift effect whose axis of rotation is located at a distance from the edge of attack between one fifth and one third of the length of the rope - 107_7: of the profile, in that this swiveling wing is provided with a trailing edge flap, respectively (31) or (32) and in that the dihedral angle of each pair of planes carrying the fin and the associated flap is imposed by an actuator controlled by the electronic computer software (43) of the attitude and trajectory controller to which this actuator is connected by means of communication, this calculator being furthermore also connected by a communication means to an angular measurement sensor of this dihedral angle, and in the case of a fin (29) with a vertical axis of rotation (30), this calculator being additionally connected in the same way to a r measuring the angle of rotation of the fin (29) relative to the mast (26) orientable fins.   20) Device according to claim 19, characterized in that each actuator cited by this claim 20 has its frame integral with the mast (26) orientable fins (27), (29) or adjoining auxiliary float (3) or the end of the radiating arm (24) and in that this actuator adjusts the angle of rotation of a vertical or quasi-vertical rotational transmission shaft (95) or (104), this shaft running along the mast (26) carrying orientable fins protected from a light of the pivoting fairing (45) and traversing where appropriate the upper swiveling flap (29) by a passage formed along the mast (26) in this fin, the lower end of the transmission shaft being integral with the input member of a mechanism for transmitting rotational movement to the trailing edge flap (31) or (32) concerned.   21) Device according to claim 20, characterized in that the mechanism for transmitting the rotational movement between the rotary shaft (95) or (104) and the trailing edge flap (32) or (31) respectively comprises a quadrilateral articulated having a handlebar (97) or (106) respectively, a handlebar (101) or (110) respectively and one or two rods of equal length, on the one hand (99) and / or (103) for the control of the flap (32) and secondly (108) and / or (112) for controlling the flap (31).   22) Device according to any one of claims 1 to 3, characterized in that it comprises guide members of hinges submerged or exposed to water which are protected by seals and prohibition of entry of water by means of a higher pressurized lubricant distribution circuit behind the seal, pressure maintained during navigation by a pressure switch and sometimes maintained at port or by the hydrostatic pressure of a lubricant circuit whose free surface is located at a height in a tank and left at atmospheric pressure, either by compressed gas cylinders with pressure regulator, the appropriate pressurizing circuit being selected by means of a distributor valve forming a switch.   23) Apparatus according to any one of claims 1 to 3, characterized in that it comprises a rotating shaft which passes through a watertight wall immersed or exposed to water and which is provided with two rotating sealing rings mounted in cascade one behind the other between which there is a bath of lubricant, under pressure greater than the external pressure, brought by a channel in the wall connected to a pressurized distribution network, the inner face of the wall having under the shaft a gutter with funnel collecting a possible seepage in the sealed compartment bounded by this wall, this funnel being connected to a fine capillary tube which passes through a device for checking the absence of liquid brought by the tube and ending in a chamber in which there is a relative vacuum maintained by a suction pump.   -.108 _-_ 24) Device according to any one of claims 1 to 3, characterized in that it comprises a double accelerometer (6) - or two simple accelerometers - measuring on the one hand the vertical transverse acceleration and on the other hand the port-starboard horizontal transverse acceleration, these accelerometers being fixed near the peripheral end of a radiating arm (24), either directly to the structure of this arm or to that of the auxiliary float (3) adjoining this arm or to the mast (26) orientable wing-holders adjoining this arm and which are connected by a communication means to the electronic calculator (43) of the attitude and trajectory controller.   25) Device according to any one of claims 1 to 3, characterized in that the height of several points of the building relative to the local level of the free surface of the water is measured by manometers (7) for measuring the static pressure fixed at the bottom of pivoting fairings (45), and / or by sonar sonar (34) with ultrasonic beams or ultrasonic sound frequency of vertical axes and the echo return time by reflection on the surface of water, these sonars being fixed at points always emerging near the end of radiating arms (24), either directly on these arms or on adjoining auxiliary floats (3), directly or via poles ( 38).   26) Device according to any one of claims 1 to 3, characterized in that it comprises a pair of hydraulic vanes (35) and (36) measuring the components of the direction of the current upstream of a submerged float (1). ) in two perpendicular directions, each hydraulic vane having an angular position sensor which is connected by a communication means to the electronic computer (43) of the attitude and trajectory controller, the pivots of these vane being supported by a horizontal pole secured to the nose of the float (1) and coaxial with it, is supported by a mast (37) immersed vertically in the water upstream of the submerged float (1), this mast being enveloped by a pivoting fairing (45) and being fixed by its summit at the front of a support (33) integral with the structure of the building and always emerged.   27) Device according to any one of claims 1 to 3, characterized in that it comprises electrical or electronic equipment of the attitude controller and trajectory which are enclosed in a network of sealed compartments connected by pipes for the passage electrical or optical cables and for the circulation of air, which is constantly maintained under overpressure, during navigation by means of a pressure switch with maintenance of this air in determined ranges of temperature and humidity by passing it by cooling and dehumidification devices, and constantly maintained overpressure port by a pressure reducer connected to a compressed and rechargeable gas tank.   28) Device according to any one of claims 1 to 3, characterized in that it comprises an air sonar sonar (34) vertical ultrasonic beam or microwave sound which is fixed on a pole (38) in front of an auxiliary float (3) of the front of the building and which measures by reflection its distance to the surface of the water, this sonar being connected to the electronic calculator (43) of the attitude and trajectory controller by means of communication , and in that the software of this controller is provided with a function of partial bypass of the highest occasional waves by transient adaptation of the orders sent to the steerable orientation orienting actuators (27), (29) with lift effect hydrodynamic.