By | October 19, 2018

<p id=”p-0001″ num=”0000″>An underwater vehicle comprising: port and starboard thrusters spaced apart in a port-starboard direction, each thruster being oriented to generate a thrust force in a fore-aft direction perpendicular to the port-starboard direction; a vertical thruster which is oriented to generate a thrust force substantially perpendicular to the fore-aft and port-starboard directions; port, starboard and vertical ducts which contain the port, starboard and vertical thrusters respectively, each duct providing a channel for water to flow through its respective thruster; and a moving mass which can be moved relative to the thrusters in the fore-aft direction to control a pitch of the underwater vehicle.</p>

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