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( 1 2 ) Unlted States Patent ( 1 0 ) P a t e n t N 0 . 2 U S 7 , 6 4 1 , 5 2 4 B2Hine e t a ] . ( 4 5 ) Date o f P a t e n t : J a n . 5 , 2010

(54) WAVEPOWERVEHICLE TETHERS 3,312,186 A 4/1967 Litsheim . . . . . . . . . . . . . . . . . . . . . . . . 1 1 5 / 43 ,453 ,9 81 A 7/1969 . . 440/9

( 7 5 ) I n v e n t o r s : Roger G . H i n e , Menlo P a r k , CA U S ) ; 3 , 5 0 8 , 5 1 6 A 4 / 1 9 7 0Derek L . H i n e , P o r t o l a V a l l e y , CA U S ) ; 3 , 7 6 0 , 4 4 1 A 9 / 1 9 7 3J o s e p h D . R i z z i , L o s A l t o s , CA U S ) ; 3 , 8 4 5 , 7 3 3 A 1 1 / 1 9 7 4Kurt . F . K i e s o W , Sa n J o s e , CA U S ) ; 3 , 8 7 2 , 8 1 9 A 3 / 1 9 7 5Robert Burcham, Anchorage, AK U S ) ; 3 , 9 2 8 , 9 6 7 A 1 2 / 1 9 7 5 _William A_ s t u t z San J o s e CA Us ) 3 , 9 7 8 , 8 1 3 A 9 / 1 9 7 6 P l c k e n s e t a 1 .

4,224,707 A 9 / 19 80 Mar i ani( 7 3 ) A s s i g n e e . Liquid Robotics Inc San J o s e , CA 4 , 3 3 2 , 5 7 1 A 6 / 1 9 8 2 J a k o b s e n . . . . . . . . . . . . . . . . . . . . . . . 4 4 0 / 9

(Us) 4, 371, 347 A 2/19 8 3 Jakobsen . . . . . . . . . . . . . . . . . . . . . . . 440/94,383,725 A 5/1983 Bogese e t a 1 . . . 4 3 9/3 91

( * Notice: Subject to any disclaimer the term ofthis A Lambertl . . . . . . . . . . . . . . . . . . . ..atent is extended or adjusted under 35U . S . C . 1 5 4 ( b ) b y 0 d a y s . ( C o n t i n u e d )

( 2 1 ) A p p l _ No. 1 2 / 0 8 2 , 5 1 3 FOREIGN PATENT DOCUMENTS_ W0 WO 7/04401 7/19 87( 2 2 ) F 1 l e d : A p r . 1 1 , 2 0 0 8

( 6 5 ) P r i o r P u b l i c a t i o n D a t a ( C o n t i n u e d )US 008/0299843 A1 D e c . 4 , 2008 OTHER U B L I CAT IONS

Related U _ s _ Application Data A r t i c l e by L u c R a i n v i l l e e n t i t l e d W i r e w a l k e r : An AutonomousW a v e p o w e r e d V e r t i c a l P r o ? l e r , A u g . 1 9 , 2 0 0 1 .( 6 3 ) C o n t i n u a t i o n o f a p p l i c a t i o n No . 1 1 / 4 3 6 , 4 4 7 , ? l e d on _M ay 8 , 2 0 0 6 , no W a t . N O . 7 , 3 7 1 , 1 3 6 . (Commued)( 6 0 ) P r o v i s i o n a l a p p l ic a t i o n N o . 6 0 / 7 6 0 , 8 9 3 , ? l e d o n J a n . P r i m a r y ExamineriLars A l s o n2 0 , 2 0 0 6 ' ( 7 4 ) A t t o r n e y , A g e n t , o r FirmiT. H . P . R i c h a r d s o n( 5 1 ) I n t . C l . ( 5 7 ) ABSTRACT

B 6 3 H 1 9 / 0 2 ( 2 0 0 6 . 0 1 )( 5 2 ) US. l . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 4 0 / 9 ; 114/293 A ave-powered Water V e h i c l e i n c l u d e s a s u r f a c e ? o a t ; a( 5 8 ) F i e l d o f Classi?cation Search . . . . . . . . . . . . . . . . . 1 1 4 / 2 9 3 ; submerged swimmer, and a t e t h e r Which c o n n e c t s t h e ?oat

4 4 0 / 9 , 1 3 , 1 7 , 1 8 , 1 9 , 2 0 ; 4 3 9 / 3 9 1 and h e sWimmer, s o t h a t t h e sWimmer moves u p and doWn sSee a p p l i c a t i o n ? l e f o r complete s e a r c h h i s t o r y . a r e s u l t of Wave m o t i o n . Th e sW i m me r i n c l u d e s one o r m o r e

( 5 6 ) References Cited ?ns Which i n t e r a c t With t h e Water a s t h e sWimmer moves upUS . PATENT DOCUMENTS

9 8 6 , 6 2 7 A 3 / 1 9 1 1 F i s c h e r1 , 3 1 5 , 2 6 7 A 9 / 1 9 1 9 White2 , 5 2 0 , 8 0 4 A 8 / 1 9 5 0 H o l l a r3 , 1 3 2 , 3 2 2 A 5 / 1 9 6 4 Maes3 , 2 9 7 , 8 1 4 A * 1 / 1 9 67 McClean t a 1. . . . . . . . . . . . . . . 174/41

a n d d o W n , a n d g e n e r a t e f o r c e s W h i c h p r o p e l t h e v e h i c l e f o rW a r d . Th e v e h i c l e , Which need n o t be manned, c a n c a r r ycomm unication and c o n t r o l equipment s o t h a t i t can f o l l o W ac o u r s e d i r e c t e d by s i g n a l s s e n t t o i t , and s o t h a t i t can r e c o r dor transmi t data f r o m sensors o n t h e v e h i c l e .

1 3 C l a i m s , 1 4 Drawing S h e e t s


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US. PATENTDOCUMENTS 6,561,856 B 1 5/2003 Go r s h k o v . . . . . . . . . . . . . . . . . . . . . . 440/96 , 9 8 0 , 2 2 8 B1 1 2 / 2 0 0 5 H a r p e r

4,598,547 A 7/1986 Danihel . . . . . . . . . . . . . . . . . . . . . . . 60/507 7, 371,136 B2 5/2008 Hine e t a l 4673363 A 6/1 98 7 H uds on e t a 1 ~ 2003/0220027 A1 11/2003 Go r s h k o v . . . . . . . . . . . . . . . . . . . . . . 440/94 , 6 8 4 , 3 5 0 A 8 / 1 9 8 7 DeLima - - - - - - - - - - - - - - - - - - - - - - - 4 4 0 / 9 2004/0102107 A1 5 / 2004 Gorshkov . . . . . . . . . . . . . . . . . . . . . . 440 / 94 , 6 8 4 , 3 5 9 A 8 / 19 87 Herrington . . . . . . . . . . . . . . . . . . . . . 440/ 94 , 7 6 3 , 1 2 6 A 8 / 1 9 8 8 J a W e t Z FOREIGN PATENT DOCUMENTS4 , 8 42 ,560 A 6 / 1 9 8 9 Lee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440 / 94 , 8 9 6 , 6 2 0 A V1990 J o n e s WO WO94/10029 1 1 / 1 9 9 44 , 9 6 8 , 27 3 A 1 1 / 1 9 9 0 Monot . . . . . . . . . . . . . . . . . . . . . . .. 4 4 0 / 1 44 , 9 8 1 , 4 5 3 A 1 / 1 9 9 1 K r i s h a n e t : 1 1 . OTHER PUBLICATIONS5,084,630 A l/l992 AZimi . . . . . . . . . . . . . . . . . . . . . . . . 290/53 lntemationalsearch R e p o n andwritten Opinio n f o r PCT/US 2003/5 ,577 , 9 42 A 1 1 /1 996 Juselis . . . . 441/21 0 0 2 7 4 3 ,5 , 9 0 2 , 1 6 3 A 5 / 1 9 9 9 B a r r u Z Z i e t a 1 .6,099,368 A 8/2000 Gorshkov . . . . . . . . . . . . . . . . . . . . . . 440/9 * cited by examiner


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WAVE POWER EHICLE TETHERSCROSS-REFERENCE TO RELATED

APPLICATIONST h i s a p p l i c a t i o n i s a c o n t i n u a t i o n o f a p p l i c a t i o n S e r . N o .

1 1 / 4 3 6 , 4 4 7 , ? l e d M a y 8 , 2006 no w US. a t . N o . 7 , 3 7 1 , 1 3 6 ,W h i c h c l a i m s p r i o r i t y f r o m p r o v i s i o n a l p a t e n t a p p l i c a t i o n N o .6 0 / 7 6 0 , 8 9 3 , ? l e d J a n . 2 0 , 2 0 0 6 . T h i s a p p l i c a t i o n i s r e l a t e d t oa n o t h e r c o n t i n u a t i o n o f a p p l i c a t i o n S e r . N o . 1 1 / 4 3 6 , 4 4 7 ,W h i c h s b e i n g ? l e d c o n t e m p or a n e o u s l y W i t h t h i s a p p l i c a t i o n( S e r . N o . 1 2 / 0 8 2 , 4 5 7 ) .

BACKGROUND OF THE INVENTIONT h i s i n v e n t i o n r e l a t e s t o t h e u t i l i z a t i o n of t h e poWer of

Waves i n W a t e r ( h e r e i n a f t e r Wave p o W e r ) .As a Wave t r a v e l s a l o n g t h e s u r f a c e o f W a t e r , i t p r o d u c e sv e r t i c a l m o t i o n , b u t no n e t h o r i z o n t a l m o t i o n , of a t e r . Th ea m p l i t u d e o f t h e v e r t i c a l m o t i o n d e c r e a s e s l o g a r i t h m i c a l l yW i t h d e p t h ; a t a d e p t h o f a b o u t h a l f t h e Wave l e n g t h , t h e r e i sl i t t l e v e r t i c a l m o t i o n . Th e s p e e d o f c u r r e n t s i n d u c e d by Winda l s o d e c r e a s e s s h a r p l y W i t h d e p t h . A umber o f p r o p o s a l shave been made t o u t i l i z e Wave motion t o do u s e f u l Work.R e f e r e n c e m ay b e m a d e , f o r e x a m p l e , t o US. a t . N o s . 9 8 6 ,6 2 7 , 1 , 3 1 5 , 2 6 7 , 3 , 3 1 2 , 1 8 6 , 3 , 4 5 3 , 9 8 1 , 3 , 5 0 8 , 5 1 6 , 3 , 8 4 5 , 7 3 3 ,3 , 8 7 2 , 8 1 9 , 3 , 9 2 8 , 9 6 7 , 4 , 3 3 2 , 5 7 1 , 4 , 3 7 1 , 3 4 7 , 4 , 3 8 9 , 8 4 3 ,4 , 5 9 8 , 5 4 7 , 4 , 6 8 4 , 3 5 0 , 4 , 8 4 2 , 5 6 0 , 4 , 9 6 8 , 2 7 3 , 5 , 0 8 4 , 6 3 0 a n d6 , 5 6 1 , 8 5 6 . Th e e n t i r e d i s c l o s u r e o f e a c h o f t h o s e p a t e n t s i si n c o r p o r a t e d h e r e i n b y r e f e r e n c e f o r a l l p u r p o s e s .

SUMMARYOFINVENTIONI n a c c o r d a n c e W i t h t h e p r e s e n t i n v e n t i o n , We h a v e d i s c o v

e r e d a Wide v a r i e t y of Wa y s i n Which Wave poWer can beu t i l i z e d , i n c l u d i n g n o v e l W a t e r v e h i c l e s , n o v e l c o m p o n e n t sWhich a r e u s e f u l f o r Wave-poWered W a t e r v e h i c l e s and f o ro t h e r p u r p o s e s , a n d n o v e l m e t h o d s u s i n g W a v e - p o W e r e dW a t e r v e h i c l e s . I n p r e f e r r e d e m b o d i m e n t s , t h e i n v e n t i o nmakes t p o s s i b l e f o r an unmanned Water e h i c l e t o c a r r y o u tt a s k s Which Would b e t e d i o u s , e x p e n s i v e o r d a n g e r o u s t oc a r r y o u t u s i n g a v e h i c l e o p e r a t e d b y human e i n g s .

I n a ? r s t p r e f e r r e d a s p e c t , t h i s i n v e n t i o n p r o v i d e s a Wavep o W e r e d d e v i c e W h i c h c o m p r i s e s( 2 ) a s W i m m e r , a n d( 3 ) a t e t h e r c o n n e c t i n g t h e ? o a t a n d t h e s W i m m e r ;

t h e ? o a t , sWimmer a n d t e t h e r b e i n g s u c h t h a t , When t h ev e h i c l e i s i n s t i l l W a t e r ,

( i ) t h e ? o a t i s on o r n e a r t h e s u r f a c e of h e W a t e r ,( i i ) t h e sWimmer s s u b m e r g e d b e l o W t h e ? o a t , a n d( i i i ) t h e t e t h e r i s u n d e r t e n s i o n ;

t h e sWimmer c o m p r i s i n g( 2 a ) a sWimmer b o d y h a v i n g a l o n g i t u d i n a l a x i s , a n d( 2 b ) a ?n s y s t e m Which( a ) i s s e c u r e d t o t h e b o d y ,( b ) c o m p r i s e s a ? n , a n d( c ) When h e d e v i c e i s i n W a t e r h a v i n g Waves moving c r o s s

t h e s u r f a c e o f t h e W a t e r ( h e r e i n a f t e r W a v e - b e a r i n gW a t e r ) ,( i ) h a s a c o n ? g u r a t i o n Which c h a n g e s a s a r e s u l t o f t h eWave m o t i o n , and

( i i ) i n t e r a c t s W i t h t h e W a t e r t o g e n e r a t e f o r c e s Which e n dt o m o v e h e s W im me r n a d i r e c t i o n having a horizont a l component ( h e r e i n a f t e r r e f e r r e d t o s i m p l y a s i n ah o r i z o n t a l d i r e c t i o n ) .

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p r i s i n g a g e n e r a l l y l a m i n a r s u r f a c e a g a i n s t W h i c h , When h ed e v i c e moves r e l a t i v e t o W a t e r i n Which t h e d e v i c e i s p o s it i o n e d , t h e W a t e r e x e r t s p r e s s u r e s u ?i c i e n t t o s u b s t a n t i a l l yi n ? u e n c e t h e movement o f t h e d e v i c e . Th e l o n g i t u d i n a la x i s o f h e sWimmer o d y l i e s i n t h e g e n e r a l l y v e r t i c a l p l a n ea l o n g Which h e sWimmer moves When h e d e v i c e i s i n Waveb e a r i n g W a t e r . U s u a l l y , b u t n o t n e c e s s a r i l y , t h e d i m e n s i o n o ft h e sWimmer b o d y m e a s u r e d a l o n g t h e l o n g i t u d i n a l a x i s W i l lb e s u b s t a n t i a l l y g r e a t e r t h a n t h e d i m e n s i o n o f t h e sWimmerbody m e a s u r e d t r a n s v e r s e t o t h e l o n g i t u d i n a l a x i s .

Th e d e v i c e p r e f e r a b l y has a t l e a s t one of ( ie one o r m o r eo f ) t h e f o l l o W i n g c h a r a c t e r i s t i c s( A ) t h e ?n y s t e m c o m p r i s e s a ? n , f o r e x a m p l e a g e n e r a l l y

l a m i n a r ? n , Which o t a t e s a b o u t a n a x i s o f r o t a t i o n ( ega n a x i s o f r o t a t i o n g e n e r a l l y t r a n s v e r s e t o t h e l o n g i t u d in a l a x i s o f t h e sWimmer b o d y ) , t h e a x i s o f r o t a t i o nh a v i n g a s p a t i a l r e l a t i o n s h i p t o t h e sWimmerbody h i c hc h a n g e s When h e d e v i c e i s i n W a v e - b e a r i n g W a t e r ;

( B ) t h e ?n s y s t e m c o m p r i s e s ( i ) a ? n , f o r e x a m p l e a g e ne r a l l y l a m i n a r ? n , Which o t a t e s a b o u t a n a x i s o f o t a t i o n( eg an a x i s o f r o t a t i o n g e n e r a l l y t r a n s v e r s e t o t h e l o ng i t u d i n a l a x i s o f t h e sWimmer b o d y ) , a n d ( i i ) a n e l a s t i ccomponent e . g . a m e t a l c o i l s p r i n g , a m e t a l l e a f s p r i n g ,a metal o r s i o n b a r , o r an l a s t o m e r i c component such sa n a t u r a l o r a r t i ? c i a l r u b b e r band) Which s n o t p a r t of h e? n , a n d W h i c h d e f o r m s e l a s t i c a l l y a n d t h u s i n ? u e n c e sc h a n g e s i n t h e c o n ? g u r a t i o n o f t h e ?n s y s t e m When h ed e v i c e i s i n W a v e - b e a r i n g W a t e r ;

( C ) t h e ?n y s t e m c om p r i s e s a ? n , f o r e x a m p l e a g e n e r a l l yl a m i n a r a n d e l a s t i c a l l y d e f o r m a b l e ? n , h a v i n g a l e a d i n ge d g e W h i c h c o m p r i s e s ( i ) a r e l a t i v e l y r i g i d c e n t r a l s e ct i o n Which a s a ?xed p a t i a l r e l a t i o n s h i p W i t h t h e sWimmer body ( i n c l u d i n g t h e p o s s i b i l i t y t h a t t h e c e n t r a l s e ct i o n r o t a t e s about an a x i s of r o t a t i o n having a ?xeds p a t i a l r e l a t i o n s h i p W i t h t h e s W i m m e r b o d y ) , a n d ( i i )r e l a t i v e l y d e f o r m a b l e o u t b o a r d s e c t i o n s ;

( D ) t h e ? n s y s t e m c o m p r i s e s t W o g e n e r a l l y l a m i n a r ? n s , f o re x a m p l e t W o g e n e r a l l y l a m i n a r a n d e l a s t i c a l l y d e f o r ma b l e ? n s Which r e m i r r o r i m a g e s o f e a c h o t h e r , and a c ho f Which r o t a t e s a b o u t an a x i s of r o t a t i o n g e n e r a l l ya l i g n e d W i t h t h e l o n g i t u d i n a l a x i s o f t h e sWimmer b o d y( s u c h ? n s o p e r a t e i n a manner i m i l a r t o t h e p e c t o r a l ?nso n ? sh or h e Wings o n b i r d , and r e r e f e r r e d t o hereina s p e c t o r a l ? n s ) ;

( E ) t h e t e t h e r c o m p r i s e s a n e l a s t i c a l l y d e f o r m a b l e m e m b e r ;( F ) t h e t e t h e r c o m p r i s e s a comp onent Which r a n s m i t s d a t a

a n d / o r e l e c t r i c a l p o W e r ;( G ) t h e sWimmer body h a s a s u b s t a n t i a l l y r i g i d f o r e s e ct i o n , a m i d s e c t i o n Which i s r e l a t i v e l y ? e x i b l e i n t h ev e r t i c a l p l a n e , a n d a s u b s t a n t i a l l y r i g i d a f t s e c t i o n , t h et e t h e r b e i n g a t t a c h e d , f o r e x a m p l e , t o t h e f o r e s e c t i o n ,

a n d t h e ?n s y s t e m b e i n g a t t a c h e d , f o r e x a m p l e , t o t h ef o r e s e c t i o n ;( H ) t h e sWimmer body o m p r i s e s o n e o r m o re components

s e l e c t e d f r o m e l e c t r i c a l e q u i p m e n t , c o m m u n i c a t i o n se q u i p m e n t , r e c o r d i n g e q u i p m e n t , c o n t r o l e l e c t r o n i c s ,s t e e r i n g e q u i p m e n t , a n d s e n s o r s ;( I ) t h e sWimmer c o m p r i s e s a ?n Which i n ? u e n c e s t h e o r ie n t a t i o n o f t h e sWimmer b o d y i n t h e h o r i z o n t a l p l a n eWhen h e d e v i c e i s i n t h e W a v e - b e a r i n g w a t e r , eg ne o rm o re ?ns Which a r e s u b s t a n t i a l l y v e r t i c a l When t h ed e v i c e i s i n s t i l l W a t e r , f o r examp le one o r m o re such ?nss e c u r e d t o , o r b e i n g a n i n t e g r a l p a r t o f , t h e sWimmerb o d y ; f o r e x a m p l e , a p a r t o f t h e sWimmer b o d y c o u l dhave a r e l a t i v e l y s m a l l h o r i z o n t a l dimension and a r e l at i v e l y l a r g e v e r t i c a l d i m e n s i o n ; f o r e x a m p l e , s u c h a p a r t ,


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i f i t f o r m e d t h e t r a i l i n g e n d o f t h e swimmer body c o u l dbe a c t u a t e d t o s t e e r t h e swimmer;

( J ) t h e d e v i c e i s a Water e h i c l e Which moves i n a horizont a l d i r e c t i o n When h e d e v i c e i s i n W a v e - b e a r i n g W a t e r ;

( K ) t h e sWimmer o d y c o m p r i s e s a c e n t r a l t u b u l a r h o u s i n ga n d W a v e - a c t u a t e d p r o p u l s i o n ? n s e x t e n d e i t h e r s i d e o ft h e b o d y t u b e ;( L ) t h e sWimmer o d y c o m p r i s e s a g e n e r a l l y t u b u l a r h o u si n g and v e r t i c a l ? n s u r f a c e s a t o r n e a r b o t h t h e l e a d i n gend and t h e t r a i l i n g end o f t h e sWimmer b o d y ; one o rb o t h of u c h v e r t i c a l ? n u r f a c e s can o p t i o n a l l y be a c t ua t e d t o s t e e r t h e v e h i c l e ; p r e f e r a b l y t h e t r a i l i n g ? n a n b ea c t u a t e d t o s t e e r t h e sWimmer, and t h e l e a d i n g ?n i s? x e d ; t h e tWo ? n s h e l p t o b a l a n c e t h e d r a g f o r c e s a n d t ol i m i t r o t a t i o n o f t h e sWimmer When t i s p u l l e d s i d e W a y sb y t h e t e t h e r .

When e f e r e n c e i s made h e r e i n t o a ? n r o t h e r componentWhich r o t a t e s about an a x i s of o t a t i o n , o r t o a componentWhich s r o t a t a b l y mounted o r s e c u r e d , t h i s i n c l u d e s n o t o n l yt h e p o s s i b i l i t y t h a t t h e r o t a t i o n i s a b o u t a s i n g l e a x i s , b u t a l s ot h e p o s s i b i l i t y t h a t t h e r o t a t i o n r e s u l t s from o t a t i o n a b o u t tWoo r more d j a c e n t a x e s ( W h i c h m a y e , b u t need o t b e , p a r a l l e lt o e a c h o t h e r ) , and h e p o s s i b i l i t y t h a t t h e r o t a t i o n i n v o l v e s ac o n t i n u o u s r e l a t i v e motion f a d j a c e n t p a r t s o f h e ? n r o t h e rcomponent, a s f o r example When one p a r t of ? e x i b l e ? n s?xed and t h e r e s t o f t h e ? e x i b l e ?n moves r e l a t i v e t o ( i . e . r o t a t e s a b o u t ) t h e ? x e d p a r t .

O t h e r n o v e l c h a r a c t e r i s t i c s Which a r e o p t i o n a l ly p r e s e n ta r e described beloW.A e v i c e h a v i n g c h a r a c t e r i s t i c s ( A ) a n d ( B ) c a n f o r

e x a m p l e i n c l u d e ( i ) a g e n e r a l l y l a m i n a r ?n h i c h i s m o u n t e d ,o p t i o n a l l y r o t a t a b l y m o u n t e d , d i r e c t l y o r i n d i r e c t l y o n a r i g i db a r W h i c h i s m o u n t e d , o p t i o n a l l y r o t a t i o n a l l y m o u n t e d , o n t h esWimmer o d y , and i i ) a s p r i n g a n d / o r a t o r s i o n b a r Which sd i r e c t l y o r i n d i r e c t l y c o n n e c t e d t o t h e ?n a n d / o r t o t h e r i g i db a r and Which n ? u e n c e s ( a ) t h e s p e e d a n d / o r t h e e x t e n t o f h er o t a t i o n o f t h e ?n a n d / o r t h e r i g i d b a r , a n d / o r ( b ) t h e s p a t i a lr e l a t i o n s h i p b e t W e e n t h e sWimmer body a n d t h e a x i s o f r o t at i o n , d u r i n g p a r t o r a l l o f t h e c h a n g e s i n c o n ? g u r a t i o n o f t h es y s t e m .A e v i c e h a v i n g c h a r a c t e r i s t i c ( C ) c a n f o r example h a v e a

?n s y s t e m Which c o m p r i s e s a ge n e r a l l y l a m i n a r a n d e l a s t ic a l l y d e f o r m a b l e ?n ( s u c h a ?n o p t i o n a l l y b e i n g t h e s o l ee l a s t i c component, o r one of a p l u r a l i t y of e l a s t i c c o m p on e n t s , o f t h e ?n y s t e m ) , t h e ?n h a v i n g a l e a d i n g e d g e W h i c hc o m p r i s e s ( i ) a r e l a t i v e l y r i g i d c e n t r a l s e c t i o n W h i c h r o t a t e sa b o u t an a x i s o f r o t a t i o n g e n e r a l l y t r a n s v e r s e t o t h e l o n g i t ud i n a l a x i s o f h e sWimmer o d y , a n d i i ) r e l a t i v e l y d e f o r m a b l eo u t b o a r d s e c t i o n s ( f o r e x a m p l e a ?n a v i n g a s W e p t b a c k , e . g .g e n e r a l l y V - s h a p e d , l e a d i n g e d g e ) ,

I n a s e c o n d p r e f e r r e d a s p e c t , t h i s i n v e n t i o n p r o v i d e s aW a v e - p o W e r e d W a t e r v e h i c l e W h i c h c o m p r i s e s

( 1 ) a ? o a t ,( 2 ) a s W i m m e r ,( 3 ) a t e t h e r c o n n e c t i n g t h e ? o a t a n d t h e s W i m m e r , a n d( 4 ) a c o m p u t e r s y s t e m ;

t h e ? o a t , sWimmer a n d t e t h e r b e i n g s u c h t h a t , When t h ev e h i c l e i s i n s t i l l W a t e r ,

( i ) t h e ? o a t i s on o r n e a r t h e s u r f a c e of h e W a t e r ,( i i ) t h e sWimmer s s u b m e r g e d b e l o W t h e ? o a t , a n d( i i i ) t h e t e t h e r i s u n d e r t e n s i o n ;

t h e s W i m m e r , When t h e v e h i c l e i s i n W a v e - b e a r i n g W a t e r ,i n t e r a c t i n g W i t h t h e W a t e r t o g e n e r a t e f o r c e s Which movet h e v e h i c l e i n a h o r i z o n t a l d i r e c t i o n ;

t h e ? o a t c o m p r i s i n g a s a t e l l i t e - r e f e r e n c e d p o s i t i o n s e n s o r ;

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4t h e sWimmer comprising ( a ) a s e n s o r Which s e n s e s d i r e c t i o n

i n a h o r i z o n t a l p l a n e , a n d ( b ) a s t e e r i n g a c t u a t o r ; a n dt h e c o m p ut e r s y s t e m ( a ) b e i n g l i n k e d t o t h e p o s i t i o n s e n s o r ,

t h e h o r i z o n t a l s e n s o r and h e r u d d e r , and b ) c o n t a i n i n g , o rb e i n g p r o g r a m m a b l e t o c o n t a i n , i n s t r u c t i o n s t o c o n t r o l t h es t e e r i n g a c t u a t o r i n r e s p o n s e t o s i g n a l s r e c e i v e d from t h ep o s i t i on s e n s o r and h e h o r i z o n t a l s e n s o r , o r i n response os i g n a l s r e c e i v e d f r o m a s e n s o r o n h e v e h i c l e . I n t h e Waterv e h i c l e s o f h e s e c o n d a s p e c t o f h e i n v e n t i o n , t h e sWimmerp r e f e r a b l y c o m p r i s e s a body a n d a ?n s y s t e m a c c o r d i n g t ot h e ? r s t a s p e c t o f h e i n v e n t i o n , b u t can o m p r i s e a d i f f e r e n tmeans f o r g e n e r a t i n g f o r c e s Which m o v e t h e v e h i c l e i n ah o r i z o n t a l d i r e c t i o n .Th e i n v e n t i o n W i l l b e c h i e ? y d e s c r i b e d b y r e f e r e n c e t o

W a t e r v e h i c l e s i n Which a t l e a s t p a r t o f t h e u s e f u l poWerg e n e r a t e d by t h e movement o f t h e sWimmer s u s e d t o movet h e v e h i c l e i n a h o r i z o n t a l d i r e c t i o n ( t h e r e m a i n d e r o f t h a tp o W e r , i f a n y , b e i n g c o n v e r t e d i n t o o t h e r u s e f u l f o r m s , o rW a s t e d ) . H o W e v e r , t h e i n v e n t i o n i n c l u d e s t h e p o s s i b i l i t y t h a tnone o f t h e poWer g e n e r a t e d by t h e movement o f t h e sWimm er s s o u s e d , i . e . a l l t h a t poWer s c o n v e r t e d i n t o o t h e r u s e f u lforms o r i s W a s t e d , a s f o r example When t h e ? o a t o r t h es W im me r s held n a ?xed o c a t i o n , e . g . by an anchor r o t h e ra t t a c h m e n t .

I f t h e ? o a t i s a l s o moved b y o t h e r f o r c e s ( f o r e x a m p l e b yW i n d , W a t e r c u r r e n t s o r a c o n v e n t i o n a l p r o p ul s i o n s y s t e m ) t h emovement o f h e sWimmer o d i ? e s ( f o r e x a m p l e a c c e l e r a t e so r d e c e l e r a t e s a n d / o r c h a n g e s t h e d i r e c t i o n o f ) t h e movemento f t h e ? o a t .

Th e a t e r v e h i c l e s o f h e i n v e n t i o n o f t e n c o m p r i s e a s i n g l e? o a t a n d a s i n g l e s W i m m e r , a n d t h e i n v e n t i o n W i l l b e c h i e ? yd e s c r i b e d W i t h r e f e r e n c e t o s u c h W a t e r v e h i c l e s . HoWever, h ei n v e n t i o n i n c l ud e s t h e p o s s i b i l i t y t h a t t h e r e i s m o r e t h a n one? o a t , a n d / o r m o re t h a n o n e sWimmer, f o r example a s i n g l e? o a t a t t a c h e d t o a p l u r a l i t y o f s W i m m e r s , t h e sWimmers p r e fe r a b l y b e i n g a x i a l l y a l i g n e d , b y a p l u r a l i t y o f e t h e r s .

F o r a n y p a r t i c u l a r W a t e r v e h i c l e o f t h e i n v e n t i o n , t h e i n ? uence of h e sW i m me r on h e movement of h e ? o a t W i l l dependon h e s i z e and r e q u e n c y of a v e s . Th e movement of h e ? o a tW i l l a l s o depend f o r e x a m p l e on e n v i r o n m e n t a l c o n d i t i o n ssuch a s Water c u r r e n t s and W i n d , and any o t h e r p r o p u l s i o n o rs t e e r i n g s y s t e m o p e r a t i n g o n t h e ? o a t . I n s u i t a b l e c o n d i t i o n s ,t h e sW i m me r i l l m o v e h e v e h i c l e forWard t a speed Whichi s s a t i s f a c t o r y f o r many p u r p o s e s , W i t h o u t a n y o t h e r p r o p u ls i o n s y s t e m ( t h o u g h t m a y be e s i r a b l e t o u s e a n o t h e r poWers o u r c e t o o p e r a t e a s t e e r i n g s y s t e m ) . I n p r e f e r r e d embodim e n t s , t h e v e h i c l e i s e q u i p p e d W i t h c o n t r o l a n d s t e e r i n g s y stems Which e n a b l e i t t o be r e m o t e l y c o n t r o l l e d i n a d e s i r e dWay, f o r example s o a s t o move n a closed p a t t e r n around ad e s i r e d ?xed o c a t i o n , a n d / o r t o f o l l o W a desiredpathbetWeentWo l o c a t i o n s , Which m a y b e many m i l e s a p a r t , a n d / o r t ot r a v e r s e sloWly back and f o r t h over an a r e a of h e ocean i no r d e r t o g a t h e r a Wide v a r i e t y o f d a t a .I n a t h i r d p r e f e r r e d a s p e c t , t h i s i n v e n t i o n p r o v i d e s a methodo f u t i l i z i n g Wave poWer Which c o m p r i s e s p l a c i n g a d e v i c ea c c o r d i n g t o t h e ? r s t o r s e c o n d p r e f e r r e d a s p e c t o f t h e i n v e nt i o n i n a body of a t e r Which a s o r Which s e x p e c t e d t o haveWater Waves t r a v e l i n g a c r o s s i t s s u r f a c e .

I n a f o u r t h p r e f e r r e d a s p e c t , t h i s i n v e n t i o n p r o v i d e s am e t h o d o f o b t a i n i n g i n f o r m a t i o n W h i c h c o m p r i s e s r e c e i v i n gs i g n a l s f rom a d e v i c e a c c o r d i n g t o t h e ? r s t o r second p r ef e r r e d a s p e c t o f t h e i n v e n t i o n .

I n a ? f t h pr e f e r r e d a s p e c t , t h i s i n v e n t i o n pr o v i d e s a methodo f b t a i n i n g i n f o r m a t i o n W h i c h c o m p r i s e s e x a m i n i n g s i g n a l sr e c o r d e d by d e v i c e a c c o r d i n g t o t h e ? r s t o r s e c o n d p r e f e r r e da s p e c t o f t h e i n v e n t i o n .


19/26

US 7 , 6 4 1 , 5 2 4 B25

I n a s i x t h p r e f e r r e d a s p e c t , t h i s i n v e n t i o n p r o v i d e s amethod o r c o n t r o l l i n g a f u n c t i o n of d e v i c e a c c o r d i n g t o t h e? r s t o r s e c o n d p r e f e r r e d a s p e c t o f t h e i n v e n t i o n , t h e methodc o m pr i s i n g s e n d i n g s i g n a l s t o t h e d e v i c e .

I n a s e v e n t h p r e f e r r e d a s p e c t , t h i s i n v e n t i o n p r o v i d e s n o v e l? o a t s s u i t a b l e f o r u s e i n t h e ? r s t o r second r e f e r r e d a s p e c t oft h e i n v e n t i o n and f o r o t h e r p u r p o s e s ; n o v e l swimmers s u i ta b l e f o r u s e i n t h e ? r s t o r second p r e f e r r e d a s p e c t of t h ei n v e n t i o n and f o r o t h e r p u r po s e s ; n o v e l ?n s y s t e m s s u i t a b l ef o r u s e i n t h e ? r s t o r second p r e f e r r e d a s p e c t o f t h e i n v e n t i o nand f o r o t h e r p u r p o s e s ; and n o v e l ?ns s u i t a b l e f o r u s e i n t h e? r s t a n d s e c o n d p r e f e r r e d a s p e c t s o f t h e i n v e n t i o n a n d f o ro t h e r p u r p o s e s .

I n a n e i g h t h p r e f e r r e d a s p e c t , t h i s i n v e n t i on p r o v i d e s k i t s o fp a r t s comprising tWo o r m o re of h e com po nents needed t oassemble a d e v i c e a c c o r d i n g t o t h e ? r s t o r second p r e f e r r e da s p e c t o f t h e i n v e n t i o n .

O t h e r n o v e l f e a t u r e s a r e d i s c l o s e d i n t h e D e t a i l e d D e s c r i pt i o n b e l o W a n d t h e a t t a c h e d D r a W i n g s , a n d f o r m p a r t o f t h ep r e s e n t i n v e n t i o n .

B R I E F DESCRIPTION OF THE DRAWINGST h e i n v e n t i o n s i l l u s t r a t e d b y t h e a c c o m p a n y i n g d r a W i n g s ,

Which a r e d i a g r a m m a t i c and n o t t o s c a l e , and i n WhichF I G . 1 i s a diagram of Water e h i c l e ,FIGS. 2 and 3 a r e c r o s s - s e c t i o n s of ?ns f o r us e i n c e r t a i n

e m b o d i m e n t s ,FIG. 4 i s a c r o s s - s e c t i o n of t e t h e r ,F I G . 5 i s a b l o c k diagram of c o n t r o l s y s t e m ,F I G . 6 shoWs a p a t h f o r a s t a t i o n - k e e p i n g W a t e r v e h i c l e ,F I G . 7 i s a p e r s p e c t i v e vieW o f a W a t e r v e h i c l e ,F I G . 8 shoWs d i f f e r e n t c o n ? g u r a t i o n s o f a ?n i n F I G . 7 ,F I G . 9 i s a p e r s p e c t i v e vieW of W a t e r v e h i c l e , andF I G . 1 0 i s a n e n l a r g e d p e r s p e c t i v e v i e W o f p a r t o f F I G . 9 ,FIGS. 11A o 11D shoW i f f e r e n t c o n ? g u r a t i o n s o f t h e ? n si n F I G . 9 ,FIGS. 12-19 and 21 a r e s i d e vieWs of a t e r v e h i c l e s , andF I G . 20 i s a p l a n vieW o f t h e W a t e r v e h i c l e o f F I G . 2 1 ,FIGS. 2 2 A o 2 2C shoW i f f e r e n t c o n ? gu r a t i o n s o f a Water

v e h i c l e h a v i n g a ? e x i b l e b o d y , a n dFIGS. 23-25 a r e p e r s p e c t i v e vieWs of Water e h i c l e s .I n some F i g u r e s t h e s h a p e o f t h e ? n s y s t e m i s n o t num

b e r e d . I n o t h e r s , t h e ?n s y s t e m i s numbered , 1 , 2 , 3 o r 4 . I ft h e c o n ? g u r a t i o n i s numbered , i t i s t h e c o n ? g u r a t i o n Whent h e v e h i c l e i s i n s t i l l W a t e r . I f t h e c o n ? g u r a t i o n i s numbered ,i t i s t h e c o n ? g u r a t i o n l i k e l y t o b e a d o p t e d When o a t s f a l l i n gbehind t h e Wave r e s t , and h e t e n s i o n on h e t e t h e r i s f a l l i n g( a n d m ay e Z e r o ) . I f t h e c o n ? g u r a t i o n i s n u m b e r e d 2 , i t i s t h ec o n ? g u r a t i o n l i k e l y t o b e a d o p t e d When h e ? o a t h a s f a l l e n t ot h e t r o u g h of h e Wave, and h e t e n s i o n on h e t e t h e r s t a r t s t oi n c r e a s e . I f t h e c o n ? g u r a t i o n i s numbered , i t i s t h e c o n ? g ur a t i o n l i k e l y t o b e a d o p t e d When h e ? o a t i s r i s i n g t o W a r d s t h et o p of a Wave and t h e t e t h e r i s a t o r c l o s e t o i t s maximumt e n s i o n f o r t h i s p a r t i c u l a r c y c l e . I f t h e c o n ? g u r a t i o n i s nu mb e r e d 4 , i t i s t h e c o n ? g u r a t i o n l i k e l y t o b e a d o p t e d When h e?oat i s near t h e t o p of a Wave c r e s t and t h e t e n s i o n o n t h et e t h e r h a s d e c r e a s e d .

DETAILED DESCRIPTION OF THE INVENTIONI n t h e Sum m ary o f t h e I n v e n t i o n a b o v e , t h e D e t a i l e d

D e s c r i p t i o n o f t h e I n v e n t i o n b e l o W , a n d t h e a c c o m p a n y i n gd r a W i n g s , r e f e r e n c e i s made t o p a r t i c u l a r f e a t u r e s o f t h ei n v e n t i o n . I t i s t o be u n d e r s t o o d t h a t t h e d i s c l o s u r e o f t h ei n v e n t i o n i n t h i s s p e c i ? c a t i o n i n c l u d e s a l l p o s s i b l e c o m b i n at i o n s o f s u c h p a r t i c u l a r f e a t u r e s . F o r e x a m p l e , Where a p a r

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6t i c u l a r f e a t u r e i s d i s c l o s e d i n t h e c o n t e x t o f p a r t i c u l a r a s p e c t ,a p a r t i c u l a r e m b o d i m e n t , o r a p a r t i c u l a r F i g u r e , t h a t f e a t u r ecan a l s o be u s e d , t o t h e e x t e n t a p p r o p r i a t e , i n t h e c o n t e x t ofo t h e r p a r t i c u l a r a s p e c t s , e m b o d i m e n t s a n d F i g u r e s , a n d i n t h ei n v e n t i o n g e n e r a l l y . I t i s a l s o t o b e u n d e r s t o o d t h a t t h i s i n v e nt i o n i n c l u d e s a l l n o v e l f e a t u r e s d i s c l o s e d h e r e i n and i s n o tl i m i t e d t o t h e p r e f e r r e d a s p e c t s o f t h e i n v e n t i o n s e t o u t a b o v e .T h e t e r m c o m p r i s e s a n d g r a m m a t i c a l e q u i v a l e n t st h e r e o f a r e used h e r e i n t o mean t h a t o t h e r e l e m e n t s ( i . e .c o m p o n e n t s , i n g r e d i e n t s , s t e p s e t c . ) a r e o p t i o n a l l y p r e s e n t .F o r e x a m p l e , a W a t e r v e h i c l e c o m p r i s i n g ( o r Which co mp r i s e s ) c o m p o n e n t s A , B n d C a n c o n t a i n o n l y c o m p o n e n t sA , B and C , o r c a n c o n t a i n n o t o n l y components A , B and Cbu t a l s o one o r m o r e o t h e r components. Th e term a t l e a s t f o l l o W e d by a number s used h e r e i n t o d e n o t e t h e s t a r t ofr a n g e b e g i n n i n g W i t h t h a t number ( W h i c h m ay b e a r a n g ehaving an upper l i m i t o r no upper l i m i t , depending on t h ev a r i a b l e b e i n g d e ? n e d ) . F o r example a t l e a s t I means o rm o r e than 1 , and a t l e a s t 80% eans 80% r m o r e than80%. The term a t most f o l l o W e d by number s used h e r e i nt o d e n o t e t h e end o f a r a n g e e n d i n g Wi t h t h a t number ( W h i c hmay e a range having 1 o r 0 a s i t s loWer l i m i t , o r a rangeh a v i n g n o l o W e r l i m i t , d e p e n d i n g u p o n t h e v a r i a b l e b e i n gd e ? n e d ) . F o r e x a m p l e , a t most 4 means 4 o r l e s s t h a n 4 , and a t m ost 4 0 % means 40% r l e s s t h a n 40%. Wh en, i n t h i ss p e c i ? c a t i o n , a r a n g e i s g i v e n a s ( a ? r s t n u m b e r ) t o ( a s e c o n dn u m b e r ) o r ( a ? r s t n u m b e r ) - ( a s e c o n d n u m b e r ) , t h i s meansa rangeWho e loWer i m i t i s t h e ? r s t number and W h ose upperl i m i t i s t h e s e c o n d n u m b e r . F o r e x a m p l e , from 5 t o 1 5 f e e t o r 5-15 f e e t means a range Wh o se loWer l i m i t i s 5 f e e t andWhose u p p e r l i m i t i s 1 5 f e e t . Th e t e r m s p l u r a l , m u l t i p l e , p l u r a l i t y and m u l t i pl i c i t y a r e used e r e i n t o d e n o t e tWo o rm o r e than tW o i t e m s .

Where r e f e r e n c e i s made h e r e i n t o a method c o m p r i s i n gtW o o r m o r e de?ned t e p s , t h e de?ned t e p s ca n be a r r i e d o u ti n a n y o r d e r o r s i m u l t a n e o u s l y ( e x c e p t Where t h e c o n t e x te x c l u d e s t h a t p o s s i b i l i t y ) , a n d t h e method c a n o p t i o n a l l yinclude one or m o r e other s t e p s Which r e c a r r i e d out beforeany o f t h e de?ned s t e p s , betWeen tWo o f t h e de?ned t e p s , o ra f t e r a l l t h e de?ned s t e p s ( e x c e p t Where h e c o n t e x t e x c l u d e st h a t p o s s i b i l i t y ) . Where e f e r e n c e i s made e r e i n t o ? r s t and s e c o n d e l e m e n t s , t h i s i s g e n e r a l l y d o n e f o r i d e n t i ? c a t i o np u r p o s e s ; u n l e s s t h e c o n t e x t r e q u i r e s o t h e r W i s e , t h e ? r s t a n dsecond elements ca n be h e same o r d i f f e r e n t , and e f e r e n c e t oa ? r s t element does not mean h a t a seco nd element s necess a r i l y p r e s e n t ( t h o u g h t m ay b e p r e s e n t ) . Where e f e r e n c e i smade h e r e i n t o a o r an e l e m e n t , t h i s d o e s n o t e x c l u d e t h ep o s s i b i l i t y t h a t t h e r e a r e tWo o r m o r e such e l e m e n t s ( e x c e p tW h e r e t h e c o n t e x t e x c l u d e s t h a t p o s s i b i l i t y ) . F o r e x a m p l e ,Where r e f e r e n c e i s m ade h e r e i n t o a ? n , o r a ? n s y s t e m , t h esWimmer a n ( a n d f r e q ue n t l y d o e s ) c o m p r i s e tWo o r m o re ? n so r ? n s y s t e m s , Which may e t h e sa me o r d i f f e r e n t . W herer e f e r e n c e i s m ade h e r e i n t o tWo o r m o r e e l e m e n t s , t h i s doesn o t exclude t h e p o s s i b i l i t y t h a t t h e tW o o r m o r e elements a r er e p l a c e d by a l e s s e r number o r g r e a t e r number o f e l e m e n t sp r o v i d i n g t h e same f u n c t i o n ( e x c e p t Where t h e c o n t e x te x c l u d e s t h a t p o s s i b i l i t y ) . F o r e x a m p l e , t h e sWimmer b o d ya n d t h e ?n s y s t e m c a n t o g e t h e r f o r m a s i n g l e u n i t a r y b o d y .Th e numbers g i v e n h e r e i n s h o u l d b e c o n s t r u e d W i t h t h e l a t it u d e a p p r o p r i a t e t o t h e i r c o n t e x t a n d e x p r e s s i o n ; f o r e x a m p l e ,e a c h number i s s u b j e c t t o v a r i a t i o n Which d e p e n d s on t h ea c c u r a c y W i t h Which t can be measured by methods convent i o n a l l y u s e d b y t h o s e s k i l l e d i n t h e a r t .

U n l e s s o t h e r W i s e n o t e d , t h e r e f e r e n c e s t o t h e p o s i t i o n i n ga n d s h a p e o f a component o f t h e v e h i c l e r e f e r t o t h a t p o s it i o n i n g a n d s h a p e When t h e v e h i c l e i s i n s t i l l W a t e r . V a r i o u s


20/26

US 7 , 6 4 1 , 5 2 4 B27

t e r m s a r e used i n t h i s s p e c i ? c a t i o n i n a c c o r d a n c e W i t h t h ed e ? n i t i o n s g i v e n a b o v e a n d t h e f u r t h e r d e ? n i t i o n s g i v e nb e l o w .

L e a d i n g e d g e ( o r l e a d i n g e n d ) a n d t r a i l i n g e d g e ( o rt r a i l i n g e n d ) d e n o t e t h e f r o n t a n d r e a r s u r f a c e s r e s p e c t i v e l y o fa ?n r other com p onent s Wave oWer causes the vehicle t omove orWard.

F o r e and a f t d e n o t e l o c a t i o n s r e l a t i v e l y n e a r t h e l e a di n g a n d t r a i l i n g e d g e s ( o r e n d s ) r e s p e c t i v e l y . A l i g n e d d e n o t e s a d i r e c t i o n Which l i e s g e n e r a l l y i n av e r t i c a l p l a n e W h i c h i s p a r a l l e l t o t h e v e r t i c a l p l a n e W h i c h

i n c l u d e s t h e l o n g i t u d i n a l a x i s o f t h e s w i m m e r . A x i a l l ya l i g n e d d e n o t e s a d i r e c t i o n Which i e s g e n e r a l l y i n t h e v e rt i c a l p l a n e Which i n c l u d e s t h e l o n g i t u d i n a l a x i s o f t h e sWimmer.

T r a n s v e r s e d e n o t e s a d i r e c t i o n Which i e s g e n e r a l l y i n av e r t i c a l p l a n e o r t h o g o n a l t o t h e v e r t i c a l p l a n e W h i c h i n c l u d e st h e a x i a l c e n t e r l i n e o f t h e sWimmer.

Where r e f e r e n c e i s made h e r e i n t o a f e a t u r e Which gene r a l l y c o m p l i e s W i t h a p a r t i c u l a r d e ? n i t i o n , f o r e x a m p l e g e n e r a l l y i n a v e r t i c a l p l a n e , g e n e r a l l y l a m i n a r , o r g e ne r a l l y h o r i z o n t a l , i t i s t o b e u n d e r s t o o d t h a t t h e f e a t u r e n e e dn o t c o m p l y s t r i c t l y W i t h t h a t p a r t i c u l a r d e ? n i t i o n , b u t r a t h e rcan d e p a r t f rom t h a t s t r i c t d e ? n i t i o n by an amount Whichp e r m i t s e f f e c t i v e o p e r a t i o n i n a c c o r d a n c e W i t h t h e p r i n c i p l e so f t h e i n v e n t i o n .

A l l t h e components of t h e v e h i c l e a r e p r e f e r a b l y co ns t r u c t e d of m a t e r i a l s Which a r e r e s i s t a n t t o s a l t W a t e r , o re n c l o s e d W i t h i n a W a t e r t i g ht j a c k e t o f s u c h m a t e r i a l , p a r t i c ul a r l y a n y e l e c t r i c a l c o n n e c t i o n s . P r e f e r a b l y , t h e m a t e r i a l sWhich a r e exposed t o t h e Water a r e r e s i s t a n t t o b i o - f o u l i n g ,and a r e u n a t t r a c t i v e o r even e p e l l e n t t o marine a n i m a l s , l i k es h a r k s . S u i t a b l e m a t e r i a l s c a n f o r example be s e l e c t e d fromm e t a l s a n d p o l y m e r i c c o m p o s i t i o n s , i n c l u d i n g c o p p e r - c o nt a i n i n g p a i n t s a n d l o W s u r f a c e e n e r g y p o l y m e r s s u c h a s p o l yt e t r a ? u o r o e t h y l e n e . When h e v e h i c l e i n c l u d e s b a t t e r i e s a n ds o l a r p a n e l s ( o r o t h e r e l e c t r i c i t y - g e n e r a t i n g m e a n s ) , b i o - f o u li n g c a n a l s o b e d i s c o u r a g e d b y u s i n g t h e p o W e r f r o m t h eb a t t e r i e s o r s o l a r p a n e l s t o b r i e ? y e l e c t r i f y c o n d u c t i v e mater i a l s on t h e v e h i c l e , a n d / o r t o e n e r g i z e a v i b r a t o r Which W i l ld i s l o d g e b i o - f o u l i n g m a t e r i a l s . L e a d i n g e d g e s W h i c h m ay b es n a g g e d by s e a W e e d c a n o p t i o n a l l y h a v e s h a r p o r s e r r a t e de d g e s .

Th e v e h i c l e i s p r e f e r a b l y d e s i g n e d t o m i n i m i z e d r a g a smovement o f t h e sWimmer p u l l s i t f o r W a r d , a n d t o m i n i m i z et h e e f f e c t of inds and Water u r r e n t s Which m o v e h e v e h i c l es i d e W a y s . Th e ? o a t o r t h e sWimmer o r both can have ?apsWhich a r e f o l d e d - i n and have l i t t l e e f f e c t on d r a g When t h e? o a t o r sWimmer s moving f o r W a r d , b u t Which f a n o u t andi n c r e a s e d r a g When t h e ? o a t o r sWimmer i s moving b a c kW a r d s . S u c h ? a p s a r e p r e f e r a b l y p o s i t i o n e d s o t h a t t h e y k e e pt h e ? o a t a n d / o r t h e sWimmer i n a d e s i r e d o r i e n t a t i o n i f i tmoves ackWards.T h e SWimmer Body

T h e sWimmer b o d y p r e f e r a b l y h a s a g e n e r a l l y c y l i n d r i c a ls h a p e , o r o t h e r s h a p e s e l e c t e d t o minimize d r a g a s t h e ?ns y s t e m p u l l s t h e sWimmer b o d y t h r o u g h t h e W a t e r . O f t e nt h e r e i s a s i n g l e b o d y , b u t t h e r e c a n b e a p l u r a l i t y o f b o d i e ss e c u r e d t o e a c h o t h e r , p r e f e r a b l y r i g i d l y , W i t h t h e i r a x e sa l i g n e d , o r W i t h t h e i r a x e s p a r a l l e l t o , a n d s p a c e d - a p a r t f r o m,e a c h o t h e r . P r e f e r a b l y t h e body h a s a l o n g i t u d i n a l a x i s Whichi s g e n e r a l l y h o r i z o n t a l When h e v e h i c l e i s i n s t i l l W a t e r .

Th e e n g t h o f h e sWimmerbody a n f o r e x a m p l e b e a t l e a s t1 f o o t , eg t o 1 0 o r 4 t o 6 f e e t , b u t can be s u b s t a n t i a l l yg r e a t e r , e . g . up t o 1000 f e e t o r more. Th e d i a m e t e r ( o r , f o rn o n - c y l i n d r i c a l b o d i e s , e a c h o f t h e minimum a n d m a x i m u m

20

25

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35

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45

50

55

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8t r a n s v e r s e d i m e n s i o n s ) o f h e sWimmer a n f o r example b e a tl e a s t 0 . 1 f e e t , o r a t l e a s t 0 . 3 f e e t , u p t o , f o r e x a m p l e , 0 . 1 t i m e st h e l e n g t h o f t h e s W i m m e r .

I n so me embodiments t h e e n t i r e sWimmer body W i l l ber i g i d . H o W e v e r , i t i s a l s o p o s s i b l e f o r p a r t o f t h e sWimmerb o d y t o b e e l a s t i c a l l y d e f o r m a b l e . F o r e x a m pl e , t h e sWimmerbody c a n h a v e a c e n t r a l s e c t i o n Which s ? e x i b l e , p r e f e r a b l ys u b s t a n t i a l l y o n l y i n t h e v e r t i c a l p l a n e , W i t h t h e r u d d e rmo unted on a r i g i d s e c t i o n a f t of h e ? e x i b l e c e n t r a l s e c t i o nand h e ? n system mo unted on r i g i d s e c t i o n f o r W a r d of h e? e x i b l e c e n t r a l s e c t i o n . O p t i on a l l y , t h e sWimmer a s a c e n t e ro f b u o y a n c y W h i c h i s a b o v e t h e c e n t e r o f g r a v i t y .

As f u r t h e r d i s c u s s e d b e l o W, a Wide v a r i e t y o f a d d i t i o n a lcomponents c a n b e a t t a c h e d t o t h e sWimmer b o d y . Heavycomponents a r e p r e f e r a b l y s e c u r e d t o t h e sWimmer r a t h e rt h a n t o t h e ? o a t . Th e W e t W e i g h t o f t h e s W i m m e r , i n c l u d i n gt h e c o m p o n e n t s a t t a c h e d t h e r e t o , c a n f o r e x a m p l e b e 5 - 2 0 ,0 0 0 l b s , e . g . 5 - 5 0 0 l b s , f o r e x a m p l e 2 0 - 6 0 l b s . Many compon e n t s a r e p r e f e r a b l y p l a c e d W i t h i n a W a t e r t i g h t e n c l o s u r ep r o v i d e d b y t h e s W i m m e r b o d y ( f o r e x a m p l e e l e c t r i c a l e q u i pm e n t , i n c l u d i n g b a t t e r i e s , e l e c t r o n i c e q u i p m e n t , s e r v om e c h a n i s m s , W a t e r t i g h t p a s s - t h r o u g h s , a n d d i r e c t i o n - ? n d i n ge q u i pm e n t ) . O t h e r s a r e p r e f e r a b l y o r n e c e s s a r i l y p l a c e d o u ts i d e t h e sWimmer o d y , f o r e x a m p l e s t a b i l i z e r ? n s , s t a b i l i z e rW e i g h t s , r u d d e r s , some t y p e s o f s e n s o r , a n d s a m p l e c o l l e ct o r s . S t a b i l i z e r ? n s , Which a n f o r example be p l a c e d n e a r t h ef r o n t a n d / o r near t h e r e a r of t h e s W im me r b o d y , can f o re x a m p l e b e g e n e r a l l y v e r t i c a l ? x e d a n d a l i g n e d ? n s W h i c hr e s i s t t r a n s v e r s e d r a g on h e sWimmer, o r g e n e r a l l y h o r i z o n t a l?x ed and l i g n e d ? n s Which e s i s t v e r t i c a l d r a g on h e sWimm e r . S t a b i l i z e r W e i g h t s c a n f o r examp le be b a r s a n d / o r d i s c s ,u s u a l l y a l i g n e d W i t h t h e sWimmer b o d y , ? x e d t o s t r u t sd e s c e n d i n g v e r t i c a l l y f r o m t h e sWimmer b o d y , t h u s i n c r e a si n g t h e W e i g h t a n d c h a n g i n g t h e c e n t e r o f g r a v i t y o f t h esWimmer, o r can be p a r t of k e e l - l i k e v e r t i c a l s t a b i l i z e r ? n .

I n one embodiment, a hydrophone s s e c u r e d t o t h e sW i mmer b o d y . P r e f e r a b l y , i n o r d e r t o s e p a r a t e t h e h y d r o p h o n ef r o m n o i s e g e n e r a t e d b y t h e s W i m m e r , t h e h y d r o p h o n e i sp l a c e d a t t h e end o f a c a b l e d r a g g e d b e h i n d t h e sWimmerb o d y , o r on an e x t e n s i o n b a r p r o j e c t i n g f r o m , eg rom t h ef r o n t o f , t h e sWimmer b o d y .Th e F l o a t .

Th e ? o a t c a n b e o f a n y c o n v e n i e n t s i z e a n d s h a p e , b e a r i n gi n mind h e c o m p o n e n t s Which t c a r r i e s , t h e Way i n Which tW i l l b e u s e d , a n d t h e d e s i r a b i l i t y o f m i n i m i z i n g d r a g i n t h eW a t e r and a g a i n s t W i n d . Th e l e n g t h o f t h e ? o a t c a n b e l e s st h a n , e . g . 0 . 5 t o 0 . 9 t i m e s , s u b s t a n t i a l l y e q u a l t o , eg . 9 t o 1 . 1t i m e s , o r g r e a t e r t h a n , e . g . 1 . 1 t o 4 t i m e s , t h e l e n g t h o f t h esWimmer. Th e e n g t h o f h e ? o a t c a n f o r examp le be t l e a s t 1f o o t , eg t o 1 0 o r 4 t o 6 f e e t , b u t c a n be u b s t a n t i a l l y g r e a t e r ,e . g . up o 1000 f e e t o r more, s o long a s i t i s n o t t o o l a r g e t o bes u b s t a n t i a l l y moved by a v e s . Th e r e a d t h o f h e ? o a t can o rexample be a t l e a s t 0 . 3 f o o t , o r a t l e a s t 2 f e e t , up t o , f o re x a m p l e , 0 . 3 t i m e s t h e l e n g t h o f h e ? o a t . O p t i o n a l l y , t h e ? o a th a s a c e n t e r o f buoyancy Which s above h e c e n t e r o f g r a v i t y .Th e ? o a t c a n f o r example h a v e 2 0 - 5 0 0 l b s , eg b o u t 8 0 l b s ,o f b u o y a n c y , a n d / o r a buoyancy Which s 2 - 4 t i m e s t h e WetW e i g h t o f t h e s W i m m e r .

To r e d u c e t h e danger t h a t W i n d , Waves o r c u r r e n t f o r c e sp u s h t h e ? o a t s i d e W a y s , pr e f e r a b l y b o t h t h e c e n t e r o f W a t e rd r a g and t h e c e n t e r o f Wind d r a g a r e b e h i n d t h e l i n e a t t a c hment p o i n t , s i n c e t h i s h e l p s t o k e e p t h e ? o a t i n a h e a d - o no r i e n t a t i o n i n Which t h a s t h e l o W e s t o v e r a l l d r a g . Wind n dW a t e r f o r c e s a c t i n g on t h e p a r t s o f t h e ? o a t f o r W a r d o f t h et e t h e r a t t a c h m e n t p o i n t t e n d t o r o t a t e t h e ? o a t aWay from h ed e s i r e d o r i e n t a t i o n , W h e r e a s t h o s e a f t o f h e a t t a c h m e n t p o i n t


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