WO2005000667A2 - Vehicule traine compact controlable - Google Patents

Vehicule traine compact controlable Download PDF

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Publication number
WO2005000667A2
WO2005000667A2 PCT/US2004/006834 US2004006834W WO2005000667A2 WO 2005000667 A2 WO2005000667 A2 WO 2005000667A2 US 2004006834 W US2004006834 W US 2004006834W WO 2005000667 A2 WO2005000667 A2 WO 2005000667A2
Authority
WO
WIPO (PCT)
Prior art keywords
towed vehicle
mast
vehicle according
towed
control system
Prior art date
Application number
PCT/US2004/006834
Other languages
English (en)
Other versions
WO2005000667A3 (fr
Inventor
Daniel J. De Cicco
John W. Johnston
Original Assignee
The Johns Hopkins University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by The Johns Hopkins University filed Critical The Johns Hopkins University
Publication of WO2005000667A2 publication Critical patent/WO2005000667A2/fr
Publication of WO2005000667A3 publication Critical patent/WO2005000667A3/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B21/56—Towing or pushing equipment

Definitions

  • This invention relates to a towed vehicle, and more particularly, to a towed vehicle that can be controlled and is easy to store.
  • Gertler et al. U.S. patent number 4,227,479) discloses a towable sea-going vehicle.
  • the Gertler device is designed to be a buoyant, free floating vehicle that can travel at high speed.
  • Gertler teaches the use of a television camera in connection with a buoy.
  • Gertler also discloses an arrangement for carrying communications equipment.
  • Hillenbrand et al. U.S. patent number 5,686,694 discloses an unmanned undersea vessel. Hillenbrand teaches the use of a telescoping erectable mast. This mast is designed to gather position and environmental information. The mast can also include a video camera.
  • BSQ-5 is another towed buoy. The BSQ-5 included a foldable antenna. The antenna was deployed using a complex parallelogram arrangement. The antenna was attached to the rear portion of the buoy and the upper portion of the antenna folded forward. [0007] While these towed buoys and towed vessels provided some functionality, there were shortcomings. The buoys were large and difficult to store.
  • buoys Due to their size and shape, these buoys would not fit into designated compartments of modern vessels, like submarines. Some of these buoys may have been stabilized with fins, but beyond that, they were simply dragged through the water. Depending on environmental conditions, these buoys would move in uncontrolled and unpredictable ways through the water. Due to their operational instability, none of these buoys would have been suitable as a platform for modern sensors or communications equipment.
  • a towed vehicle that is capable of manual or automatic control and is also capable of assuming a compact storage position is disclosed.
  • the invention can be used in connection with a towing vehicle.
  • the term "towing vehicle” as used throughout the specification and claims refers to any moving vehicle that is capable of moving through or on water and can carry one or more human occupants and is powered by any form of energy.
  • the term motor vehicle generally includes, but is not limited to submarines, boats, ships, personal watercraft, and any other vehicle that is capable of moving on or in water.
  • the invention provides a towed vehicle configured to be tethered to a vehicle, the towed vehicle comprising: a forward end and a rearward end, a longitudinal axis extending from the forward end to the rearward end, the towed vehicle having a deployed position and a stored position.
  • the towed vehicle pivots from the deployed position to the stored position.
  • the longitudinal axis of the towed vehicle rotates as the towed vehicle moves from the deployed position to the stored position.
  • the longitudinal axis of the towed vehicle is substantially horizontal in the deployed position.
  • the longitudinal axis of the towed vehicle is substantially vertical in the stored position.
  • the forward end of the towed vehicle is disposed below the rearward end of the towed vehicle when the towed vehicle is in the stored position.
  • a first mechanical connector is disposed on the towed vehicle and configured to engage a corresponding second mechanical connector disposed on a towed vehicle cradle.
  • the forward end of the towed vehicle includes a port configured to receive a cable, and wherein the cable is threaded through a towed vehicle cradle.
  • the invention provides a towed vehicle comprising a port configured to receive a tow cable, wherein the tow cable is also connected to a towing vehicle, the towed vehicle having a forward end and a rearward end, a mast having a first end connected to the towed vehicle, and a second end spaced from the first end, the second end including a sensor array, the mast having an operational position and a non-use position, and where the mast pivots about the first end when the mast moves from the non-use position to the operational position.
  • the first end is closer to the forward end of the towed vehicle when the mast is in the non-use position.
  • the towed vehicle includes a region to accommodate at least a portion of the mast when the mast is in the non-use position.
  • the mast includes a bracket having a threaded portion.
  • the threaded portion is configured to receive a power screw.
  • a mast drive motor is disposed between a portion of the towed vehicle and the mast, and wherein rotation of the mast drive motor in a first direction causes the mast to move from the non-use position to the operational position.
  • rotation of the mast drive motor in a second direction causes the mast to move from the operational position to the non-use position.
  • the invention provides a towed vehicle comprising a port configured to receive a tow cable, a first sensor associated with the towed vehicle, a control system that receives information from the first sensor, and processes the information, and where the control system provides instructions to move a control surface associated with the towed vehicle.
  • a second sensor is disposed on the towed vehicle.
  • a mast is associated with the towed vehicle, and the mast includes a sensor array.
  • control system receives second information from the sensor array and determines if a hazard condition exists.
  • control system automatically instructs the towed vehicle to take evasive action when the danger condition exists.
  • control system is configured to receive a command from a towed vehicle, and wherein the control system moves the control surface in response to the command.
  • control system includes a stead mode wherein the control system attempts to reduce motion of the towed vehicle by receiving motion information and correcting the motion of the towed vehicle by moving one or more control surfaces.
  • Figure 1 is a schematic diagram of a preferred embodiment of a towed vehicle in association with a towing vehicle.
  • Figure 2 is a top view of a preferred embodiment of the towed vehicle shown in
  • Figure 3 is a side view of a preferred embodiment of the towed vehicle shown in
  • Figure 4 is a front view of a preferred embodiment of the towed vehicle shown in
  • Figure 5 is an isometric view of a preferred embodiment of the towed vehicle shown in Figure 1.
  • Figure 6 is a schematic diagram of a preferred embodiment of the towed vehicle of
  • Figure 7 is a side view of an embodiment of a mast.
  • Figure 8 is a side view of a preferred embodiment of a mast.
  • Figure 9 is a schematic diagram of a preferred embodiment of a sensor array.
  • Figure 10 is a schematic diagram of a preferred embodiment of a storage system.
  • Figure 11 is a schematic diagram of a preferred embodiment of a towed vehicle adjacent to a cradle.
  • Figure 12 is a front schematic diagram of a preferred embodiment of a towed vehicle adjacent to a cradle.
  • Figure 13 is an enlarged side schematic diagram of a preferred embodiment of a towed vehicle in a stored position adjacent to a cradle.
  • Figure 14 is a schematic diagram of a preferred embodiment of a towed vehicle in a stored position within a cavity of the towing vehicle.
  • Figure 15 is a schematic diagram of a top view of an example towing vehicle cavity.
  • Figure 16 is a schematic diagram of a side view of an example towing vehicle cavity.
  • Figure 17 is a schematic diagram of a preferred embodiment of a towed vehicle and a towing vehicle.
  • Figure 18 is a flow diagram of a preferred embodiment of a collision avoidance process.
  • Figure 19 is a flow diagram of a preferred embodiment of a steady mode process.
  • FIG 1 is a schematic view of a preferred embodiment of a towed vehicle 100.
  • towed vehicle 100 can be tethered to a towing vehicle 102 by a tow cable 104.
  • towed vehicle 100 is a submersible buoy and towing vehicle 102 is a submarine.
  • principles of the present invention can be applied to other kinds of towed and towing vehicles.
  • Figure 1 also shows towed vehicle 106 in a completely submerged state.
  • FIGS 2-6 are various views and diagrams of towed vehicle 100.
  • Towed vehicle 100 preferably includes a body portion 202 and a mast 204.
  • Body portion 202 includes a forward end 206 and a rearward end 208.
  • Body portion 202 includes a longitudinal axis 210 extends from forward end 206 to rearward end 208.
  • towed vehicle 100 includes one or more control surfaces.
  • towed vehicle includes a port control surface 212 and a starboard control surface 214.
  • Other control surfaces can be associated with towed vehicle 100.
  • towed vehicle 100 includes one or more stabilizer fins.
  • towed vehicle includes a port stabilizer fin 216 and starboard stabilizer fin 218.
  • port wing 220 and starboard wing 222 are also provided to improve stability.
  • Other stabilizer devices can also be placed on towed vehicle 100.
  • mast 204 can preferably move between non-use position 602 and operational position 604.
  • Mast 204 includes first end 302 and second end 304.
  • First end 302 is disposed proximate body portion 202 of towed vehicle 100 and second end 304 of mast 204 is spaced from first end 302.
  • second end 304 is vertically above first end 302.
  • second end 304 is pivoted or rotated downwards and towards rearward end 208 of body portion 202.
  • first end 302 is forward of second end 304. In other words, first end 302 is closer to forward end 206 of body portion 202 than second end 304.
  • Towed vehicle 100 can include a recess, slot or hole 502 to accommodate at least a portion of mast 204 when mast 204 assumes non-use position 602.
  • Port and starboard stabilizer fins 216 and 218, respectively, can be angled outwards to accommodate mast 204 when mast 204 is in non-use position 602.
  • mast 204 can be moved between its non-use position 602 and its operational position 604.
  • Figures 7 and 8 show two embodiments of systems that are capable of moving mast 204.
  • mast 204 includes an upper portion 704 and a lower portion 706.
  • mast 204 is L-shaped, as shown in Figures 7 and 8.
  • Mast 204 can include webbing or a brace 708 disposed between upper portion 704 and lower portion 706. This webbing or brace 708 can help to improve the mechanical strength of mast 204.
  • Lower portion 706 includes a threaded portion 710, which is designed to engage power screw 712.
  • power screw 712 is driven by drive motor 714.
  • Drive motor 714 is preferably attached to an interior portion 720 of towed vehicle 100 (see Figures 2-6).
  • Drive motor 714 is preferably rotatable with respect to interior portion 720.
  • Drive motor pivot 718 permits drive motor 714 to pivot or rotate with respect to interior portion 720.
  • drive motor 714 As drive motor 714 is actuated in a first direction, drive motor spins power screw 712 in a first direction. Because threaded portion 710 of mast 204 engages power screw 712, mast 204 will tend to rotate about mast pivot 716. Actuating drive motor 714 in a second, opposite direction will have the opposite effect. Drive motor 714 will spin power screw 712 in a second direction and mast 204 will tend to rotate about mast pivot 716 in an opposite direction.
  • FIG 8 shows an alternative and preferred embodiment of a system that can move mast 204 between operational and non-use positions.
  • First end 302 of mast 204 includes a pivot portion 802.
  • Pivot portion 802 is designed to receive a pivot pin or other suitable fulcrum, and mast 204 preferably rotates about pivot portion 802.
  • First end 802 also includes flange 804.
  • Flange 804 preferably includes a threaded portion, which is designed to engage power screw 806.
  • power screw 806 is driven by drive motor 808.
  • Drive motor 808 is preferably attached to an interior portion 810 of towed vehicle 100 (see Figures 2-6). Drive motor 808 can be placed at any angle with respect to interior portion 810 or mast 204. In this preferred embodiment, drive motor 808 is preferably angled with respect to interior portion 810 when mast 204 is in its substantially deployed position. Drive motor 808 is also preferably rotatable with respect to interior portion 810. Drive motor pivot 812 permits drive motor 808 to pivot or rotate with respect to interior portion 810.
  • FIG 8 shows mast 204 in a substantially operational condition.
  • drive motor 808 has been actuated so that flange 804 is further away from drive motor 808 than in other positions.
  • drive motor spins power screw 806 in a first direction. Because the threaded portion of flange 804 engages power screw 806, spinning power screw 806 in a first direction will tend to draw flange 804 towards drive motor 808.
  • mast 204 will rotate about pivot portion 802 in a counter-clockwise direction.
  • second end 304 of mast 204 will tend to rotate towards body portion 202.
  • mast 204 While second end 304 of mast 204 is rotating towards body portion 202, drive motor 808 will also rotate about drive motor pivot 812 in a counter-clockwise direction.
  • a recess, hole or slot is formed in mast 204 to accommodate power screw 806 and to avoid any possible interference between the two components.
  • This process can be reversed and drive motor 808 can spin power screw 806 in a second direction to move mast 204 from a non-use position to an operational position.
  • mast 204 rotates clockwise about pivot portion 802 because the motion of power screw 806 tends to move flange 804 away from drive motor 808.
  • drive motor 808 may rotate in a clockwise direction about drive motor pivot 812.
  • the towed vehicle is used to facilitate communications with the towing vehicle.
  • the towing vehicle 102 is a submarine and towed vehicle 100 is a buoy.
  • towed vehicle 100 is deployed to the surface while towing vehicle 102 remains submerged. This arrangement allows towing vehicle 102 to remain concealed below the surface and avoid detection, while at the same time, towed vehicle 100 surfaces to make contact with the outside world.
  • towed vehicle 100 preferably includes suitable provisions that assist in sending and receiving information from various resources.
  • Figure 9 is a schematic diagram of a preferred embodiment, where sensor array 902 is associated with mast 204.
  • Sensor array 902 can include one or more devices that assist in facilitating communications. Sensor array 902 can also include surveillance equipment. In the preferred embodiment shown in Figure 9, sensor array includes EHF SATCOM antenna 904, Type 18 ESM & LEOS Commercial SATCOM antenna 906, ESM antenna mast extender 908, optical device 910, UHF SATCOM antenna 912, and UHF & NHF LOS antenna 914. Different embodiments can include one, several or all of the above devices. [0068] In order to provide further concealment, towed vehicle 100 preferably remains submerged and only a portion of mast 204 pierces the surface 916.
  • towed vehicle 100 includes provisions that permit towed vehicle 100 to assume a compact configuration for storage within towing vehicle 102.
  • Figure 10 is schematic diagrams of a storage system 100 that assists towed vehicle 100 in entering cavity 1002 of towing vehicle 102.
  • Storage system 1000 includes platform 1002, which can be moved by platform hydraulics 1004. In the embodiment shown in Figure 10, platform hydraulics 1004 can be used to move platform 1002 vertically. Figure 10 shows platform 1002 in a raised position.
  • Pulley 1006 is rotatably mounted to platform 1002.
  • Pulley 1006 is used to guide tow cable 104.
  • Cradle system 1008 is also mounted to platform 1002.
  • Cradle system 1008 includes guiding member 1012 and cradle 1014.
  • Cradle system 1008 can also include cradle hydraulics 1010 that can be used to move cradle system 1008 vertically with respect to platform 1002. In some embodiments, cradle system 1008 is generally in a lowered position so that cradle 1014 does not protrude into a moving fluid stream.
  • cradle 1014 includes a hollow portion or a hole that permits tow cable 104 to pass through cradle 1014. Because of this arrangement, tow cable 104 can be threaded through cradle 1014. This design helps to draw towed vehicle 100 to cradle 1014 when attempting to capture towed vehicle 100.
  • Storage system 1000 is preferably disposed in cavity 1016 of towing vehicle 102.
  • cavity 1016 is located within a sail or tower of towing vehicle 102.
  • cavity 1016 serves as a storage area for towed vehicle 100.
  • towed vehicle 100 is preferably captured and stored in the following manner. Referring to Figures 10-14, tow cable 104 is retracted to draw towed vehicle 100 closer to towing vehicle 102. Eventually, towed vehicle 100 will reach a position where it is adjacent to cradle 1014. This position is shown schematically in Figure 11.
  • storage system 1000 includes provisions to latch or secure towed vehicle 100 to cradle 1014.
  • at least one mechanical connector is used to latch or secure towed vehicle 100 with cradle 1014.
  • cradle 1014 includes a pair of retaining fingers, left retaining finger 1202 and right retaining finger 1204.
  • these retaining fingers 1202 and 1204 are rotatably disposed on cradle 1014 and can pivot inwards towards a central portion 1206 of cradle 1014.
  • fingers 1202 and 1204 are actuated with solenoids.
  • fingers 1202 and 1204 pivot to latch or secure towed vehicle 100 with cradle 1014.
  • Left finger 1202 shows the finger prior to latching and right finger 1204 shows a finger after latching. This is done to illustrate principles of the latching mechanism.
  • left finger 1202 and right finger 1204 move in unison.
  • towed vehicle 100 includes a complementary or corresponding mechanical connector that can be engaged by fingers 1202 and 1204.
  • left finger 1202 engages starboard wing 222 and right finger 1204 engages port wing 220.
  • cradle 1014 can preferably move with respect to guiding member 1012 to a storage position.
  • cradle 1014 moves along guiding member 1012.
  • Many different arrangements can be used to move and rotate cradle 1014 along guiding member 1012.
  • Some examples include a cam and follower arrangement, a pin in slot arrangement, or a mechanical linkage with a range of motion following guiding member 1012.
  • conventional rotating and displacing hydraulics are used to rotate and move cradle 1014 and towed vehicle 100 to the storage position shown in Figure 13.
  • towed vehicle 100 rotates or pivots from its deployed position (shown in Figure 11) to its stored position (shown in Figures 13 and 14).
  • the longitudinal axis 210 (see Figure 2) rotates from a horizontal direction, when towed vehicle 100 is in its deployed condition, to a vertical direction, when towed vehicle 100 is in its storage condition.
  • forward end 206 of towed vehicle 100 engages cradle 1014, towed vehicle 100, forward end 206 is disposed below rearward end 208 when towed vehicle 100 is in its stored position.
  • FIGS. 15 and 16 show an exemplary cavity 1504.
  • towed vehicle 100 is designed to be used with a Los Angles class (SSN-688) submarine.
  • Figures 15 and 16 show the sail 1502 of a Los Angles class submarine and cavity 1504 of sail 1502.
  • cavity 1504 is the BRD7 mast slot.
  • towed vehicle 100 and storage system 1000 can be properly sized to fit inside the BRD7 mast slot.
  • the towed vehicle 100 and storage system 1000 can be sized to fit other cavities and other locations as well.
  • FIG 17 is a schematic diagram of a preferred embodiment of towed vehicle 100 and towing vehicle 102.
  • Towed vehicle 100 includes control system 1702.
  • This control system 1702 can receive, process, store and/or send information to and from various sources.
  • control system 1702 receives information from sensor array 902 disposed in mast 204.
  • towed vehicle 100 includes an onboard sensor package, body sensors 1704.
  • body sensors 1704 include a depth sensor, a heading sensor, and one or more internal motion sensors.
  • a pressure gauge is used in connection with the depth sensor
  • an electronic compass is used in connection with heading sensor.
  • internal motion sensors are capable of detecting yaw, pitch, roll, yaw rate, pitch rate, roll rate, and heave rate.
  • body sensors 1704 send information to control system 1702 and in a preferred embodiment, body sensors 1704 are placed near or at the center of gravity of towed vehicle 100.
  • Towed vehicle 100 can also communicate with towing vehicle 102.
  • Towed vehicle interface 1708 associated with towing vehicle 102 receives information from towed vehicle 100 and can also send information and commands to towed vehicle 100.
  • communications are conducted through tow cable 104.
  • Towed vehicle 100 includes a port 1706 configured to receive tow cable 104.
  • Control system 1702 can send information to one or more control surfaces.
  • towed vehicle 100 includes port control surface 212 and starboard control surface 214.
  • Starboard control surface 214 is shown in Figure 17, and port control surface 212 can be seen in Figures 2, 4 and 5.
  • Control system 1702 can receive commands from towing vehicle 102 and can also be instructed to perform preset functions.
  • FIGs 17 and 18, which is a flow diagram of a preferred embodiment of a hazard condition response process, the process begins in step 1802, where control system 1702 receives information from one or more sensors.
  • control system 1702 receives information from a radar detector associated with sensor array 902.
  • the process identifies various different radar signals in step 1804. The process then determines if any of these identified radar signals match a particular radar signal. This is done in step 1806. A match indicates a possible danger condition.
  • the process is designed to detect enemy radar. In other words, this process looks for other vessels that are searching for it. If no hazard condition is met, then the process returns to step 1802, where it continues to receive information from one or more sensors. However, if a hazard condition is met in step 1806, the process can then execute some action. In some cases, the process executes evasive maneuvers. These evasive maneuvers can include rapidly diving towed vehicle 100 by using control surfaces 212 and 214.
  • Control system 1702 also allow towed vehicle 100 to serve as a steady sensor and communications platform. In this embodiment, control system 1702 attempts to steady towed vehicle 100. This steadying process starts with step 1902, where control system 1702 receives information from one or more sensors. In this embodiment, control system 1702 preferably receives information from body sensors 1704. In step 1904, the process analyzes the raw data and determines the position and motion of towed vehicle 100. [0087] After that has been done, the process then attempts to correct the motion of towed vehicle 100 in step 1906.
  • control system 1702 uses control surfaces 212 and 214 to correct the motion of towed vehicle 100 and to attain a desired depth, yaw, pitch, roll, yaw rate, pitch rate, roll rate and heave rate.
  • a proportional, integral, differential control system is used.
  • a servo feedback system is used, where control system 1702 receives position feedback information from a control surface after control system 1702 has sent an instruction to that control surface. This allows control system 1702 to confirm that its previous instruction was properly executed. In this way, the motion of towed vehicle 100 can be steadied, and towed vehicle 100 can serve as a stable sensor and communications platform even under adverse environmental conditions.
  • each of the various components or features disclosed can be used alone or with other components or features.
  • Each of the components or features can be considered discrete and independent building blocks. In some cases, combinations of the components or features can be considered a discrete unit.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Motorcycle And Bicycle Frame (AREA)

Abstract

L'invention concerne un véhicule traîné. Le véhicule traîné comprend des moyens permettant au véhicule de prendre une configuration de faibles dimensions et compacte pour le stockage. Dans certains cas, le véhicule traîné peut également comprendre des moyens assistant le contrôle du déplacement dudit véhicule. Dans d'autres cas, le véhicule traîné comprend un système de commande répondant à des moyens de commande, mais pouvant également commander automatiquement son propre déplacement pour se stabiliser lui-même ou pour éviter des obstacles.
PCT/US2004/006834 2003-03-07 2004-03-05 Vehicule traine compact controlable WO2005000667A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US45298003P 2003-03-07 2003-03-07
US60/452,980 2003-03-07

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Publication Number Publication Date
WO2005000667A2 true WO2005000667A2 (fr) 2005-01-06
WO2005000667A3 WO2005000667A3 (fr) 2005-06-23

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8601970B1 (en) * 2011-06-13 2013-12-10 The United States Of America As Represented By The Secretary Of The Navy Tethered buoy housing and deployment assembly

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1295355A (en) * 1915-08-03 1919-02-25 Submarine Arms Corp Torpedo.
US3024757A (en) * 1959-08-24 1962-03-13 Vare Ind Underwater towed vehicle
US3034471A (en) * 1959-08-25 1962-05-15 Vare Ind Method of nesting an underwater towed vehicle
US5634424A (en) * 1994-11-09 1997-06-03 Riva Calzoni S.P.A. Modular structure for supporting and guiding sliding tubes in particular for submarine towers
US5642330A (en) * 1994-05-02 1997-06-24 The United States Of America As Represented By The Secretary Of The Navy Sea state measuring system
US5686694A (en) * 1995-10-11 1997-11-11 The United States Of America As Represented By The Secretary Of The Navy Unmanned undersea vehicle with erectable sensor mast for obtaining position and environmental vehicle status
US6002648A (en) * 1998-10-16 1999-12-14 Western Atlas International, Inc. Slotted cylinder marine siesmic method and source

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1295355A (en) * 1915-08-03 1919-02-25 Submarine Arms Corp Torpedo.
US3024757A (en) * 1959-08-24 1962-03-13 Vare Ind Underwater towed vehicle
US3034471A (en) * 1959-08-25 1962-05-15 Vare Ind Method of nesting an underwater towed vehicle
US5642330A (en) * 1994-05-02 1997-06-24 The United States Of America As Represented By The Secretary Of The Navy Sea state measuring system
US5634424A (en) * 1994-11-09 1997-06-03 Riva Calzoni S.P.A. Modular structure for supporting and guiding sliding tubes in particular for submarine towers
US5686694A (en) * 1995-10-11 1997-11-11 The United States Of America As Represented By The Secretary Of The Navy Unmanned undersea vehicle with erectable sensor mast for obtaining position and environmental vehicle status
US6002648A (en) * 1998-10-16 1999-12-14 Western Atlas International, Inc. Slotted cylinder marine siesmic method and source

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8601970B1 (en) * 2011-06-13 2013-12-10 The United States Of America As Represented By The Secretary Of The Navy Tethered buoy housing and deployment assembly

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