Controlling buoyancy of an underwater vehicle using a dual-internal-reservoir configuration to enhance efficiency of inflating and deflating an external chamber

An underwater vehicle comprising:

• buoyancy control system comprising:
• a first reservoir having an alterable volume, a first medium being transferrable between the first reservoir and an external chamber, the external chamber being configured and arranged such that a change in volume of the external chamber causes a change in total water displacement of the underwater vehicle, the change in total water displacement resulting in a corresponding change in buoyancy of the underwater vehicle;
• a second reservoir having an alterable volume, a second medium being transferable into and out of the second reservoir, wherein the first reservoir and the second reservoir are disposed such that the second reservoir applies a compressive force to the first reservoir responsive to a fluid pressure of the second medium within the second reservoir exceeding a fluid pressure of the first medium within the first reservoir;
• and
• a sensor configured to provide a flow signal conveying information associated with a flow of the first medium between the first reservoir and the external chamber;
• and
• one or more processors configured to execute computer program instructions, the computer program instructions comprising:
• a buoyancy control component configured to control the transfer of the second medium into and out of the second reservoir based on the flow signal.

A processor-implemented method for controlling buoyancy of an underwater vehicle, the method being performed by one or more processors configured to execute computer program instructions, the method comprising:

• receiving a flow signal conveying information associated with a flow of a first medium between a first reservoir and an external chamber, the first reservoir having an alterable volume, the external chamber being configured and arranged such that a change in volume of the external chamber causes a change in buoyancy of the underwater vehicle;
• in order to increase the buoyancy of the underwater vehicle:
• controlling, using one or more processors, a transfer of a second medium into a second reservoir based on the flow signal, the second reservoir having an alterable volume, wherein the first reservoir and the second reservoir are disposed such that the second reservoir applies one or both of a compressive force and a tensive force to the first reservoir responsive to a difference between a fluid pressure of the second medium within the second reservoir and a fluid pressure of the first medium within the first reservoir;
• and
• in order to decrease the buoyancy of the underwater vehicle:
• controlling, using one or more processors, a transfer of the second medium out of the second reservoir based on the flow signal, wherein the first reservoir and the second reservoir are mechanically coupled such that the second reservoir applies one or both of a compressive force and a tensive force to the first reservoir responsive to a second difference between the fluid pressure of the first medium within the first reservoir and the fluid pressure of the second medium within the second reservoir.