초록 ▼

An underwater vehicle may be configured to perform vertical profiling and diagonal profiling. The vehicle may include a body having an elongated shape with a central longitudinal axis orthogonal to a central lateral axis. The vehicle may include lateral control surfaces. The lateral control surfaces

An underwater vehicle may be configured to perform vertical profiling and diagonal profiling. The vehicle may include a body having an elongated shape with a central longitudinal axis orthogonal to a central lateral axis. The vehicle may include lateral control surfaces. The lateral control surfaces may be disposed outside of the body and mechanically coupled with the body at a position proximal to the central lateral axis. The lateral control surfaces may be configured to rotate about a control axis parallel to the central lateral axis in order to control an attitude of the vehicle during ascent or descent. A given one of the lateral control surfaces may have a portion extend from the mechanical coupling in a direction perpendicular to the control axis.

대표청구항 ▼

1. An underwater vehicle configured to perform vertical profiling and diagonal profiling, the vehicle comprising: a body having an elongated shape with a central longitudinal axis orthogonal to a central lateral axis, the body having an upper end on the central longitudinal axis and a lower end on t

1. An underwater vehicle configured to perform vertical profiling and diagonal profiling, the vehicle comprising: a body having an elongated shape with a central longitudinal axis orthogonal to a central lateral axis, the body having an upper end on the central longitudinal axis and a lower end on the central longitudinal axis, wherein the upper end is positioned above the lower end during ascent of the vehicle, and wherein the upper end is positioned above the lower end during descent of the vehicle;lateral control surfaces including a first control surface and a second control surface, the lateral control surfaces being disposed outside of the body and having a mechanical coupling with the body at a position proximal to the central lateral axis, the lateral control surfaces being configured to rotate about a control axis parallel to the central lateral axis in order to control an attitude of the vehicle during ascent or descent, the attitude being an inclination of one or both of the central longitudinal axis or the central lateral axis relative to one or more positional references, a given one of the lateral control surfaces having a portion extend from the mechanical coupling in a direction perpendicular to the control axis; anda buoyancy control module configured to control vertical motion of the vehicle by affecting a buoyancy of the vehicle. 2. The vehicle of claim 1, wherein the body is substantially shaped as a cylinder. 3. The vehicle of claim 1, wherein the one or more positional references include one or more of a surface of a body of water, a vertical line normal to a surface of a body of water, the four cardinal directions, or a direction of a current in a body of water. 4. The vehicle of claim 1, wherein the first control surface and the second control surface are configured to rotate independently from each other about the control axis. 5. The vehicle of claim 1, wherein a given lateral control surface from the lateral control surfaces is longer in a direction perpendicular to the control axis relative to in a direction parallel to the control axis. 6. The vehicle of claim 1, wherein a given lateral control surface is asymmetric about the control axis. 7. The vehicle of claim 1, wherein a given lateral control surface from the lateral control surfaces is configured to rotate at least 180 degrees about the control axis. 8. The vehicle of claim 1, wherein the control axis coincides with the mechanical coupling. 9. The vehicle of claim 1, wherein the control axis about which the lateral control surfaces rotate is noncoplanar with the central longitudinal axis and is disposed away from the central longitudinal axis. 10. The vehicle of claim 1, wherein the control axis about which the lateral control surfaces rotate intersects the central longitudinal axis. 11. The vehicle of claim 10, wherein the lateral control surfaces are disposed away from the control axis. 12. The vehicle of claim 1, wherein the vehicle further comprises a navigation module configured to provide navigational information associated with one or more of an attitude of the vehicle, a position of the vehicle relative to one or more positional references, and a direction of locomotion of the vehicle. 13. The vehicle of claim 1, wherein the vehicle further comprises a motion control module configured to control motions of the vehicle, the motions of the vehicle including one or more of an attitude of the vehicle, locomotion of the vehicle relative to one or more positional references, and a direction of locomotion of the vehicle. 14. The vehicle of claim 13, wherein the motion control module comprises a lateral control surface module configured to separately or simultaneously control a position of the lateral control surfaces relative to the body of the vehicle. 15. The vehicle of claim 13, wherein the motion control module comprises a trim control module configured to control a position of a center of mass of the vehicle relative to a center of buoyancy of the vehicle, wherein a spatial relationship between the center of mass and the center of buoyancy causes rotational forces, and wherein the vehicle is further configured to control the lateral control surfaces such that external rotational forces against the lateral control surfaces counteract the rotational forces caused by the spatial relationship. 16. The vehicle of claim 13, wherein the motion control module comprises the buoyancy control module. 17. The vehicle of claim 1, wherein the lateral control surfaces are movable into a descent configuration, the descent configuration being characterized by the working portions of the lateral control surfaces being disposed proximal to the lower end of the vehicle, the descent configuration including one or more of: a glide angle descent configuration, the glide angle descent configuration being characterized by the lateral control surfaces being positioned substantially parallel to the central longitudinal axis of the body of the vehicle;a transitional descent configuration, the transitional descent configuration being characterized by the lateral control surfaces being canted relative to the central longitudinal axis of the body of the vehicle; ora turning descent configuration, the turning descent configuration being characterized by the first control surface being canted differently than the second control surface relative to the central longitudinal axis of the body of the vehicle. 18. The vehicle of claim 1, wherein the lateral control surfaces are movable into an ascent configuration, the descent configuration being characterized by the working portions of the lateral control surfaces being disposed proximal to the upper end of the vehicle, the ascent configuration including one or more of: a glide angle ascent configuration, the glide angle ascent configuration being characterized by the lateral control surfaces being positioned substantially parallel to the central longitudinal axis of the body of the vehicle;a transitional ascent configuration, the transitional ascent configuration being characterized by the lateral control surfaces being canted relative to the central longitudinal axis of the body of the vehicle; ora turning ascent configuration, the turning ascent configuration being characterized by the first control surface being canted differently than the second control surface relative to the central longitudinal axis of the body of the vehicle. 19. The vehicle of claim 1, wherein the lateral control surfaces are movable into one or more of: a spin configuration, the spin configuration being characterized by the working portions of the lateral control surfaces both being disposed proximal to the upper end or lower end of the vehicle with the first control surface and the second control surface being canted in equal amounts but in opposite directions;a surface configuration, the surface configuration being characterized by the lateral control surfaces being disposed substantially perpendicular to the central longitudinal axis of the body of the vehicle; ora folded configuration, the folded configuration being characterized by the lateral control surfaces being folded toward the body of the vehicle. 20. A method for operating an underwater vehicle configured to perform vertical profiling and diagonal profiling, the method comprising: rotating lateral control surfaces downward, the lateral control surfaces being disposed outside of a body of the vehicle having an elongated shape with a central longitudinal axis orthogonal to a central lateral axis, wherein the body has an upper end and a lower end, the lateral control surfaces having a mechanical coupling with the body at a position proximal to the central lateral axis, the lateral control surfaces being configured to rotate about a control axis parallel to the central lateral axis in order to control an attitude of the vehicle during ascent or descent, the attitude being an inclination of one or both of the central longitudinal axis or the central lateral axis relative to one or more positional references, a given one of the lateral control surfaces having a portion extend from the mechanical coupling in a direction perpendicular to the control axis, wherein the upper end is positioned above the lower end during ascent of the vehicle, and wherein the upper end is positioned above the lower end during descent of the vehicle;controlling vertical motion of the vehicle by affecting a buoyancy of the vehicle;canting the lateral control surfaces slightly from vertical and away from the central longitudinal axis such that the vehicle rotates until it reaches a desired glide angle; andresponsive to reaching the desired glide angle, rotating the lateral control surfaces to be approximately parallel to the central longitudinal axis of the vehicle.