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US 12,365,432 B2Granted
Vector control assemblies for underwater vehicles
AssigneeTiburon Subsea Inc.
InventorsTimothy Taylor, Robert Havens
Life of this patent
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Abstract
A submersible vehicle is provided which is able to achieve six of freedom utilizing a combination of only two thrusters with no external control planes. Each of the two thrusters can include a plurality of ducts which can be selectively opened or closed, to varying degrees, to achieve six degrees of freedom for both control and propulsion.
Claims17
A submersible vehicle, comprising:
- a body;
- and
- at least one thruster assembly, positioned at one end of the body, the thruster assembly including:
- an inlet;
- a flow thruster;
- and
- a vector control assembly, including:
- a plurality of flow ducts directing a fluid flow from said flow thruster;
- and
- an independently adjustable damper positioned within each of said plurality of flow ducts,
- wherein independent adjustment of each of said adjustable dampers independently controls a volume and direction of flow through said plurality of flow ducts.
8 more elements
A submersible vehicle, comprising:
- a body having a forward end and a rear end opposite said forward end;
- a forward thruster assembly, positioned at said forward end of the body, the forward thruster assembly including:
- an inlet;
- a flow thruster;
- and
- a vector control assembly, including:
- a plurality of flow ducts directing a fluid flow from said flow thruster;
- and
- an independently adjustable damper positioned within each of said plurality of flow ducts;
- and
- a rear thruster assembly, positioned at said rear end of the body, the rear thruster assembly including:
- an inlet;
- a flow thruster;
- and
- a vector control assembly, including:
- a plurality of flow ducts directing a fluid flow from said flow thruster;
- and
- an independently adjustable damper positioned within each of said plurality of flow ducts,
- wherein independent adjustment of each of said adjustable dampers independently controls a volume and direction of flow through said plurality of flow ducts.
16 more elements
Dependencies are inferred from the claim text.