Patent Publication Number: US-2023150662-A9

Title: Multi-platform unmanned cargo delivery vehicle

Description:
CROSS REFERENCE TO RELATED APPLICATION 
     The present application claims benefit to provisional U.S. Application Ser. No. 62/693,715 (Attorney Docket No. MRFS001-P), “WING-IN-GROUND-EFFECT (WIG) CRAFT,” filed Jul. 3, 2018, and is a Continuation in Part of published U.S. Patent Application No. 2020/0010071, Ser. No. 16/460,786 (Attorney Docket No. NFS0001), “PAYLOAD TRANSPORT AND DELIVERY METHOD, SYSTEM AND MULTI-PLATFORM UNMANNED CARGO DELIVERY VEHICLE,” to JACOB M. BRANCATO et al., filed Jul. 2, 2019, both incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The present invention is related to a cargo transport and delivery unmanned Wing In Ground Effect (WIG) craft or vessel that may be autonomous or semi-autonomous. 
     Background Description 
     Overseas shipping is big business. Enormous cargo ships continually traverse shipping lanes in international waterways, carrying large shipments of goods enclosed in containers the size of railroad cars to distant destinations that take days to reach. Each container can hold a portion of a much larger shipment, can contain a single smaller shipment, or include a collection of smaller shipments. Frequently, shipping an order that does not fill a container means that the order may wait on the dock for enough other small orders to fill the container. So it can easily take weeks from the shipping date for an order to arrive at its destination. Typically, someone shipping a small shipment may be unwilling to wait days or weeks. Also, some cargo, such as food or other perishables, may not survive an extended shipping time. 
     Alternately, airfreight is available for timely shipping smaller shipments. Typically, ground transport carries parcels to/from airports where a fleet of aircraft transport cargo between the airports. While international airfreight may be a reasonable solution for letters and even for small packages, the cost may be excessive for larger shipments, shipments that may be a relatively small portion of a shipping container. DHL, for example, applies a fixed surcharge to every piece, including a pallet, that exceeds the scale weight of 150 lb (70 kg) or with a single dimension in excess of 48 in (120 cm). Further, DHL does not accept shipping pieces, skids or pallets with an actual weight that exceeds 660 lb (300 kg) or a size that exceeds 118 in (300 cm) in length, width or height. Thus, shipping medium sized shipments may require choosing between a seagoing shipper with a moderate shipping cost and a long lead time, or by air with a shorter delivery time, e.g., overnight, in exchange for paying a premium shipping rate. 
     For both air and sea shipping, in addition to exposure to property loss from a potential maritime disaster, there is a potential for a loss of life. A ship that sinks at sea may suffer the loss of the entire crew. Likewise a cargo plane typically has a pilot and copilot. A cargo plane that goes down at sea may suffer the loss of one or both of the pilot and copilot. 
     Thus, there is a need for an efficient, flexible approach to shipping, and especially for medium sized shipments, and especially, without the potential of loss of crew. 
     SUMMARY OF THE INVENTION 
     A feature of the invention is an unmanned vessel for medium range shipping; 
     Another feature of the invention is an unmanned vessel for medium range overseas shipping for medium sized shipments; 
     Yet another feature of the invention is an unmanned Wing In Ground Effect vessel for medium range shipping that is free of any potential for inconvenience to, or loss of, on-board human crew or passengers; 
     Yet another feature of the invention is an unmanned Wing In Ground Effect vessel for medium range overseas shipping for medium sized shipments without the potential for inconvenience to, or loss of, on-board crew or passengers. 
     The present invention relates to an unmanned Wing In Ground Effect vessel (UWIG) for transporting the cargo with internal cargo hold contained in a seaworthy fuselage. The UWIG is autonomous or semi-autonomous. A pair of wings are attached to the fuselage. An on-board controller controls lift sufficient lift to travel in ground effect. The controller also controls UWIG surface maneuvering, taxiing and flying. The UWIG may be autonomous or semi-autonomous. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing and other objects, aspects and advantages will be better understood from the following detailed description of a preferred embodiment of the invention with reference to the drawings, in which: 
         FIG.  1    shows an example of a preferred cargo transport and delivery system; 
         FIGS.  2 A-C  shows an example of a preferred UWIG in top, front and side views, respectively; 
         FIG.  3    shows an example of the power and control system for a preferred UWIG; 
         FIGS.  4 A-B  show an example of operating states in operation of a preferred UWIG; 
         FIGS.  5 A-B  show operation of a preferred system from start of a new shipment through takeoff, in-transit through delivery at the shipping destination. 
     
    
    
     DESCRIPTION OF PREFERRED EMBODIMENTS 
     As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or computer program product. Accordingly, aspects of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, aspects of the present invention may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon. 
     Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. 
     A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. 
     Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing. 
     Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The program code may execute entirely on the user&#39;s computer, partly on the user&#39;s computer, as a stand-alone software package, partly on the user&#39;s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user&#39;s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). 
     Aspects of the present invention are described below with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks. 
     The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The flowcharts and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. 
     Turning now to the drawings and more particularly,  FIG.  1    shows an example of a cargo transport and delivery system  100  utilizing one or more preferred unmanned Wing In Ground Effect (UWIG) craft or vessels  102  to transport cargo over a waterway free of crew and passengers. It should be noted that craft and vessel are used interchangeably herein unless indicated otherwise and UWIG refers to an unmanned WIG craft. In this example UWIGs  102  transport cargo between a shipping station or port  104  and a delivery destination or port  106 , pier to pier. The UWIGs  102  may be semi-autonomous (remotely operated) or, preferably, operates autonomously, flying above a body of water  108  at low altitude. 
     At each port  104 ,  106  cargo loaders  110  load or unload cargo (not shown), and move the cargo between the UWIGs  102  and a local terminal  112  or warehouse  114 . Preferably, cargo loaders  110  are International Air Transport Association (IATA) standard unit load devices (LD or ULD), i.e., standard pallets or containers. The ports  104 ,  106  may include a standard floating pier for docking with loading and unloading interactive. Preferably however, ports  104 ,  106  are fitted for communicating with UWIG  102  control, whether autonomous or semi-autonomous, and adapted for increased efficiency with ramps and transfer elevators (not shown) adapted for full autonomy. Thus, the cargo loaders  110  may also be unmanned and operate autonomously or, preferably, semi-autonomously, communicate wirelessly with the local terminal  112  or warehouse  114 , e.g., through WiFi or a cellular connection. Preferably also, the UWIG  102  has a distance wireless communications capability, e.g., through a cellular connection or by satellite  116 . 
     WIG principles of flight are well known in the art and a WIG craft operates under a peculiar aerodynamic phenomenon known as the ground effect. Ground effect occurs at a relatively low altitude where the distance between the wings of a craft and the surface beneath it causes an aerodynamic interaction between the wings and the surface. That aerodynamic interaction creates a cushion of high-pressure air beneath the craft that increases lift. So, a WIG craft, also called a Ground Effect Vehicle (GEV), operates at low altitude to take advantage of ground effect, essentially floating feet above the surface on the high-pressure air cushion. 
     Thus, a typical state of the art WIG vessel is a hybrid, part boat and part aircraft, piloted and co-piloted by humans previously intended for passenger transport. A typical WIG design is aircraft based and combines marine, aviation, wing, air cushion, aerodynamic and hydrodynamic theories in low altitude flight. The International Maritime Organization (IMO) categorizes WIGs capable of carrying  12  passengers or more as type A, B or C. Type A and B are classified and licensed as marine vessels and operate under IMO rules. WIG designs are subject to a number of difficult issues that have discouraged widespread commercial adoption. 
     Over the past 60 years or so, there have been numerous attempts at develop and commercialize piloted WIGs for transporting passengers. So far, other than for use as expensive toys, none of the attempts have gotten past the prototype stage, This is at least in part because ground effect transport conditions may cause an unpleasant travel experience for travel passengers and crew. 
     In high winds, takeoff must be into the wind, which takes the WIG across successive lines of waves. Crossing those waves causes heavy pounding. In light winds, waves may be in any direction. This can make control difficult as each wave causes the WIG to both pitch and roll. For a piloted WIG these conditions both stress the WIG and make passengers uncomfortable. The light construction of a typical state of the art piloted passenger WIG limits its ability WIG to operate in higher sea states, meaning less sea time than that of conventional ships. Hardening a WIG design to address and overcome these and other travel obstacles may be limited by the need to maintain passenger and crew comfort at a level competitive to other means of transportation. Cargo comfort is not a consideration or a constraint in UWIG design. 
       FIGS.  2 A-C  shows an example of a preferred UWIG  102  of  FIG.  1    in top, front and side views, respectively. A preferred UWIG  102  is a multi-platform, fully or partially, autonomous craft with both surface and low altitude air capabilities. As a seaworthy maritime vessel, the UWIG  102  can taxi like a boat between a loading peer and the open sea. As a dynamic flight capable craft, the UWIG  102  can takeoff and fly at low altitude above the surface (below 492 feet (150 meters)) of a sea, a lake or a river. Thus, the preferred UWIG  102  is maritime capable, optimized for aerodynamics, stability and control, preferably with automatic sense and avoidance. Traveling at low altitude and unmanned the UWIG  102  still adheres to IMO Type B WIG classification, and is capable of following routes selected to optimize delivery times and for fuel efficiency. 
     Remotely controlled or autonomously the UWIG  102  is a multi-platform drone. For long range travel, the UWIG  102  remote control may be over satellite  116  and/or ground based (e.g., cellular) communication. For example, the U.S. military regularly controls drone operations remotely, even half of the World away, using satellite communications. A preferred autonomous UWIG  102  also uses satellite communications and/or, where available, ground based communications connecting as frequently as practicable to forward travel progress and selectively forward telemetry data. In addition to autonomous in-transit (in-sea and in-air) operation, the preferred autonomous UWIG  102  navigates/operates autonomously in or around stationary objects and other stationary and mobile vessels, and loads and unloads autonomously. Preferably also, whether fully or partially autonomous or under remote control, the UWIG  102  operates free from any on-board human presence, pilot or otherwise, which eliminates any potential loss of human life that might otherwise accompany loss of or damage to the UWIG  102 . 
     The preferred UWIG  102  includes, e.g., a 65-70′ (18-22 m) long floating fuselage  120  with a 10′ (3 m) beam, and two (2) 20′ (6 m) aerodynamically reverse delta scooping wings  122  for 50′ (15.2 m) wingspan. The fuselage  120  has several operational modes including an amphibian mode, a displacement mode, a transitional mode, a planing mode, a takeoff/landing mode, a ground effect mode and a fly-over mode. For added buoyancy the floating fuselage  120  may be supplemented with a pair of floats  120 F. 
     In amphibian mode the UWIG  102  is supported mainly by a static air cushion and moves slowly above a surface other than water, e.g., over ice, a sandy beach, sand bars or marshland. In displacement mode, whether at rest or in motion, the weight of the UWIG  102  is fully or predominantly supported hydrostatically, typically while taxiing. In transitional mode the UWIG  102  transitions between displacement mode and planing mode. In planing mode the UWIG  102  is hydroplaning in steady state, supported mainly hydro-dynamically on the surface of a body of water. Takeoff/landing mode is the transient mode between planing mode and ground effect mode. 
     Ground effect mode is steady state low altitude flight feet above the surface. Just as a ship must maintain leeway from obstacles on her leeward side, the side away from the wind, underway the UWIG  102  must maintain some distance, less than its wingspan above waves, referred to herein as Ground Effect way or GEway (GEway). The UWIG  102  can temporarily enter fly-over mode to avoid surface obstacles, increasing altitude slightly for a limited period, while maintaining a minimal safe altitude within maritime regulations. 
     The fuselage  120  is capable of holding cargo, e.g., loaded through cargo hold door(s)  124 , a bow/nose hatch in this example. Fully loaded and in the water, the fuselage  120  keel (not shown) may rest on a firm surface, e.g., a harbor or river bottom, or when floating the draft is such that the wings  122  are at or above the water surface. 
     In one example, rear mounted propellers  126  may be driven by one or more electric motors, or one or more standard gas engine (not shown), e.g., a standard marine, automobile or light truck engine. Optional forward mounted, lightweight fans  128  driven by one or more heavy duty electric motor (not shown), may provide Power Augmented Ram (PAR) thrust during takeoff and, if necessary, for landing and during flight. A preferred heavy duty electric motor is a 762 horsepower (762 HP), 568 kilowatt (568 kW) variable speed motor. Preferably, any gas engine(s) powering the rear propellers  126  also generate sufficient electricity to serve as a power source for the electric motor driving thrust-assist fans  128 , and serve as a charger for the 100 kWh battery/battery pack. Sensors  130  distributed about the vessel  102  sense GEway, environmental conditions and activity, e.g., wave activity, nearby airborne and marine activity and ambient weather-related activity. Sensor data passes to one or more on-board controller computer to maintain GEway, guide or assist in guiding, the UWIG  102 , as well as providing periodic progress and status. 
     Attached to each wing  122  optional outboard pontoons  132  provide stability in the water and optionally may include underwater fan thrusters  134 . Preferred underwater fan thrusters  134  are variable speed, 54 kW electric motor driven (73 hp@6,300 rpm), water-sealed, 5.75′ (260 mm) axial flow, single stage, ducted fans. Alternately, the fan thrusters  134  may be shaft driven from the engine(s). Primarily, the underwater fan thrusters  134  provide short range movement for positioning the UWIG  102  in port, e.g., while taxiing and docking or undocking. 
     UWIG empennage  136  preferably includes vertical and horizontal stabilizers  136 V,  136 H, two elevators  136 E and a rudder  136 R. The on-board controller computer(s) translate detected GEway and wave height amplitude into pneumatic, hydraulic, electromechanical action to control actuators and servos steering the UWIG  102 . Preferably, the UWIG  102  is capable of low altitude flight, below internationally restricted airspace, i.e., 30-300′ (9-90 m) above the surface, coupled with medium to long range trip capability for delivering goods to/from ports, ships, beaches or boat ramps. So, depending on payload and weather a preferred UWIG  102  has a delivery range, up to 621 miles or one thousand kilometers (1000 Km). 
     Optional thrust-assist fans  128  are environmentally sealed and provide PAR thrust for an alternate thrusting force to lift UWIG  102 , especially in takeoff. Because the thrust-assist fans  128  are environmentally sealed, the electric motors do not ingest saltwater, protecting sensitive motor components from corrosive saltwater. 
     In this example, the optional thrust-assist fans  128  are mounted on canards  138  attached to the fuselage  120 . Optionally, the canards are positionable, e.g., articulating, rotatable or otherwise positionable, for an extra lifting surface during takeoff and landing. Alternately, the canards  138  can be fixed, mounted parallel to airflow (with the wings  122 ) with the thrust-assist fans  128  selectively articulating independently to supply PAR thrust airflow under the wings  122 . 
       FIG.  3    shows an example of the power and control system  140  for the UWIG example,  102  in  FIGS.  1  and  2 A -C. One or more gas engine(s)  142 , two in this example, rear mounted high performance marine, car or truck engines, drive main propellers ( 126  in  FIG.  2   ) and torque a shaft  144  driving the on-board electric power source, a magneto-electric generator, such as typical automotive alternator  146  in this example. Preferably, each gas engine  142  is a commercially available engine capable of providing up to five hundred horsepower (500 Hp). Alternately, a separate gas generator (not shown) may be internally mounted for charging batteries even when the gas engine(s)  142  are shut down. 
     The generator  146  may supply power for the PAR thrust-assist fan  128  motor(s), subsurface fan thrusters  134 , the on-board controller computer(s)  148  and, where necessary, any other on-board electrical equipment, e.g., sensors  130 , cameras  150 , pneumatic or electric actuators  152 A and servos  152 S, navigational electronics  154 , beacons  156 , running lights  158 , one or more terrestrial or satellite  116  transponders, e.g., cell or satellite phone based, and provides a charger for auxiliary 100 kWh power storage batteries/battery pack  162 . 
     The controller, e.g., computer(s)  148 , manages the on-board electrical equipment, autonomously or semi-autonomously, to control all aspects of UWIG  102  operation to stabilize the UWIG  102 , including controlling roll, flight trim, pitch, yaw and heave, heading, altitude and GEway. Although shown here as a single computer  148 , it is understood that control may be distributed to multiple on-board computers for redundancy and/or for cooperatively controlling different aspects of operation, e.g., loading and unloading, flight and taxiing. 
     The controller  148  uses sensor  130  data to detect, preferably using adaptive learning, ambient conditions for approximating a minimum flight trajectory and flight course. The controller  148  controls actuators  152 A that control: fuel supplied to the gas engine(s)  142  driving main propellers  126 , vary the stabilizers  136 V,  136 H, the elevators  136 E, the rudder  136 R and operate the thrust-assist fan  128  motors. The optional thrust-assist fans  128  provide the pressure differential beneath the wings  122  that creates the PAR air cushion facilitating takeoff. The thrust-assist fans  128  may also provide additional pitch, yaw, and roll support during flight. 
     Between flights, in the water, the controller  148  also controls the electrically powered underwater fan thrusters  134 , e.g., for taxiing in and out of port and docking. While docked, the controller  148  normally powers down everything except at least one transponder  160 . The transponder  160  waits for a wake-up call that signals to begin preparation for the next delivery. 
       FIGS.  4 A-B  show an example of operating states in operation  200  of a preferred UWIG, e.g.,  102  with reference to the preferred system  100  of  FIG.  1   . Preferably, there are four primary states that include in addition to docked  300 , pre-flight  400 , in-flight  500  and post flight  600 . Also, the UWIG  102  can refuel  700  at any time, as needed. The UWIG  102  typically refuels  700  while in-port  104 ,  106 , e.g., docked  300 , or after being diverted, planned or unplanned, during flight  500 . 
     Pre-flight  400  includes a pre-flight checklist state  410 , a cargo load state  420 , a takeoff checklist state  430  and an on-surface navigation state  440 , taxiing to a takeoff location, e.g., sortieing a harbor or bay. A delivery can be aborted at any time, especially pre-flight  400 , and as described in more detail hereinbelow. Aborting causes the UWIG  102  to remain, or return to, docked  300 , e.g., for needed servicing. Post flight  600  includes landing and on-surface navigation  610 , e.g., taxiing a harbor or bay at a destination, and unloading  620 . Unloading  620  can be done when and where the UWIG  102  moors, or at a pre-determined unloading station, prior to docking  300 . 
       FIGS.  5 A-B  show operation of a preferred system ( 100  in  FIG.  1   ) from start of a new shipment through takeoff  2000 , in-transit through delivery at the shipping destination  2100 , with reference to  FIGS.  4 A-B . Docked  300  the UWIG  102  is moored at either port  104 ,  106 , between deliveries with most electronics in sleep mode  3000 , powered down or off. A wake-up signal  3100  to transponder, e.g.,  160  in  FIG.  3   , initiates a full or partial power up  3200  and the UWIG  102  enters pre-flight mode  400  for a new delivery. 
     In pre-flight mode  400  the controller  148  first conducts  410  a pre-flight checklist  4110  to determine  4120  whether the UWIG  102  is a go or no go for a new delivery. If the pre-flight checklist  4110  run through is unsuccessful, the UWIG  102  returns  4120  a no go signal indicating that service may be required, returns to sleep mode  3000 , and may, for example, signal or schedule  4130  necessary maintenance/repair. 
     If however, the UWIG  102  passes the pre-flight checklist  4110 , the controller  148  returns  4120  a go signal through transponder  160 , and downloads a flight plan  4210 . Optionally, the controller  148  may also download any available system updates/upgrades. The go signal also initiates a cargo load  4220 . Loading  4220  may be partially or fully manned or, preferably, autonomously controlled, e.g., using a logistic subsystem such as the integrated Mendelssohn Freight Services (MFS) delivery system. The preferred logistic subsystem interacts with controller  148  in positioning port ramps and transfer elevators, as well as managing UWIG  102  loading operations. A preferred logistic subsystem includes a real-time operational mapping and tracking facility capable of informing clients of LD, pallet and/or UWIG  102  location and loading state in real time. 
     Preferably, cargo is pre-loaded in pods on cargo loaders, e.g., LD&#39;s  110  fitted for the UWIG  102 . The port  104  is responsible for pre-loading cargo into the LDs  110  and transporting the pods to the docked UWIG  102 . Once at the dock and, for example, loaded onto a conveyor (not shown), the controller  148  may take over loading  4220 , opening cargo door  124 , positioning and locking the LDs  110  into position. Once all LDs  110  are loaded and locked into position, loading  4220  is complete and the controller  148  closes cargo door  124 . 
     After closing cargo door  124 , the controller  148  runs a takeoff checklist  4310  on the UWIG  102 . Again, if the takeoff checklist  4310  run through is unsuccessful, the delivery is a no go  4320 . The UWIG  102  returns to the docked state  300  and may signal or schedule  4130  required service. Otherwise, delivery is a go  4320  and the controller  148  sets the flight course  4330 . The controller  148  signals  4340  readiness to unlock UWIG  102  from the dock, e.g., to the port harbormaster. When the port returns an OK to depart signal  4350 , the UWIG  102  casts off  4360 . 
     Next, following appropriate maritime rules the floating UWIG  102  taxis  4410  for takeoff, e.g., from the shipping station pier  104  and, sorties  4420  the harbor for a clear takeoff. The controller  148  may use optional PAR thrusters  128  and/or underwater fans  138  to maneuver the UWIG  102  into taxi traffic. Then, after sortieing the harbor, the UWIG  102  taxis to a takeoff location  4430 , preferably away from designated shipping lanes and under power from the main propellers  126 . 
     Once at the takeoff location  4430 , e.g., in the open sea, the controller  148  tracks a clear takeoff path for a takeoff distance based on, e.g., wave height, traffic distance prediction, wind speed and direction, payload weight, center of gravity (CG) and obstacle avoidance. The UWIG  102  activates PAR thrust and increases speed to takeoff  4430 , and begins low altitude flight  5010  to its delivery destination. 
     In-flight  5010  the controller  148  collects and uses real-time telemetry data on flight speed and forward wave height to set UWIG  102  GEway and control pitch and yaw. In the air the UWIG  102  cruises at low altitude and on the surface operates as a maritime vessel. Thus, each delivery may follow, but is not restricted to follow, existing shipping lanes. Moreover, the controller  148  has a marine autopilot capability, and can auto redirect the UWIG  102  when necessary, to avoid inclement weather or collisions with other, traditional maritime vessels of all sizes. For example, the Garmin solid-state 9-axis Attitude Heading Reference System (AHRS), the GHP Reactor™ autopilot series is suitable for facilitating the controller  148  in holding course, even while pitching and rolling in rough water. This marine autopilot capability also reduces heading errors, course deviations, and rudder movement, while minimizing power consumption. 
     In transit the flight conditions may change  5020 . The controller  148  selectively updates  5030  the estimated time of arrival (ETA). The controller  148  tracks and periodically  5040  relays ship position  5050 , e.g., for emergency UWIG  102  and cargo recovery. Also, depending on the ETA, distance to the delivery destination, payload and real-time UWIG  102  range capability, the controller  148  may divert the flight for refueling  700 , as necessary. 
     Upon arriving at the delivery destination  5040 , post flight  600 , the UWIG  102  approaches  6110  a landing location in open water, e.g., near a harbor entrance. Still in open sea the controller  148  again tracks a clear landing path  6120  and unassisted or under remote control, lands  6130  the UWIG  102 . Once floating on the surface, the UWIG  102  taxis  6140  to an unloading pier, e.g., to dock  300  at destination pier  106 . Thus, a preferred autonomous UWIG  102  is capable of navigating a busy port location, targeting a loading pier and docking  300  itself in position. 
     After docking  300  the UWIG  102  initiates a cargo unload  620 , substantially in reverse of the cargo load  420 . The controller  148  communicates a cargo ready signal  6210  to the port indicating arrival, and preferably, also indicates fuel level, system status, power levels and any faults and/or damage incurred during the delivery trip. After unloading  6220  cargo, the UWIG  102  may refuel  700  and/or begin the next shipment by downloading new flight instructions, or return to sleep mode  3000  to wait for a wakeup signal or service. Alternately, the UWIG  102  may return to its originating port  104  and refueling  700  may be postponed until the next wake up. 
     Advantageously, because a preferred UWIG is unmanned and transports cargo instead of humans, human safety and comfort is not even a design or flight consideration. Thus, the preferred UWIG can takeoff and operate even in conditions that would make for what a human would consider an unpleasant ride, but is largely ignorable for cargo transport. The mass of a fully loaded cargo transport UWIG adds stability for takeoff to reduce UWIG pitch and roll. Even empty, heavier UWIG pitch and roll during takeoff and landing is bearable because there is no concern for passengers or a crew that might otherwise be thrown about and injured. Further, the lack of portholes that require structural hardening and other passenger accommodations eliminates obstacles in designing the UWIG structure hardened for inclement weather or hazardous sea conditions. 
     Further, the absence of passengers and crew in the UWIG minimizes the potential for any loss of life and is free of expensive infrastructure requirements, such as a runway or even on-board restroom facilities. Takeoff and landing may be from the open sea directly, for example, providing an unlimited runway length for accelerating to speed, even with a heavy cargo and full fuel load. Any open seaway can serve as an emergency landing “strip.” In the event of an accident at sea, during transit, even if the UWIG and any cargo are completely destroyed or lost, e.g., the UWIG sinks after an emergency landing, no lives are put in peril or lost. 
     Moreover, a preferred UWIG travels nearly unrestricted, able to avoid roads interrupted by traffic lights, or congestion from accidents and construction. Nor is a preferred UWIG restricted to flying traditional air routes in restricted airspace and limited by governmental air traffic regulations. Instead, traveling at low altitude (below 492 feet) in adherence to the IMO Type B WIG classification, the UWIG can ignore traditional sea trade routes and use routes selected to optimize delivery times and fuel efficiency. In ground effect the preferred UWIG travels an order of magnitude faster than a typical cargo ship with little or no wake. Speed is not restricted by typical surface restrictions, such as in no-wake zones. 
     Also, as a multi-platform vehicle, in ground effect the UWIG is free of draft depth limitations, does not run aground and avoids injuring/destroying aquatic life. Further, the UWIG travels freely over frozen bodies of water or shallow areas, e.g., shorelines, beach/sand bars, tides, river rapids, reefs, floating debris, icebergs or even subsurface mines. Nor do underwater currents affect cruising speed, navigation and performance, even in rough seas. 
     While the invention has been described in terms of preferred embodiments, those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the appended claims. It is intended that all such variations and modifications fall within the scope of the appended claims. Examples and drawings are, accordingly, to be regarded as illustrative rather than restrictive.