Submersible vehicles and methods for transiting the same in a body of liquid

Abstract

A submersible vehicle for use in a body of liquid includes a vehicle body, a pair of fins coupled to the vehicle body on-opposed sides thereof, and a dihedral angle control system. The dihedral angle control is system operative to vary a fin dihedral angle of each of the fins.

1 . A submersible vehicle for use in a body of liquid, the submersible vehicle comprising:
 a vehicle body;   a pair of fins coupled to the vehicle body on opposed sides thereof; and   a dihedral angle control system operative to vary a fin dihedral angle of each of the fins.   
     
     
         2 . The submersible vehicle of  claim 1  wherein the submersible vehicle is an underwater glider. 
     
     
         3 . The submersible vehicle of  claim 1  wherein the fin dihedral angle of each of the fins is upward when the submersible vehicle is descending and downward when the submersible vehicle is ascending. 
     
     
         4 . The submersible vehicle of  claim 1  wherein the submersible vehicle is a towed vehicle. 
     
     
         5 . The submersible vehicle of  claim 1  wherein the submersible vehicle includes an active thrust system operative to propel the submersible vehicle through the body of liquid. 
     
     
         6 . The submersible vehicle of  claim 1  wherein each fin is joined to the body at a respective fin root and pivots about a pivot axis at the fin root to vary the fin dihedral angle of the fin. 
     
     
         7 . The submersible vehicle of  claim 6  including a pair of opposed stops associated with each fin and configured to limit the range of fin dihedral angles assumable by the fin. 
     
     
         8 . The submersible vehicle of  claim 1  wherein the dihedral angle control system is operative to passively vary the fin dihedral angle of each of the fins. 
     
     
         9 . The submersible vehicle of  claim 1  wherein the dihedral angle control system includes a biasing member to change and/or maintain a dihedral angle of at least one of the fins. 
     
     
         10 . The submersible vehicle of  claim 1  wherein the dihedral angle control system includes at least one magnet or magnetic actuator to induce each of the fins into at least one selected fin dihedral angle. 
     
     
         11 . The submersible vehicle of  claim 1  wherein the dihedral angle control system is operative to actively vary the fin-dihedral angle of each of the fins 
     
     
         12 . The submersible vehicle of  claim 11  wherein the dihedral angle control system includes:
 at least one force actuator operable to forcibly vary the fin dihedral angles of the fins; and 
 a force actuator controller to control actuation of the force actuator. 
 
     
     
         13 . The submersible vehicle of  claim 1  wherein the fins pivot independently of one another to position the fins at different respective fin dihedral angles from one another. 
     
     
         14 . A method of providing transit of a submersible vehicle through a body of liquid, the submersible vehicle including a vehicle body and a pair of fins coupled to the vehicle body on opposed sides thereof, the method comprising:
 varying a fin dihedral angle of each of the fins using a dihedral angle control system.   
     
     
         15 . The method of  claim 14  including:
 positioning each fin to have an upward fin dihedral angle when the submersible vehicle is descending; and 
 positioning each fin to have a downward fin dihedral angle when the submersible vehicle is ascending. 
 
     
     
         16 . The method of  claim 14  wherein varying the fin dihedral angle of each of the fins includes actively varying the fin dihedral angle of each of the fins using the dihedral angle control system. 
     
     
         17 . The method of  claim 16  wherein:
 the dihedral angle control system includes: 
 at least one force actuator operable to forcibly vary the fin dihedral angles of the fins; and 
 a force actuator controller; and 
 the method includes controlling actuation of the force actuator using the force actuator controller. 
 
     
     
         18 . The method of  claim 14  wherein varying the fin dihedral angle of each of the fins includes pivoting the fins independently of one another to position the fins at different respective fin dihedral angles from one another. 
     
     
         19 . The method of  claim 18  including raising one of the fins to an upward fin dihedral angle and lowering the other fin to a downward fin dihedral angle to cause or assist turning of the submersible vehicle.