US2981073A - Underwater craft - Google Patents
Underwater craft Download PDFInfo
- Publication number
- US2981073A US2981073A US600603A US60060356A US2981073A US 2981073 A US2981073 A US 2981073A US 600603 A US600603 A US 600603A US 60060356 A US60060356 A US 60060356A US 2981073 A US2981073 A US 2981073A
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- US
- United States
- Prior art keywords
- craft
- underwater
- cable
- center
- yoke
- 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.)
- Expired - Lifetime
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
- B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
- B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/48—Means for searching for underwater objects
Definitions
- This :invention' relates "to mobileunderw ater craft and more particularly "to" underwatertelevision apparatus -which may be .rernotely'operated and controlled by a cableconnecting the underwater craft with a remote control station.
- a further object of this invention is :to provide an underwater television system which will be protected against water seepage; particularly atgreatdepths.
- Anotherobject of this invention is to provide an underwater viewing apparatus which can :beaccurately bodirnent selected to illustrate the invention progresses.
- WhlClI11f0I'11l a part-ofthis I specification, like characters wof reference have been applied to corresponding parts throughout the several views which make up the-drawings.
- Figure 1 is asideelevation of my'remotely contr'olled underwater craft.
- i igure 3 is a top view taken on line 33 of Figure 1.
- a bearing ring having a track 12 formed thereon ice is mounted on and surrounds the upper end of a framework 14.
- the framework 14 consists of three vertical legs '16, 18, and and a cylindrical base 22.
- a buoyancy compartment 24 is also connected to the upper end of the framework 14.
- the ring 26 has a pair of lugs 27 formed thereon to which are pivotally connected the ends of the yoke 30.
- a cable connection 32 is formed at the center of the yoke 30 and has a control cable 34 connected thereto. It will be noted that the swing of the yoke 30 is about -the lugs 27 and that the lugs 27, being connected to ring 26' is free torotate about the track 12. Since. the
- the buoyancy compartment 24 contains .the electrical control and operating components of the underwater craft and is pressurized to prevent waterflseepage.
- an automatic demand system which-may be'of any suitable design connected with the "compressed air bottles 36 from which air is automatically drawn whenever it is necessary to increase, the pressure inside the compartment. 24 to slightly exceed ambient water pressure on the outside of the tank 24.
- a central water passageway 48 extending up and down through the buoyancy tank 24.
- a motor-driven propeller 50 which motor is of a design similar to free-flooding motors 40 and 42- Due to the vertical water passageway 48 extending through the center of the buoyancy tank 24 cavitation is prevented when the propeller 50 is operated.
- a flowmeter 51 is mounted in front of the underwater craft to determine the velocity of movement of the craft to facilitate the exercise of control over said movement by an operator in the remote station.
- suitable apparatus such as lights 52 and a television camera 54 may be mounted to facilitate making underwatervobservations. It will also be appreciated that photographic equipment for taking still pictures can be mounted within the lower portion of the underwater craft which would be operated in a manner similar to the television camera.
- Suitable elevating means 56 are also provided for raising and lowering said lights 52 and television camera 54 relative to the framework 14 to enable close and exact observations to be made underwater.
- the underwater craft I have shown and described is of slightly less displacement than water so that it will barely float, and by driving the central propeller the craft may be easily pulled downwardly and submerged.
- An underwater craft comprising a frame, a buoyant tank mounted on said frame, a track mounted around the circumference of the tank at the lower portion thereof, said track being located substantially on a horizontal plane passing through the center of resistance of the craft, a ring carrying rollers which are engaged within said track, a yoke pivotally secured to said ring, a cable connector secured to the center of said yoke and a control cable connected to said cable connector.
- An underwater craft comprising a frame, a pressurized buoyant vessel mounted on said frame, a circular track mounted around the circumference of said vessel at a point substantially on a horizontal plane passing through the center of resistance of said craft, a ring carrying rollers engaged within said track, a free swinging yoke rotatably mounted on said ring, cable connecting means secured to the center of said yoke, a control cable connected to said cable connecting means, means for moving said craft vertically and means for moving said craft horizontally.
- means for preventing control cable tension from interferring with the stability of said remotely controlled underwater craft comprising a circular track mounted on a horizontal plane passing through the center of resistance of said craft, a ring carrying rollers engaged within said track, a yoke pivotally secured to said ring and a cable connector secured to the center of said yoke for connecting said control cable.
- An underwater craft having the combination of elements provided for in claim 3 wherein there is provided a frame, a substantially cylindrical buoyant pressurized vessel mounted on said frame, said vessel having an open-ended channel extending vertically therethrough, a motor and a vertical shaft having a propeller mounted in said channel for moving said craft vertically by forcing water through said channel, variable frequency motors horizontally mounted on opposite sides of said frame, having shafts extending on a horizontal plane at a tangent to the periphery of said vessel, a freeswinging yoke rotatable on said frame, and a control cable connected to said vessel and to said yoke for regulating and controlling the operation of said craft.
- means for preventing tension of said cable from interfering with the stability of said craft comprising a circular track adapted for mounting on a plane passing through the center of resistance of said craft, a ring carrying rollers engaged within said track, a yoke pivotally secured to said ring and a cable connector secured to the center of said yoke for connecting said control cable to said craft.
- a remotely controlled underwater craft comprising, in combination, a frame, terminating in a guard stand at its lower end, a pressurized vessel mounted on said frame, said vessel having an open-ended channel extending vertically therethrough, a motor vertically mounted in said channel for vertically moving said craft by forcing water through said channel; motors horizontally mounted on opposite sides of said frame, said motors having remotely-controlled propellers with variable pitch blades to steer and horizontally drive said craft; a circular track mounted around said frame on a plane passing through the center of resistance of said craft, .a ring carrying rollers engaged with said track, a yoke pivotally secured to said ring, a cable connector secured to the center of said yoke for connecting a control cable; a supply of compressed air mounted on said frame and communicating with said'vessel, an automatic demand system intermediate said vessel and said supply of air to maintain the pressure inside said vessel above ambient pressure outside said vessel.
Description
April 1961 J. D. ROBINSON, JR 2,981,073
UNDERWATER CRAFT Filed July 27. 1956 IN VEN TOR. J/QCK D. ROB/NSOMJE FIG. I TM ZW F/ 7' TOPNE Y UNDERWATER CRAFT Jack D. Robinson, Jr., Norwalk, Conn., assign'or to American Machine and Foundry Company, a corporation of New Jersey Filed July 27; B56, Ser. No. 609,603
6 Claims. (CI; 61-69) This :invention' relates "to mobileunderw ater craft and more particularly "to" underwatertelevision apparatus -which may be .rernotely'operated and controlled by a cableconnecting the underwater craft with a remote control station.
Attachment of a control cable 'has' h therto of ten caused instability of an underwater television vehicle because the control cable tended to create an overturn- "ing torque acting on the underwater vehicle when the 1 cable was'dragged behind the craft or when tension was applied thereto.
1 Underwater craft particularly when operating at great depths havealso sulfered failure because of water seeping into the control and electrical wiringcompartments and they have had insufiicient mobility and control over *their. movement: than was desirable.
It is an 'objectof this invention '[OiPIOVldG'TIlCfiI'lS for improving the stability .of remotely controlled underwater craftby reducing. overturning movements exerted about the center of resistance-of the veh1cle' caused by tension exerted by acontrol cable.
A further object of this invention is :to provide an underwater television system which will be protected against water seepage; particularly atgreatdepths.
Anotherobject of this invention -is to provide an underwater viewing apparatus which can :beaccurately bodirnent selected to illustrate the invention progresses. In the accompanyingdrawing, WhlClI11f0I'11l a part-ofthis I specification, like characters wof reference have been applied to corresponding parts throughout the several views which make up the-drawings.
Figure 1 is asideelevation of my'remotely contr'olled underwater craft.
'FiguregZis an endselevationstaken on line.2--2..of Fi re 1.
i igure 3 is a top view taken on line 33 of Figure 1.
In order to prevent the control cable tension from interfering with the stability of the underwater television craft, I have provided .a cable connection for the underwater craft which will cause any torque exerted by the control cable to always act on the approximate center of resistance of the vehicle regardless of what angle the cable makes with the craft, as more fully described hereinbelow. As a result of employing this cable connection there are no overturning movements exerted on the underwater vehicle by the cable, which would cause it to tilt because the center of resistance is that point around which twisting of the body surrounding the point will not occur when the body is moved through the water.
A bearing ring having a track 12 formed thereon ice is mounted on and surrounds the upper end of a framework 14. The framework 14 consists of three vertical legs '16, 18, and and a cylindrical base 22.
A buoyancy compartment 24 is also connected to the upper end of the framework 14. A ring 26, having a plurality of trolley carriages 28 mounted thereon which tracking on track 12, is free to rotate relative to the track 12.
,The ring 26 has a pair of lugs 27 formed thereon to which are pivotally connected the ends of the yoke 30. A cable connection 32 is formed at the center of the yoke 30 and has a control cable 34 connected thereto. It will be noted that the swing of the yoke 30 is about -the lugs 27 and that the lugs 27, being connected to ring 26' is free torotate about the track 12. Since. the
ring connection 26'and the pivots of the yoke 'travels about the center of resistance of the entire underwater craft, there is no tendency for the craft to topple r or tilt, regardless of what angle a pull ordrag is exerted on the underwater craft, by the control cable 34.
The buoyancy compartment 24 contains .the electrical control and operating components of the underwater craft and is pressurized to prevent waterflseepage. In
order to-providepressure in the buoyancy compartment 24 slightly exceeding the ambient waterpressure at all times, there is provided an automatic demand system which-may be'of any suitable design connected with the "compressed air bottles 36 from which air is automatically drawn whenever it is necessary to increase, the pressure inside the compartment. 24 to slightly exceed ambient water pressure on the outside of the tank 24.
In this way there is only a slight variance in the pres- "sure exerted on' the sealing rings'29 and thedistr'ibution cables'38 which pass through the buoyancy tank, and
{this slight pressure diflerence acts outwardly to positively prevent water seepage into the buoyancy tank.
'Underwater forward propulsion and steering is provided by' two variable frequency free flooding motors 40 and 42' which rotatetheir respective propellers 44 and-"46'to move the. craft horizontally through the water.
'The windings'of the free flooding induction motors 40 and &2 .are "encapsuled in a suitable epoxy resin to se'al'these components. from water. "may-be employed "where ever water enters the motor to Suitable screens keep out foreign material which might have an abrasive effect on the resin.
Avariable frequency supply of current for each motor 'is controlled from the remote control station to steer,
drive, and control the apparatus underwater to thereby control the speed .and direction of propulsion of said craft underwater. It will be appreciated that .a conor a variable speed'motor described above.
.TheanIgle of pitch-would in such event be controlled from the remote control station to steer, drive, and control the apparatus when under water at the speed desired.
In order to provide up and down propulsion for the underwater craft there is provided a central water passageway 48 extending up and down through the buoyancy tank 24. At the bottom of this up and down passageway 48 is mounted a motor-driven propeller 50 which motor is of a design similar to free-flooding motors 40 and 42- Due to the vertical water passageway 48 extending through the center of the buoyancy tank 24 cavitation is prevented when the propeller 50 is operated.
A flowmeter 51 is mounted in front of the underwater craft to determine the velocity of movement of the craft to facilitate the exercise of control over said movement by an operator in the remote station.
In the lower portion of the underwater craft suitable apparatus such as lights 52 and a television camera 54 may be mounted to facilitate making underwatervobservations. It will also be appreciated that photographic equipment for taking still pictures can be mounted within the lower portion of the underwater craft which would be operated in a manner similar to the television camera. Suitable elevating means 56 are also provided for raising and lowering said lights 52 and television camera 54 relative to the framework 14 to enable close and exact observations to be made underwater.
From the foregoing description it will be apparent that I have provided an underwater craft which may be freely directed underwater for observation purposes. Also by connecting the control cables to the underwater craft so that they act on the craft through its center of resistance, there is no tendency to tilt the craft which would interfere with its use in observing underwater.
The underwater craft I have shown and described is of slightly less displacement than water so that it will barely float, and by driving the central propeller the craft may be easily pulled downwardly and submerged.
The invention hereinabove described may be varied in construction within the scope of the claims, for the particular device selected to illustrate the invention is but one ofmany possible embodiments of the same. The invention, therefore, is not to be restricted to the precise details of the structure shown and described.
What is claimed is:
1. An underwater craft comprising a frame, a buoyant tank mounted on said frame, a track mounted around the circumference of the tank at the lower portion thereof, said track being located substantially on a horizontal plane passing through the center of resistance of the craft, a ring carrying rollers which are engaged within said track, a yoke pivotally secured to said ring, a cable connector secured to the center of said yoke and a control cable connected to said cable connector.
2. An underwater craft comprising a frame, a pressurized buoyant vessel mounted on said frame, a circular track mounted around the circumference of said vessel at a point substantially on a horizontal plane passing through the center of resistance of said craft, a ring carrying rollers engaged within said track, a free swinging yoke rotatably mounted on said ring, cable connecting means secured to the center of said yoke, a control cable connected to said cable connecting means, means for moving said craft vertically and means for moving said craft horizontally.
3. In combination with a remotely controlledunderwater craft, means for preventing control cable tension from interferring with the stability of said remotely controlled underwater craft comprising a circular track mounted on a horizontal plane passing through the center of resistance of said craft, a ring carrying rollers engaged within said track, a yoke pivotally secured to said ring and a cable connector secured to the center of said yoke for connecting said control cable.
4. An underwater craft having the combination of elements provided for in claim 3 wherein there is provided a frame, a substantially cylindrical buoyant pressurized vessel mounted on said frame, said vessel having an open-ended channel extending vertically therethrough, a motor and a vertical shaft having a propeller mounted in said channel for moving said craft vertically by forcing water through said channel, variable frequency motors horizontally mounted on opposite sides of said frame, having shafts extending on a horizontal plane at a tangent to the periphery of said vessel, a freeswinging yoke rotatable on said frame, and a control cable connected to said vessel and to said yoke for regulating and controlling the operation of said craft.
5. In combination with an underwater craft remotely controlled through a control cable, means for preventing tension of said cable from interfering with the stability of said craft, said means comprising a circular track adapted for mounting on a plane passing through the center of resistance of said craft, a ring carrying rollers engaged within said track, a yoke pivotally secured to said ring and a cable connector secured to the center of said yoke for connecting said control cable to said craft.
6. A remotely controlled underwater craft comprising, in combination, a frame, terminating in a guard stand at its lower end, a pressurized vessel mounted on said frame, said vessel having an open-ended channel extending vertically therethrough, a motor vertically mounted in said channel for vertically moving said craft by forcing water through said channel; motors horizontally mounted on opposite sides of said frame, said motors having remotely-controlled propellers with variable pitch blades to steer and horizontally drive said craft; a circular track mounted around said frame on a plane passing through the center of resistance of said craft, .a ring carrying rollers engaged with said track, a yoke pivotally secured to said ring, a cable connector secured to the center of said yoke for connecting a control cable; a supply of compressed air mounted on said frame and communicating with said'vessel, an automatic demand system intermediate said vessel and said supply of air to maintain the pressure inside said vessel above ambient pressure outside said vessel.
References Cited in the file of this patent UNITED STATES PATENTS 896,361 Cage Aug. 18, 1908 1,409,690 Eveleth Mar. 14, 1922 2,019,059 Sherman Oct. 29, 1935 2,291,940 Babcoke Aug. 4, 1942 2,359,964 Barnett Oct. 10, 1944 2,433,971 Adams Jan. 6, 1948 2,519,453 Goodman Aug. 22, 1950 2,592,176 Orlin Apr. 8, 1952 2,685,858 Harrison Aug. 10, 1954
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US600603A US2981073A (en) | 1956-07-27 | 1956-07-27 | Underwater craft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US600603A US2981073A (en) | 1956-07-27 | 1956-07-27 | Underwater craft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| US2981073A true US2981073A (en) | 1961-04-25 |
Family
ID=24404261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| US600603A Expired - Lifetime US2981073A (en) | 1956-07-27 | 1956-07-27 | Underwater craft |
Country Status (1)
| Country | Link |
|---|---|
| US (1) | US2981073A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3099913A (en) * | 1960-01-20 | 1963-08-06 | Gen Mills Inc | Underwater vehicle system |
| US3182621A (en) * | 1961-08-22 | 1965-05-11 | Theodore F Fletcher | Lift-appendage for underwater vehicle |
| US3215202A (en) * | 1961-10-10 | 1965-11-02 | Richfield Oil Corp | Off-shore drilling and production apparatus |
| US3324239A (en) * | 1963-07-22 | 1967-06-06 | Irenus C Jacobson | Underwater exploration device |
| US3434443A (en) * | 1967-11-22 | 1969-03-25 | Us Navy | Underwater buoyancy transport vehicle |
| US3633529A (en) * | 1969-01-17 | 1972-01-11 | Petroles Cie Francaise | Mobile carrying system for depositing loads on the ocean bottom |
| US3635183A (en) * | 1970-02-09 | 1972-01-18 | Sperry Rand Corp | Remotely controlled unmanned submersible vehicle |
| US3719116A (en) * | 1971-09-22 | 1973-03-06 | C Burton | Underwater saw for tree and stump removal |
| US3800722A (en) * | 1971-03-08 | 1974-04-02 | Petroles Cie Francaise | Self-propelled, cable-supported diving bell |
| US4030434A (en) * | 1975-03-15 | 1977-06-21 | British Aircraft Corporation Limited | Vehicles of the submersible type |
| US4185580A (en) * | 1971-09-21 | 1980-01-29 | Etat Francais, Delegation Ministerielle Pour L'armement | Submarine system |
| US4643867A (en) * | 1983-11-21 | 1987-02-17 | Westinghouse Electric Corp. | Refueling machine mounted fuel assembly inspection T.V. cameras |
| US4650634A (en) * | 1983-11-21 | 1987-03-17 | Westinghouse Electric Corp. | Quick release cushioned T.V. camera mount |
| WO1989011997A1 (en) * | 1988-06-08 | 1989-12-14 | Bertin & Cie | Self-propelled submarine vehicle for the detection of submerged objects |
| US20110240303A1 (en) * | 2008-12-12 | 2011-10-06 | Hallundbaek Joergen | Subsea well intervention module |
| WO2017044360A1 (en) * | 2015-09-08 | 2017-03-16 | Applied Physical Sciences Corp. | Method of packaging and deploying marine vibrator |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US896361A (en) * | 1906-02-21 | 1908-08-18 | Submarine Navigation And Mfg Company | Submarine-boat. |
| US1409690A (en) * | 1920-05-03 | 1922-03-14 | Charles W Eveleth | Salvage apparatus |
| US2019059A (en) * | 1932-04-09 | 1935-10-29 | Russell J Sherman | Marine exploration apparatus |
| US2291940A (en) * | 1942-01-19 | 1942-08-04 | Babcoke George Wilbur | Submarine vessel |
| US2359964A (en) * | 1942-09-23 | 1944-10-10 | John B Barnett | Salvaging apparatus |
| US2433971A (en) * | 1944-02-28 | 1948-01-06 | Arthur R Cassidy | Underwater image transmitting apparatus |
| US2519453A (en) * | 1947-01-13 | 1950-08-22 | Goodman Charles | Traveling underwater compressed air working chamber |
| US2592176A (en) * | 1946-02-19 | 1952-04-08 | Orlin William James | Apparatus for indicating air speed in terms of the local speed of sound |
| US2685858A (en) * | 1949-06-01 | 1954-08-10 | Jr William O Harrison | Control means for submarine interceptors |
-
1956
- 1956-07-27 US US600603A patent/US2981073A/en not_active Expired - Lifetime
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US896361A (en) * | 1906-02-21 | 1908-08-18 | Submarine Navigation And Mfg Company | Submarine-boat. |
| US1409690A (en) * | 1920-05-03 | 1922-03-14 | Charles W Eveleth | Salvage apparatus |
| US2019059A (en) * | 1932-04-09 | 1935-10-29 | Russell J Sherman | Marine exploration apparatus |
| US2291940A (en) * | 1942-01-19 | 1942-08-04 | Babcoke George Wilbur | Submarine vessel |
| US2359964A (en) * | 1942-09-23 | 1944-10-10 | John B Barnett | Salvaging apparatus |
| US2433971A (en) * | 1944-02-28 | 1948-01-06 | Arthur R Cassidy | Underwater image transmitting apparatus |
| US2592176A (en) * | 1946-02-19 | 1952-04-08 | Orlin William James | Apparatus for indicating air speed in terms of the local speed of sound |
| US2519453A (en) * | 1947-01-13 | 1950-08-22 | Goodman Charles | Traveling underwater compressed air working chamber |
| US2685858A (en) * | 1949-06-01 | 1954-08-10 | Jr William O Harrison | Control means for submarine interceptors |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3099913A (en) * | 1960-01-20 | 1963-08-06 | Gen Mills Inc | Underwater vehicle system |
| US3182621A (en) * | 1961-08-22 | 1965-05-11 | Theodore F Fletcher | Lift-appendage for underwater vehicle |
| US3215202A (en) * | 1961-10-10 | 1965-11-02 | Richfield Oil Corp | Off-shore drilling and production apparatus |
| US3324239A (en) * | 1963-07-22 | 1967-06-06 | Irenus C Jacobson | Underwater exploration device |
| US3434443A (en) * | 1967-11-22 | 1969-03-25 | Us Navy | Underwater buoyancy transport vehicle |
| US3633529A (en) * | 1969-01-17 | 1972-01-11 | Petroles Cie Francaise | Mobile carrying system for depositing loads on the ocean bottom |
| US3635183A (en) * | 1970-02-09 | 1972-01-18 | Sperry Rand Corp | Remotely controlled unmanned submersible vehicle |
| US3800722A (en) * | 1971-03-08 | 1974-04-02 | Petroles Cie Francaise | Self-propelled, cable-supported diving bell |
| US4185580A (en) * | 1971-09-21 | 1980-01-29 | Etat Francais, Delegation Ministerielle Pour L'armement | Submarine system |
| US3719116A (en) * | 1971-09-22 | 1973-03-06 | C Burton | Underwater saw for tree and stump removal |
| US4030434A (en) * | 1975-03-15 | 1977-06-21 | British Aircraft Corporation Limited | Vehicles of the submersible type |
| US4643867A (en) * | 1983-11-21 | 1987-02-17 | Westinghouse Electric Corp. | Refueling machine mounted fuel assembly inspection T.V. cameras |
| US4650634A (en) * | 1983-11-21 | 1987-03-17 | Westinghouse Electric Corp. | Quick release cushioned T.V. camera mount |
| WO1989011997A1 (en) * | 1988-06-08 | 1989-12-14 | Bertin & Cie | Self-propelled submarine vehicle for the detection of submerged objects |
| FR2632603A1 (en) * | 1988-06-08 | 1989-12-15 | Bertin & Cie | SELF-PROPELLED UNDERWATER VEHICLE FOR DETECTION OF UNDERWATER OBJECTS |
| EP0347288A1 (en) * | 1988-06-08 | 1989-12-20 | ETAT-FRANCAIS représenté par le DELEGUE GENERAL POUR L'ARMEMENT (DPAG) | Self-propelled submersible vehicle for the detection of under-water objects |
| US20110240303A1 (en) * | 2008-12-12 | 2011-10-06 | Hallundbaek Joergen | Subsea well intervention module |
| WO2017044360A1 (en) * | 2015-09-08 | 2017-03-16 | Applied Physical Sciences Corp. | Method of packaging and deploying marine vibrator |
| CN108139496A (en) * | 2015-09-08 | 2018-06-08 | 应用物理技术公司 | Encapsulation and the method for deployment marine vibrator |
| US11402531B2 (en) * | 2015-09-08 | 2022-08-02 | Applied Physical Sciences Corp. | Method of packaging and deploying marine vibrator |
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