Underwater vehicle design and control methods

Abstract

Vehicles designed to use ground effect forces to control a positioning of the vehicle relative to a surface as well as their methods of use are described.

What is claimed is: 
     
         1 - 25 . (canceled) 
     
     
         26 . A method of controlling a vehicle immersed in a fluid, the method comprising:
 positioning the vehicle immersed in the fluid at a first preselected distance relative to a surface; and   generating a ground effect force that acts on the vehicle to maintain the vehicle at the first preselected distance.   
     
     
         27 . The method of  claim 26 , wherein generating the ground effect force includes moving the vehicle laterally relative to the surface. 
     
     
         28 . The method of  claim 26 , wherein generating the ground effect force includes applying a thrust to the vehicle with at least one thruster oriented towards the surface. 
     
     
         29 . The method of  claim 26 , wherein generating the ground effect force includes both moving the vehicle laterally relative to the surface and applying a thrust to the vehicle with at least one thruster oriented towards the surface. 
     
     
         30 . The method of  claim 26 , wherein the ground effect force biases the vehicle towards the first preselected distance relative to the surface when the vehicle is displaced relative to the surface. 
     
     
         31 . The method of  claim 26 , wherein a net weight of the vehicle and the ground effect force result in substantially net zero force applied to the vehicle in a direction oriented towards the surface when the vehicle is at the first preselected distance. 
     
     
         32 . The method of  claim 26 , further comprising altering the ground effect force to move the vehicle from the first preselected distance relative to the surface to a second preselected distance relative to the surface. 
     
     
         33 . The method of  claim 26 , further comprising scanning the surface with a sensor as the vehicle is moved laterally relative to the surface. 
     
     
         34 . The method of  claim 33 , wherein the first preselected distance is within a sensing range of the sensor. 
     
     
         35 . The method of  claim 26 , further comprising applying a thrust to the vehicle that biases the vehicle towards the surface, wherein a net weight of the vehicle, the thrust towards the surface, and the ground effect force result in a substantially net zero force applied to the vehicle in a direction oriented towards the surface when the vehicle is at the first preselected distance. 
     
     
         36 . The method of  claim 26 , wherein the vehicle is neutrally buoyant. 
     
     
         37 . A method of controlling a vehicle immersed in a fluid, the method comprising:
 generating a ground effect force that acts on the vehicle at a first stable equilibrium distance of the vehicle relative to a surface such that the ground effect force biases the vehicle towards the first stable equilibrium distance when it is displaced relative to the surface.   
     
     
         38 . The method of  claim 37 , wherein generating the ground effect includes moving the vehicle laterally relative to the surface. 
     
     
         39 . The method of  claim 37 , wherein generating the ground effect force includes applying a thrust to the vehicle with at least one thruster oriented towards the surface. 
     
     
         40 . The method of  claim 37 , wherein generating the ground effect force includes both moving the vehicle laterally relative to the surface and applying a thrust to the vehicle with at least one thruster oriented towards the surface. 
     
     
         41 . The method of  claim 37 , further comprising scanning the surface with a sensor as the vehicle is moved laterally relative to the surface. 
     
     
         42 . The method of  claim 41 , wherein the first stable equilibrium distance is within a sensing range of the sensor. 
     
     
         43 . The method of  claim 37 , further comprising altering the ground effect force to move the vehicle from the first stable equilibrium distance relative to the surface to a second stable equilibrium distance relative to the surface. 
     
     
         44 . The method of  claim 37 , wherein the vehicle is neutrally buoyant. 
     
     
         45 . A method of controlling a vehicle immersed in a fluid, the method comprising:
 orienting a flat portion of the vehicle towards a surface;   applying a thrust to the vehicle that biases the vehicle towards the surface; and   generating a ground effect force that acts on the vehicle relative to the surface, wherein the net weight of the vehicle, the net thrust biasing the vehicle towards the surface, and the ground effect force associated with the surface result in a substantially net zero force applied to the vehicle in a direction oriented towards the surface.   
     
     
         46 . The method of  claim 45 , wherein the net weight of the vehicle, the thrust biasing the vehicle towards the surface, and the ground effect force associated with the surface result in a substantially net zero force applied to the vehicle in the direction oriented towards the surface when the vehicle is at a first preselected distance relative to the surface. 
     
     
         47 . The method of  claim 46 , wherein the first preselected distance is a first stable equilibrium distance relative to the surface. 
     
     
         48 . The method of  claim 45 , wherein orienting the flat portion of the vehicle towards the surface further comprises adjusting a center of gravity of the vehicle to orient the flat portion of the vehicle towards the surface. 
     
     
         49 . The method of  claim 45 , wherein generating the ground effect force includes moving the vehicle laterally relative to the surface. 
     
     
         50 . The method of  claim 45 , wherein generating the ground effect force includes applying a thrust to the vehicle with at least one thruster oriented towards the surface. 
     
     
         51 . The method of  claim 45 , wherein generating the ground effect force includes both moving the vehicle laterally relative to the surface and applying a thrust to the vehicle with at least one thruster oriented towards the surface. 
     
     
         52 . The method of  claim 45 , further comprising scanning the surface with a sensor as the vehicle is moved laterally relative to the surface. 
     
     
         53 . The method of  claim 45 , wherein the vehicle is neutrally buoyant.