Thales

Thales Underwater Systems S.a.s.

Ecole Nationale Superieure De Techniques Avancees Bretagne

Jean-Philippe Brunet

Christophe Borel

Benoît Theckes

Cyril Bouyer

Franck Florin

Johann Dreo

Luc Jaulin

Olivier Frênoy

Thomas Sousselier

Hervé Derriennic

Jean-Eric Torlay

A device for receiving acoustic waves, includes an acoustic antenna able to function as a condenser microphone distributed along a line of the acoustic antenna comprising a conductor and a dielectric, the line being a transmission line or being configured to function as a transmission line when the dielectric makes direct physical contact with another conductor, an exciter configured to apply, in a receiving step, an input voltage to a first longitudinal end of the line so as to generate an input electromagnetic wave that moves toward a second longitudinal end of the line and so as to generate an output electromagnetic wave that moves in the opposite direction to the input electromagnetic wave, the input voltage simultaneously comprising a set of sinusoidal voltages comprising a fundamental sinusoidal voltage and a set of harmonics of the fundamental sinusoidal voltage, the frequency of the fundamental sinusoidal voltage being defined so that stationary waves are established in the line such that the output electromagnetic wave comprises directional acoustic-antenna channels.

Receiving device for acoustic waves

A method controlling a thruster of a marine vehicle is provided. The marine vehicle is at least partially submerged in a liquid and includes a body and a thruster including two propellers. Each propeller includes blades intended to tum about a rotation axis of said propeller. The method includes a step of low-speed maneuver controlling, during which the thruster is controlled in such a way that each propeller generates a flow directed toward the flow generated by the other propeller and reaching the flow generated by the other propeller.

Marine vehicle thruster control method

A method for controlling a thruster of a marine vehicle includes a body and a thruster mounted on the body of the vehicle, the vehicle being at least partially immersed in a liquid and moving with respect to the liquid along an axis of displacement in a direction of displacement and rotating about at least one axis of rotation perpendicular to the axis of displacement with a rotational speed, the thruster including an upstream propeller and a downstream propeller along the axis of displacement in the direction of displacement. The method including a stabilization step, in which the thruster is controlled such that the main axis of the upstream flow generated by the upstream propeller at a given instant t is an estimated main axis on which a position of a center of the downstream propeller, situated substantially on the axis of rotation of the downstream propeller, is estimated to be situated at a later instant t+dt at which the flow generated by the upstream propeller at the given instant t reaches the downstream propeller, the estimated main axis depending on the rotational speed of the vehicle.

A method is provided for piloting a set of robots comprising, for each robot, a step of generation of a guidance instruction for the robot at a given instant, the guidance instructions for the set of robots being determined from a single set of constraints comprising a pack constraint comprising at least one set of at least one first relative positioning constraint between a robot and its neighbors of the first order in the pack for the set of robots to form a pack exhibiting a predetermined shape, the method further comprising a step of piloting of the robots so as to observe the guidance instruction.

Method for controlling a set of robots, and set of robots

Aquatic vehicle

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Sophia Antipolis, France

Jean-Philippe Brunet