Patent ID: 8025021
Filing Date: 2011-09-27
Classification: B63B,B63G,B63H

Abstract:
1. A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct; and a twin thrust vector propulsion system comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device pivotally mounted at a fixed position on the interior of the annulus on a first side of the hull axis, and a second propulsion device pivotally mounted at a fixed position on the interior of the annulus on a second side of the hull axis opposite to the first propulsion device wherein each propulsion device generates a thrust vector which points in a direction which can be varied by pivoting the device, and wherein the propulsion devices can be pivoted between a first configuration in which their thrust vectors point in the same direction to provide a thrust force to propel the vehicle forward and along the hull axis, and a second configuration in which their thrust vectors point in different directions to cause the vehicle to roll around the hull axis.