GB2215490A - Control apparatus for submersible vessels - Google Patents
Control apparatus for submersible vessels Download PDFInfo
- Publication number
- GB2215490A GB2215490A GB8805507A GB8805507A GB2215490A GB 2215490 A GB2215490 A GB 2215490A GB 8805507 A GB8805507 A GB 8805507A GB 8805507 A GB8805507 A GB 8805507A GB 2215490 A GB2215490 A GB 2215490A
- Authority
- GB
- United Kingdom
- Prior art keywords
- pressure
- liquid
- vessel
- tank
- line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 56
- 239000007788 liquid Substances 0.000 claims abstract description 28
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- 230000000694 effects Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 238000005086 pumping Methods 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- VOXZDWNPVJITMN-ZBRFXRBCSA-N 17β-estradiol Chemical compound OC1=CC=C2[C@H]3CC[C@](C)([C@H](CC4)O)[C@@H]4[C@@H]3CCC2=C1 VOXZDWNPVJITMN-ZBRFXRBCSA-N 0.000 claims 1
- 230000005499 meniscus Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 3
- 230000006837 decompression Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 241000269350 Anura Species 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 235000010730 Ulex europaeus Nutrition 0.000 description 1
- 240000003864 Ulex europaeus Species 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/048—Control of altitude or depth specially adapted for water vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Jet Pumps And Other Pumps (AREA)
Abstract
A remotely operable submersible vessel (1) including at least one closed ballast tank (6) and an umbilical having a supply line (3) for supply and removal of liquid from the tank (6), a first pneumatic line (4) for supplying pressurised air to said tank and a second pneumatic line (5) which is in communication at its normally lower end with the air space within the ballast tank (6) via an air bleed means (14) which also functions to transmit any ambient water pressure changes to said second pneumatic line (5). Pneumatic pressure-change responsive means (13), in the form of a manometer device or a flexible diaphragm (Figure 3), is settable to "normal" or selected depth pressure at any required submersion depth of the vessel and operates to sense an increase or decrease in tank pressure and in ambient water pressure adjacent the vessel (1). Opposite ends of the device (13) are connected to the line (5), one via a valve (17), the latter being closed when a desired pressure difference has been established across the device (13). Optical diodes (19.19'), (25, 26) detect movement of the manometer meniscus or the diaphram (22) and generate signals which are used to control a liquid discharge valve (9) or liquid supply means (7) located in the supply line (3) at the water surface and serving respectively to discharge or increase the amount of liquid in the tank (6) to maintain the selected depth of submersion. <IMAGE>
Description
COlROL APPARATUS 00R SUERSZBLE VESSELS
The present invention relates to a control apparatus for controlling the submersion depth of remotely operable sutxnersible vehicles or vessels such as miniature submarines for carrying underwater cameras which transmit pictures to the surface for leisure, recreational or other purposes.
tEny submersibles have their main power and drive means onboard and have upward and downward water thrusters for controlling the submersion depths with power, such as electricity supplied via their umbilical connection means.
The vessel is controlled via signals transmitted along the umbilical and when a desired depth has been reached it is often desired to maintain such position despite the effect ot currents or other factors tending to cause the submersible to change its position and this is done by detennining the required depth and then operating the thrusters depending upon the movement which occurs. Other remotely operable vehicles are more fully supplied fran the surface rather than having onboard apparatus.
An expensive depth gauge or sensor with canplicated and expensive electronic/electric control means is utilized to control the thrusters in the submersible to maintain the required depth.
It is an object of the invention to provide an economic, simple and reliable means for maintaining a required submersion depth of a submersible vessel or to provide a device for maintaining pressure of another pressurisable system such as a decompression chamber and also to provide an itnproved submersible vehicle and submersion control system for such vessel
According to the present invention a remotely operable submersible vehicle or vessel including at least one closed ballast -tank and an umbilical supply line including a plurality of supply lines and connected at one end to the tank and including one supply line for supply and removal or iiquid fran one tank and means for suppiying pressurised air to said tanK preferably via a first pneumatic line of the umbilical, with said umbilical collected at its other end to a liquid supply means, such as a pump, to be located at the water surface, means at the surface end of the umbilical line for adjusting the liquidwater ratio in the ballast tank and control means for maintaining a selected submersion depth and connected at the surface end of the umbilical line to a second pneumatic line of the umbilical which second pneumatic line is in communication at its normally lower end with the air space within the ballast tank via an air bleed means which also functions to transmit any ambient water pressure changes to said second pneumatic line which is connected at its normally upper end to pneumatic pressure-change responsive means set table to "normal" or selected depth pressure at any required submersion depth of the vessel and operable to sense an increase or decrease in ambient water pressure adjacent the vessel and to transmit signals to a liquid discharge valve or to said liquid supply means located at the surface respectively to discharge or increase the amount of liquid in said tank to maintain said selected depth of submersion.
The liquid may be hydraulic fluid although will normally be water and will be so referred to subsequently.
It will be appreciated that the submersion depth is adjusted by the weight of water in the ballast tank and that water is added thereto by pumping such down the umbilical and removed therefran by pumping or p.-eferably by opening said discharge or dump valve at the surface to permit discharge or water by the effect of the p:essurised air within the tank.
The pressurised air in effect acts as a spring to force water out of the tank and to the surface when required. Pressurised air is preferably supplied from the surface by means of a compressor and via said first pneumatic line preferably via a regulator upstream or the second pneumatic line and the tank and whicn reguiator may drop tne pressure within title tans to an approx itnately initialLy regulated pressure or say 2u psi but tne pressure therein may reach, for exaTiple, luu psi.Air is bled frogs said second pneumatic line possibly via 'means or a non-return valve which may, ror exampie, be spring loaded to approxinateiy 15-2u psi.
A pressure switcn may be provided in the water supply line for closing a valve in the water supply line to prevent build-up or excess pressure created by the presssurised air which may arise in the water supply line following surfacing or rising of the vessel and expansion of air within the tank and which air could not normally be recompressed by the water pulp to effect re-submersion. The second line is preferably of very narrow bore to act as tne bleed means and discnarges into the water via an inverted openmouted chamber.
the pneumatic pressure-change responsive means will be described subsequently as a device per se but such may be considered as being included in the above described control means of a submersible vessel.
Suitabie control means for drive and other functions of the vessel will be supplied in known manner and the camera and/or propulsion motor of the vessel may be controlled via a remote control device via a continuous wire connection along the umbilical or via a radio remote control device with its antenna connected to a wire preferably running the length of the umbilical or having a gap therein of say one metre.
Also according to the present invention a control device connectable to the pneumatic line or directly to a preferably closed ballast tank of a submersible vehicle coalprises pneumatic pressure-change responsive means settable to normal at any required depth and operable to sense an increase or decrease in ambient water pressure adjacent the submersible and to transmit signals for relays to decrease or increase respectively the amount of water in
said ballast tans; said respoonsive .nears preferably being a
manometer device as wilt be aescribed or a resilient diapnramn device.
fine pneumatic pressure-change response means will preferably
comprise a chamber having air sucting means at opposite ends of the
chamber with one ducting means being closeable at a required depth
of the submersible and means within the chamber displaceable in
opposite directions in response to a pressure difference arising and
having a surface means which upon displacement from a normal position
can activate either one of two sensor means - depending upon its
direction of displacment - with said displaceable means being such as
to return or return said surface -means to the normal position. Sne pressure-chamber responsive means preferably comprises a U-shaped
tube (such as a manometer tube-like device) having a liquid
(preferably coloured water) therein with the upper end of each of
the limbu of the U-shaped tube being connectable by suitable air
ducting means to said ballast tank and with the upper end of one
limb or air ducting means of said one limb leading to said air
ducting means having a valve which is operable to open and close
communication with said air ducting means leading to the ballast
tank; the surface level sensor means may comprise two spaced apart
optical diodes which when said valve is closed, will sense the
liquid-air surface transition in an upper or lower position and
energise adjusting means to increase or decrease the amount of water in the tank. Alternatively the chamber of the control device
is divided by a two-directional flexible diaphragm which returns to
its original position whin pressure either side is equal and has an
extension member which extends to between two sensors, such as
optical diodes which sense displacement resulting from an increase
or decrease in ambient water pressure and act to control the
adjusting means.
The vessel according to the invention may include
lights which may be operable by batteries located in a
housing adjacent to the lights and since batteries when cold are not fully efficient, means are provided to utilize heat generated by the lights to heat the batteries and suitable fluid ducting means and/or circulating means will be provided for transmitting the heat generated by the lamps to the batteries.
The invention will be described further, by way or example, with reference to the accompanying schematic drawings, in which:
Fig. 1 is a drawing representing the main canponents of the control apparatus or a subalersible vessel;
Fig. 2 is an enlarged detail of the upper end of a limb of the aianometer or Fig. 1; and
Fig. 3 is an illustration of an alternative embodiment of pressure-change responsive means which might replace the ma-naneter tube-like device in Fig.l.
It will be appreciated fran Fig. 1 that the submersible vessel 1 in water W only generally indicated in outline as the main features thereof are known and the drawing merely illustrated the main components of the submersion control apparatus which canprises a flexible umbilical line 2 having various lines (3,4,5) as part thereof but shown separately and a closed ballast tank 6 having a water supply pipe 3 connected at its lower end to a lower region of tank 6 and at its upper end to a water pump 7 above the surface of the water and which is operable by relay means to draw water from a source 8 and to pump the water down line 3 into tank 6. Pump 7 has an electrically operable water discharge or dump valve 9 associated therewith.
A pressure reiier switch 10 is located above tne surrace to operate a relief valve should a pressure or say 20 psi arise which may occur when tne vessel rises and tne pressure or air forces water out or pipe 3.
A compressor is located above the surface of water W and supplies air at approximately 20 psi via pipe 4 and a regulator 12 to tank 6. A second pneumatic pipe line 5 is connected with the lower end of pipe 4 so as to cansunicate with the pressure prevailing in the tank 6 to a oanometer-tube device 13 at the surface via a bleed device or ambient water pressure sensor device 14 which may include a non-return valve spring loaded to approximately 15-ju psi.
The bleed device preferably includes an inverted open mouthed housing.
A pressure gauge 15 is also connected to second pneumatic line 5.
Pipeline 5 is very narrow bore and may simply connect with inverted housing 14. The tube of device 13 may be of clear plastics material.
Manoneter tube device 13 has two limbs 13' and 13" each communicating at their upper ends with pipelines lt, 16' to line 5 and limb 13' has a valve 17 at its upper end in line 16' which is closeable when a required depth of submersion is desired to be maintained. Ehe clear tube 13 which may be of plastics material contains coloured water 18 and has two spaced surface level sensors or optical sensors 19, 20 located along its length such that when the pressure in both limbs 13', 13" of the tube 13 are equal, the water level lies between the optical diodes liy,20 and such operate when valve 17 is closed at a requisite depth of vessel 1 to sense when the surface of water 18 in limbs 13" pass such as a result of changing air pressure in limb.13" resulting fran a change in pressure in line 5 which is caused by the vessel shifting its vertical position and such change means bleed device 14 is subjected to a different ambient water pressure and relays such via the air pressure to limb 13".
The diode 19 operates pump 7 (via relays not shown) since its water rises in limb 13" such represents a lower pressure in pipe 5 and tnus t..e niger pressure air trapped in litnb ij' above the water level displaces liquid upwardly in limblJ fh diode 19 operates dump valve 9 to permit water iu tank 6 to be discharged at the surface by means of the air pressure in tank 6 and this results from the vessel sinking from the desired depth so as to occupy a higher ambient water pressure area which transmits to limbs3' and compresses air in limb 13'.
It is to be appreciated that it is the weight of water in tank 6 which controls the submersion depth of the vessel I.
In operation, the vessel I is placed on the surface or water W and water pumped by pump 7 into tanK 6 whilst at the same tinie compressor 11 operates to charge the tank with air initially at 20 psi via regulator 12. As the vessel 1 sinks the head of water in tube 3 increases and thus the further the vessel sinks as a result of water being pumped into tank 6, the greater the compression effect on the air in tank 6 which increases the pressure therein (to considerably above 20 psi with bleed means or valve 14 also functioning as a pressure relief means.Wnen a desired depth for the vessel 1 is reached which it is desired to hold, pump 7 being stopped and dunp valve 9, closed, valve 17 is closed so that any further movement of vessel I upwards or downwards, will cause a change in water level in limb 13" to be sensed by diodes 19, 20 (or other sensor means) and pump 7 to be operated or dump valve 9 opened to discharge water from tank 6.
A head of water in pipe 3 together with 20 psi pump pressure may result in a pressure in tank 6 of 10O psi. The air line and air in the umbilical assists in providing neutral buoyancy for the umbilical.
Fig. 2 is an enlarged fragmentary detail of the enlarged upper end of limb 13" which is a feature provided to prevent the coloured water 16 being canpletely pushed out of the tube device and connecting parts by a rapid raising of the vessel. The feature provided is an enlargement in the bore by means of a larger vessel 20 which is large enough to accommodate all the coloured water from tube 13 whilst per,nitting expanding air trom limb 13' to exit via pipe Ib. For re-use ot device 13, valve 17 is re-opened and lett open until a "hold" depth is again required.
Fig. 3 illustrates an alternative einbodiment of pneumatic pressure-change response means which canprises a chamber 21 having inlet pipes 16, l6' communicating with second air pipe 5 with pipe 16' having a valve 17 therein which is closed upon reaching a required depth of the vessel 1. A flexible diaphragm 22 sealingly divides chamber 21 and is of such material as to return to its normal undeflected position after being deflected in either opposite direction dependent upon different pressures resulting in the upper chamber portion.A projecting member 23 extends fran the middle of diaphragm 22 into a clear guide tube 24 and optical diodes 25, 26 or other sensor means and provided to sense different displacement positions resulting from pressure changes and to control pump 7 or dump valve 9 to maintain the depth position of the vessel 1 in a similar manner to the mananeter tube device 13 in Fig. 1.
Instead of use with a submersible vessel, the manometer device may be used with any other pressurisable system such as for controlling required pressures in decompression chambers.
Instead of supplying air or other gas from the water surface or even from a bottle onboard a submersible vessel, steam generated by the heat of the vessels lighting system may be used to pressurise the taxi.
Instead of optical diodes as the sensor means a magnet floating on the surface of liquid in the U-tube may be used with a Hall effect device to issue signals to control the system.
The sensor device may be located onboard the vessel and/or the bleed means may be anitted.
Claims (15)
1. A control device connectable to a suhnersible vessel or pressurisable chamber or other pressurisable systen, comprising:
pneumatic pressure-change responsive means set table to normal at any required depth or pressure and operable to sense an increase or decrease in pressure and to transmit signals for relays to operate adjusting means which acts on said vessel or chamber to return the vessel to said required depth or maintain the required pressure in said chamber;;
said pneumatic pressure-change responsive means preferably comprising a chamber connectable by first and second pneumatic ducting means at opposite end regions of the chamber to the pressurised part of said vessel or chamber, with a valve being located in said first ducting means and operable to close such when a particular pressure is required to be maintained so as to provide an enclosed pressurised air space acting as a reference pressure on one side or pneumatically displaceable means located in said chamber and displaceable therein;;
said second ducting means, in use, being normally open and in communication with said vessel or chamber and said pneumatically displaceable means preferably comprising a resilient diaphragm, a liquid in a manometer-like tube forming said chamber or other displaceable means biassed or otherwise returnable to a normal position when equal pressures exist in said first and second ducting means; and
threshold or presence sensor means to detect displacement of said displaceable means beyond a predetermined range in either direction and signal such.
2. A device as claimed in clain I, in which a U-shaped clear tube forms the manometer tube and contains a liquid whose surface or presence is detectable by said sensor means.
o. A device as claimed in claim 2, in which said sensor means canprise two optical diodes spaced apart along one limb ot the tube remote reran said valve whicn will sense presence or absence of said liquid so as to indicate an increase or decrease or pneumatic pressure above the surface of said liquid in said limb.
4. A device as claimed in claim 3 in which said liquid is coloured.
5. A device as claimed in claim 1, in which the pneumatically displaceable means is a resilient diaphragm, which is flexible in two directions and of a material which returns to its original position when pressure either side is equal and which diaphragm has an extension member which extends to between two sensors, such as optical diodes, which sense displacement resulting from an increase or decrease in pressure on the side of the chamber remote from the valve side and are operable to control the adjusting means.
d. A device as claimed in claim 2 in which the tube is made of clear or transparent plastics material which is preferably flexible.
7. A device as claimed in claim 2 or claim 2 and any of claims 3 to ó, in which the upper end of the limb of the tube which does not have the valve associated therewith communicates with an enlarged ducting portion or chamber which is of sufficient volume to receive all or a substantial part of the liquid in the tube in certain circumstances whilst permitting air passing through the tube to escape via said ducting means without forcing said liquid out as well.
8. A remotely operable submersible vehicle or vessel including at least one closed ballast tank and an umbilical supply line including a plurality of supply lines and connected at one end to tne tank and including one supply line for supply and removal of liquid tran the tank and means or supplying pressurised air to said tank preferably via a first pneumatic line of the umbilical, with said umbilical connected at its other end to a liquid supply means, such as a pump, to be located at the water surface, means at the surface end of the umbilical line for adjusting the liquidwater ratio in the ballast tank and control means for maintaining a selected submersion depth and connected at the surface end of the umbilical line to a second pneumatic line of the umbilical which second pneumatic line is in communication at its normally lower end with the air space within the ballast tank via an air bleed means which also functions to transmit any ambient water pressure changes to said second pneumatic line which is connected at its normally upper end to a control device including pneumatic pressure-cnange responsive means as claimed in claim 1 settable to "nonnal" or selected depth pressure at any required subnersion depth of the vessel and operable to sense an increase or decrease in ambient water pressure adjacent the vessel and to transmit signals to a liquid discharge valve or to said liquid supply means located at the surface respectively to discharge or increase the amount of liquid in said tank to maintain said selected depth of submersion.
9. Apparatus as claimed in claim 8 wherein, in use, the submersion depth is adjusted by the weight of liquid in the ballast tank and that liquid is added thereto by pumping such down the umbilical and removed therefrom by pumping or preferably by opening said discharge or dump valve at the surface to pennit discharge of liquid by the effect of the pressurised air within the tank.
10. Apparatus as claimed in claim 8 or 9, in which
pressurised air is supplied to the tank tran the surface by means of a compressor and via said first pneumatic line preferably via a regulator upstream ot the second pneumatic
line and the tank.
11. Apparatus as claimed in any of claims 8 to 10, in which
bleed means are provided to bleed air from said second pneumatic
line into an inverted cup-like or other open-mouthed vessel or chamber which acts an an ambient water pressure sensor means.
12. Apparatus as claimed in any of claims 8 to 11, in which a pressure switch is provided in the liquid supply line for closing a valve in said line should the water pressure therein exceed a predetermined limit.
13. A control device substantially as herein described with reference to the accompanying drawings.
14. A remotely operable submersible vessel and control
system substantially as herein described with reference to
the accompanying drawings.
15. A device as claimed in any of claims I to 7, in which
the pneumatic pressure-change responsive means is located in
the interior of a submersible vessel and comsunicates with a ballast tank of said vessel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8805507A GB2215490A (en) | 1988-03-08 | 1988-03-08 | Control apparatus for submersible vessels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB8805507A GB2215490A (en) | 1988-03-08 | 1988-03-08 | Control apparatus for submersible vessels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB8805507D0 GB8805507D0 (en) | 1988-04-07 |
| GB2215490A true GB2215490A (en) | 1989-09-20 |
Family
ID=10633051
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB8805507A Withdrawn GB2215490A (en) | 1988-03-08 | 1988-03-08 | Control apparatus for submersible vessels |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2215490A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2309213A (en) * | 1993-09-27 | 1997-07-23 | Maritime Pusnes As | Variable buoyancy sub-sea element |
| GB2448918A (en) * | 2007-05-03 | 2008-11-05 | Steven Michael Simpson | System and method for managing the buoyancy of an underwater vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113108158B (en) * | 2021-04-30 | 2022-11-15 | 江南造船(集团)有限责任公司 | Water supply and drainage pipeline maintenance system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1020288A (en) * | 1962-11-30 | 1966-02-16 | Harland Engineering Co Ltd | Automatic pilot mechanism for ships |
| GB1136196A (en) * | 1966-06-22 | 1968-12-11 | Westinghouse Electric Corp | Automatic decompression system |
| GB1201528A (en) * | 1968-06-06 | 1970-08-05 | British Insulated Callenders | Improvements in or relating to the manufacture of insulated electric cables |
| US3598144A (en) * | 1969-12-05 | 1971-08-10 | Robert A Hodgson | Multipoint liquid level controller |
| US3848627A (en) * | 1972-01-26 | 1974-11-19 | L Page | Apparatus for maintaining the water level within a swimming pool to predetermined limits |
| GB1568953A (en) * | 1978-05-11 | 1980-06-11 | Peglers Ltd | Filling arrngements for baths and other liquid containers |
| GB2059640A (en) * | 1979-09-15 | 1981-04-23 | Skil Controls Ltd | Electro-hydraulic actuator |
| WO1986001166A1 (en) * | 1984-08-14 | 1986-02-27 | Gerhard Wirmsberger | Control device for a compressed air-operated installation |
-
1988
- 1988-03-08 GB GB8805507A patent/GB2215490A/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1020288A (en) * | 1962-11-30 | 1966-02-16 | Harland Engineering Co Ltd | Automatic pilot mechanism for ships |
| GB1136196A (en) * | 1966-06-22 | 1968-12-11 | Westinghouse Electric Corp | Automatic decompression system |
| GB1201528A (en) * | 1968-06-06 | 1970-08-05 | British Insulated Callenders | Improvements in or relating to the manufacture of insulated electric cables |
| US3598144A (en) * | 1969-12-05 | 1971-08-10 | Robert A Hodgson | Multipoint liquid level controller |
| US3848627A (en) * | 1972-01-26 | 1974-11-19 | L Page | Apparatus for maintaining the water level within a swimming pool to predetermined limits |
| GB1568953A (en) * | 1978-05-11 | 1980-06-11 | Peglers Ltd | Filling arrngements for baths and other liquid containers |
| GB2059640A (en) * | 1979-09-15 | 1981-04-23 | Skil Controls Ltd | Electro-hydraulic actuator |
| WO1986001166A1 (en) * | 1984-08-14 | 1986-02-27 | Gerhard Wirmsberger | Control device for a compressed air-operated installation |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2309213A (en) * | 1993-09-27 | 1997-07-23 | Maritime Pusnes As | Variable buoyancy sub-sea element |
| GB2309213B (en) * | 1993-09-27 | 1997-09-10 | Maritime Pusnes As | A variable buoyancy subsea element |
| GB2448918A (en) * | 2007-05-03 | 2008-11-05 | Steven Michael Simpson | System and method for managing the buoyancy of an underwater vehicle |
| GB2448918B (en) * | 2007-05-03 | 2009-07-22 | Steven Michael Simpson | System and method for managing the buoyancy of an underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| GB8805507D0 (en) | 1988-04-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |