| 摘要 |
An underwater control system is disclosed. The system find particular applications in mosaic photographic and/or acoustic mapping of seabed or such marine studies, explorations, etc. A submersible vehicle is tied to a fixed central unit by a tether. The tether winds and unwinds as the vehicle travels in a spiral path, thus covering all the areas of seabed. The vehicle includes a plurality of vertical wings to generate necessary forces to keep the tether taut. In one embodiment, the vertical wings are designed to generate a lift to maintain a substantially constant altitude. In another embodiment, an altitude control device is provided.
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