Reusable buoyancy modules for buoyancy control of underwater vehicles

A buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising:

• a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
• a tether connected to the buoyancy module and extendable and retractable in response to operation of the winch;
• a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition;
• and
• a surface boat as part of the water environment robotic system and wherein the module is incorporated in the surface boat,
• wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
• wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition.

The buoyancy module arrangement for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch, comprising:

• a buoyancy module configured to be repeatably, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle;
• a tether connected to the buoyancy module and extendable and retractable in response to operation of the winch;
• and
• a state controller operative to control winch to cause a transition of the robotic system between at least two buoyancy conditions including from a first condition to a second condition and back to the first condition;
• wherein in the first condition the tether and buoyancy module are in a retracted position and the underwater robotic vehicle has a neutral buoyancy, and in the second condition the tether and buoyancy module are in an extended position and the underwater robotic vehicle has a negative buoyancy,
• wherein the buoyancy module is buoyantly engaged in the first condition, and the buoyancy module is buoyantly disengaged with the underwater robot in the second condition, and
• wherein the module is a surface boat.