ClassID:

71341

B63G2008/005 - CPC Classification

Classification description:

Underwater vessels, e.g. submarines; Equipment specially adapted therefor; Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled

Sub-classes:
Recent Application in this class:
#1
20260118507
2026-04-30

VESSEL FOR USE IN SUBSEA SURVEYING AND METHOD OF ACQUIRING SUBSEA SURVEY DATA

#2
20260097829
2026-04-09

SYSTEM, APPARATUS AND METHOD FOR A HOOK END EFFECTOR

#3
20260092896
2026-04-02

WATER SURFACE AND UNDERWATER DETECTION DEVICE

#4
20260084792
2026-03-26

ROV-OPERATED TOOL FOR DRILLING AND EXTRACTION OF SHEARED BOLTS IN SUBSEA EQUIPMENT

#5
20260062105
2026-03-05

SUN CORAL NEUTRALIZATION AND COLLECTING APPARATUS AND METHOD

#6
20260054808
2026-02-26

OCEANIC ENVIRONMENTAL MONITORING

#7
20250382041
2025-12-18

CLOUD ASSISTED UNDERWATER VEHICLE CONTROL

#8
20250340279
2025-11-06

CONNECTING SYSTEM AND METHOD FOR CONNECTING AN UNMANNED UNDERWATER VEHICLE TO A FLOATING VEHICLE

#9
20250326475
2025-10-23

MANIPULATOR DEVICE WITH DIVERLESS DOCKING IN A PIPELINE AND METHODS FOR POSITIONING AND CONTROLLING THE MANIPULATOR DEVICE

#10
20250319954
2025-10-16

DEFORMABLE AQUATIC VEHICLE

#11
20250314342
2025-10-09

METHOD FOR REMOTE PLACEMENT OF UNDERWATER ISOLATION BARRIERS

#12
20250313318
2025-10-09

DIVERLESS BELL MOUTH MANIPULATOR AND METHOD FOR PERFORMING DIVERLESS OPERATIONS IN A BELL MOUTH USING THE MANIPULATOR

#13
20250289541
2025-09-18

SUBMARINE HEATING SYSTEM, DEVICE FOR COUPLING A HEATING SOURCE TO A SUBMARINE VEHICLE AND METHOD FOR SUBMARINE HEATING

#14
20250244476
2025-07-31

SUBMERSIBLE DEVICE FOR UNDERWATER SONAR IMAGERY

#15
20250199169
2025-06-19

UNDERWATER OPTICAL METROLOGY SYSTEM

#16
20250145264
2025-05-08

PORTABLE AQUATIC VEHICLES

#17
20250143242
2025-05-08

SEAWEED SEEDERS AND METHODS FOR USING THEM

#18
20250138185
2025-05-01

UNDERWATER OPTICAL POSITIONING SYSTEMS AND METHODS

#19
20250065743
2025-02-27

WIRELESS CHARGING METHOD FOR CHARGING UNDERWATER MOVING DEVICE

#20
20250042529
2025-02-06

Remote Inspection of Marine Vessels

#21
20250041913
2025-02-06

Laser Cleaning Apparatus and Method

#22
20240367768
2024-11-07

SUBMERSIBLE VEHICLE

#23
20240343364
2024-10-17

SYSTEM AND METHOD FOR HANDLING OPERATIONS IN A BODY OF WATER

#24
20240336340
2024-10-10

THE MARDAN SUB-SURFACE SENSOR HOUSING FOR REMOTE UNDERWATER VEHICLE DEPLOYMENT AND RECOVERY

#25
20240278889
2024-08-22

Submersible remote operated vehicle tool change control

#26
20240246651
2024-07-25

A BLADDER SYSTEM FOR A SUBMERSIBLE

#27
20240239457
2024-07-18

AN UNDERWATER PROBE OR SUBMERSIBLE

#28
20240229989
2024-07-11

SEALING RING POSITIONING DEVICE

#29
20240174333
2024-05-30

ROBOTIC MODULAR SUBMERSIBLE DEVICE AND METHODS

#30
20240166319
2024-05-23

Hydrogen Transport Apparatus

#31
20240166315
2024-05-23

MONITORING THE CLEANLINESS OF AN UNDERWATER SURFACE OF A STATIONARY OBJECT

#32
20240133496
2024-04-25

SEALING RING POSITIONING DEVICE

#33
20240124111
2024-04-18

MODULE FOR UNDERWATER REMOTELY OPERATED VEHICLES

#34
20240092481
2024-03-21

CERAMIC PROPELLER

#35
20240051645
2024-02-15

UNDERWATER ROBOT FOR REMOVING MARINE BIOFOULING FROM HULLS OF FLOATING UNITS, WITH SYSTEM FOR CONTAINING AND CAPTURING WASTE

#36
20240025523
2024-01-25

UNDERWATER SNAKE ROBOT WITH PASSIVE JOINTS

#37
20240010305
2024-01-11

ROV operated Hotstab

#38
20230402875
2023-12-14

UNDERWATER POWER SUPPLY SYSTEM AND POWER-RECEIVING DEVICE

#39
20230400849
2023-12-14

Water surface and underwater dual-purpose automatic positioning and tracking system and method

#40
20230399087
2023-12-14

Underwater Internet of Things Coonectivity

#41
20230393271
2023-12-07

Underwater optical metrology system

#42
20230373603
2023-11-23

DEVICE FOR COLLECTING MARINE SEDIMENTS USING A REMOTELY OPERATED VEHICLE

#43
20230264794
2023-08-24

APPARATUS AND METHOD FOR A FREE-SWIMMING SOFT UNDERWATER ROBOT USING ADAPTIVE THREE-AXIS DEPTH CONTROL TO MONITOR MARINE ENVIRONMENTS

#44
20230259128
2023-08-17

Unmanned vehicle control and operation in a marine environment

#45
20230249791
2023-08-10

Submersible remote operated vehicle tool change control

#46
20230204524
2023-06-29

Systems, apparatuses, and methods for measuring submerged surfaces

#47
20230191462
2023-06-22

Laser cleaning apparatus and method

#48
20230161340
2023-05-25

Castable sonar devices and operations in a marine environment

#49
20230160837
2023-05-25

METHOD AND DEVICE FOR INSPECTING HYDRO TURBINE RUNNER

#50
20230115886
2023-04-13

IMPROVEMENTS IN PUMPING OPERATIONS USING UNDERWATER VEHICLES

#51
20230088089
2023-03-23

Underwater vehicle with front-rear distributed drive

#52
20230057030
2023-02-23

Apparatus, system and method for joining elongated elements in a body of water

#53
20220363357
2022-11-17

UNDERWATER VEHICLE CONTROL SYSTEM

#54
20220334281
2022-10-20

OCEAN BOTTOM SEISMIC NODE SYSTEM

#55
20220315218
2022-10-06

Underwater and aerial vehicle

#56
20220289351
2022-09-15

Buoyancy adjustment device

#57
20220266962
2022-08-25

Autonomous seabased resupply system

#58
20220243549
2022-08-04

Annulus isolation device

#59
20220194535
2022-06-23

Subsea robot and method for detecting norm breakdown in a production system

#60
20220161911
2022-05-26

UNDERWATER ROBOT, AND METHOD AND APPARATUS FOR CONTROLLING THE SAME

#61
20220136984
2022-05-05

Systems, apparatuses, and methods for measuring submerged surfaces

#62
20220033042
2022-02-03

Marine structure comprising a launch and recovery system

#63
20210382171
2021-12-09

Underwater optical metrology system

#64
20210366097
2021-11-25

System and method of operation for remotely operated vehicles for automatic detection of structure integrity threats

#65
20210362815
2021-11-25

System for attaching a device to an object, and associated system for deploying the device

#66
20210354800
2021-11-18

Water-air amphibious cross-medium bio-robotic flying fish

#67
20210348704
2021-11-11

Apparatus for hydrostatic testing using power from and ROV

#68
20210316854
2021-10-14

Submergible aerial vehicle

#69
20210309331
2021-10-07

System and method of operation for remotely operated vehicles leveraging synthetic data to train machine learning models

#70
20210276679
2021-09-09

Passive ballast device, system and methods of using same

#71
20210237280
2021-08-05

Subsea manipulator

#72
20210195881
2021-07-01

Method apparatus and system for controlling fish

#73
20210147052
2021-05-20

VEHICULAR SYSTEM

#74
20210147043
2021-05-20

Autonomous seabased resupply system

#75
20210141085
2021-05-13

Underwater optical positioning systems and methods

#76
20210123717
2021-04-29

System and method for determination of a spatial property of a submerged object in a 3D-space

#77
20210109517
2021-04-15

Control method of underwater vehicle, introducing method of underwater vehicle, recovering method of underwater vehicle, control system of underwater vehicle, introducing/recovering equipment of control system of underwater vehicle

#78
20210094660
2021-04-01

Devices, methods, and systems for underwater surveying

#79
20210072746
2021-03-11

Charging system for autonomous underwater vehicle and method of lifting and recovering autonomous underwater vehicle

#80
20210063353
2021-03-04

System for detecting flooding in flexible tubular pipes under high pressure conditions

#81
20210062641
2021-03-04

Method for detecting flooding in flexible tubular pipes under high pressure conditions

#82
20210040702
2021-02-11

Systems for offshore environmental maintenance

#83
20210016453
2021-01-21

Attachment mechanisms for stabilization of subsea vehicles

#84
20210001700
2021-01-07

Reconfigurable battery-operated vehicle system

#85
20200398958
2020-12-24

Leg-arm-propeller underwater robot

#86
20200363798
2020-11-19

Unmanned vehicle control and operation in a marine environment

#87
20200346726
2020-11-05

Multi-functional aquatic vehicle and system thereof

#88
20200341463
2020-10-29

Castable sonar devices and operations in a marine environment

#89
20200325745
2020-10-15

SEABED CORE SAMPLING DEVICE AND CORE SAMPLING METHOD

#90
20200317312
2020-10-08

Submersible remote operated vehicle tool change control

#91
20200300700
2020-09-24

Method and system for underwater hyperspectral imaging of seabed impacts, environmental state or environmental footprint

#92
20200260702
2020-08-20

SUBMERSIBLE FISHING DEVICE FOR FISHING

#93
20200249141
2020-08-06

Systems, apparatuses, and methods for measuring submerged surfaces

#94
20200223518
2020-07-16

MODULAR RAPID DEVELOPMENT SYSTEM FOR BUILDING UNDERWATER ROBOTS AND ROBOTIC VEHICLES

#95
20200206951
2020-07-02

Underwater pipeline inspection crawler

#96
20200198155
2020-06-25

Underwater pipeline inspection crawler

#97
20200189705
2020-06-18

Underwater body having a variable volume and method for operating such an underwater body

#98
20200189703
2020-06-18

Remotely operated underwater vehicle and control method therefor

#99
20200174148
2020-06-04

Method and system for deployment of ocean bottom seismometers

#100
20200130112
2020-04-30

Torque tool with electric motors

#101
20200124722
2020-04-23

Underwater optical metrology system

#102
20200103317
2020-04-02

UNDERWATER SAMPLING DEVICES AND METHODS THEREOF

#103
20200057026
2020-02-20

SYSTEMS, APPARATUS, AND METHODS FOR INSPECTING SUBMERGED SURFACES

#104
20200042020
2020-02-06

Integrated method and system for communication, positioning, navigation, and timing of deep-sea vehicle

#105
20200041458
2020-02-06

Underwater vehicles with integrated surface cleaning and inspection

#106
20200011992
2020-01-09

Underwater optical metrology system

#107
20200010161
2020-01-09

Underwater mobile inspection apparatus and underwater inspection equipment

#108
20190384285
2019-12-19

Unmanned vehicle control and operation in a marine environment

#109
20190384284
2019-12-19

Unmanned vehicle control and sonar operation in a marine environment

#110
20190344452
2019-11-14

Reusable buoyancy modules for buoyancy control of underwater vehicles

#111
20190322342
2019-10-24

Oil field well downhole drone

#112
20190322341
2019-10-24

FAIL FREE REMOTELY OPERATED VEHICLE

#113
20190314873
2019-10-17

Pipeline maintenance and inspection vehicle

#114
20190308705
2019-10-10

LAUNCH PLATFORM FOR AN UNMANNED VEHICLE

#115
20190286146
2019-09-19

Submersible inspection device and wireless communication with a base station

#116
20190283873
2019-09-19

Unmanned air and underwater vehicle

#117
20190228573
2019-07-25

Automated and adaptive three-dimensional robotic site surveying

#118
20190176944
2019-06-13

Methods for subsea vehicles supervised control

#119
20190137420
2019-05-09

Inspection of grouting between monopile and transition piece on offshore wind turbines

#120
20190136486
2019-05-09

Assembly and method for installing a subsea cable

#121
20190136477
2019-05-09

Inspection of Grouting in Jacket Pin Piles on offshore wind turbines

#122
20190127034
2019-05-02

Autonomous underwater survey apparatus and system

#123
20190112011
2019-04-18

System for launch and recovery of remotely operated vehicles

#124
20190111572
2019-04-18

Reusable buoyancy modules for buoyancy control of underwater vehicles

#125
20190100292
2019-04-04

System for the deployment of marine payloads

#126
20190084658
2019-03-21

Unmanned underwater vehicle, system and method for the maintenance and inspection of underwater facilities

#127
20190084163
2019-03-21

Attachment mechanisms for stabilization of subsea vehicles

#128
20190072951
2019-03-07

Castable sonar devices and operations in a marine environment

#129
20190072948
2019-03-07

Parking position

#130
20190047666
2019-02-14

Remote-controlled underwater vehicle for suction of oil from the underside of an ice surface

#131
20190039251
2019-02-07

Coordinated, complementary water environment mobile robots

#132
20190033887
2019-01-31

System for navigation of an autonomously navigating submersible body during entry into a docking station, method

#133
20190025449
2019-01-24

Underwater seismic exploration with a helical conveyor and skid structure

#134
20190011565
2019-01-10

Underwater optical positioning systems and methods

#135
20190011552
2019-01-10

Underwater optical metrology system

#136
20190011403
2019-01-10

Underwater vehicles with integrated surface cleaning and inspection

#137
20190011335
2019-01-10

Sampling container for a remotely operated vehicle

#138
20190009870
2019-01-10

Modular rapid development system for building underwater robots and robotic vehicles

#139
20180372615
2018-12-27

Integrated ultrasonic testing and cathodic protection measurement probe

#140
20180362117
2018-12-20

Open water transport system

#141
20180321680
2018-11-08

Underwater leading drone system

#142
20180321409
2018-11-08

Skid structure for underwater seismic exploration

#143
20180305013
2018-10-25

Reconfigurable battery-operated vehicle system

#144
20180290717
2018-10-11

Underwater vehicle for inspection of a subsea structure in a body of water and related method

#145
20180275649
2018-09-27

Unmanned vehicle control and operation in a marine environment

#146
20180274332
2018-09-27

Moving tools on offshore structures with a walking carriage

#147
20180251199
2018-09-06

Re-configurable subsea robot

#148
20180237116
2018-08-23

INSERTS FOR SUBSEA SYSTEMS

#149
20180222553
2018-08-09

Waterproof connector

#150
20180216444
2018-08-02

Fluid delivery vessel including a fluid delivery system and a remotely operated vehicle (ROV)

#151
20180208283
2018-07-26

Moving tools on offshore structures with a walking carriage

#152
20180203449
2018-07-19

Remotely operated vehicle camera apparatus

#153
20180163519
2018-06-14

Subsea live hydrocarbon fluid retrieval system and method

#154
20180162504
2018-06-14

System and Method For Using A Combination Of Multiple Autonomous Vehicles With Different Abilities, Working Together As A System For Subsea Oil and Gas Exploration

#155
20180162501
2018-06-14

Autonomous water column profiler

#156
20180158232
2018-06-07

Submersible inspection device and vision based modelling

#157
20180157251
2018-06-07

Submersible inspection device and redundant wireless communication with a base station

#158
20180154995
2018-06-07

Submersible drone having active ballast system

#159
20180143121
2018-05-24

Systems, apparatuses, and methods for measuring submerged surfaces

#160
20180112511
2018-04-26

Fluid injection system

#161
20180107210
2018-04-19

Unmanned vehicle control and operation in a marine environment

#162
20180093740
2018-04-05

Lattice Structure equipped hydrodynamic submersible remotely operated vehicle

#163
20180080905
2018-03-22

Underwater pipeline inspection crawler

#164
20180080904
2018-03-22

Underwater pipeline inspection crawler

#165
20180080307
2018-03-22

Coordinated water environment mobile robots

#166
20180079476
2018-03-22

Underwater vehicles and inspection methods

#167
20180079475
2018-03-22

Reusable buoyancy modules for buoyancy control of underwater vehicles

#168
20180074489
2018-03-15

Equipment for assisting underwater exploration and underwater robot for the equipment

#169
20180072494
2018-03-15

Subsea fluid storage system

#170
20180057127
2018-03-01

Wirelessly controlled subsystems for underwater remotely operated vehicles

#171
20180050776
2018-02-22

Electro-hydraulic compact drive for rotational movements

#172
20180033320
2018-02-01

Guide drones for airplanes on the ground

#173
20180015991
2018-01-18

Gliding robotic fish navigation and propulsion

#174
20180001981
2018-01-04

UNDERWATER REMOTELY OPERATED VEHICLE

#175
20170355431
2017-12-14

Glass sphere type pressure housing including titanium band and a multi-joint underwater robot system for deep sea exploration using the same

#176
20170349251
2017-12-07

Underwater mobile inspection apparatus and underwater inspection equipment

#177
20170315548
2017-11-02

METHOD OF CONTROLLING A SUBSEA PLATFORM, A SYSTEM AND A COMPUTER PROGRAM PRODUCT

#178
20170285203
2017-10-05

Conveyance system and method for underwater seismic exploration

#179
20170285202
2017-10-05

Skid structure for underwater seismic exploration

#180
20170285201
2017-10-05

Underwater seismic exploration with a helical conveyor and skid structure

#181
20170284806
2017-10-05

Subsea navigation systems and methods

#182
20170271916
2017-09-21

Autonomous ROVs with offshore power source that can return to recharge

#183
20170247093
2017-08-31

Handling device for an installable and retrievable subsea apparatus

#184
20170240258
2017-08-24

Autonomous underwater system for a 4D environmental monitoring

#185
20170240257
2017-08-24

SUBMARINE VEHICLE, METHOD FOR PICKING UP A LOAD FROM THE SEABED AND A METHOD FOR SETTING DOWN A LOAD ON THE SEABED

#186
20170190421
2017-07-06

Unmanned air and underwater vehicle

#187
20170185080
2017-06-29

Parking procedure

#188
20170174300
2017-06-22

Underwater modular device

#189
20170121000
2017-05-04

Parking position

#190
20170113768
2017-04-27

Subsea hosting of unmanned underwater vehicles

#191
20170085864
2017-03-23

Underwater 3D image reconstruction utilizing triple wavelength dispersion and camera system thereof

#192
20170057605
2017-03-02

Photovolatic powered cathodic protection probe

#193
20170043851
2017-02-16

Underwater mobile inspection apparatus and underwater inspection equipment

#194
20170036746
2017-02-09

Water drone

#195
20160376000
2016-12-29

SUBMERSIBLE UNMANNED AERIAL VEHICLES AND ASSOCIATED SYSTEMS AND METHODS

#196
20160369613
2016-12-22

Fluid injection system

#197
20160334793
2016-11-17

Pose detection and control of unmanned underwater vehicles (UUVs) utilizing an optical detector array

#198
20160325809
2016-11-10

Modular rapid development system for building underwater robots and robotic vehicles

#199
20160320282
2016-11-03

Systems, apparatuses, and methods for measuring submerged surfaces

#200
20160318591
2016-11-03

Transmission of power underwater

#201
20160304172
2016-10-20

Apparatus and method for control of seismic survey equipment

#202
20160278353
2016-09-29

Method and Apparatus for Controlling Fish

#203
20160236761
2016-08-18

Selectively submersible vessel

#204
20160236760
2016-08-18

System for monitoring a remote underwater location

#205
20160231281
2016-08-11

Systems, apparatus, and methods for inspecting submerged surfaces

#206
20160200408
2016-07-14

Charge deployment system for ordnance neutralisation

#207
20160194065
2016-07-07

Marine object able to float on water, comprising a deployable device for emitting and/or receiving electromagnetic waves

#208
20160176486
2016-06-23

System for subsea operations

#209
20160167781
2016-06-16

Combined submersible vessel and unmanned aerial vehicle

#210
20160167755
2016-06-16

UNMANNED UNDERWATER VEHICLES, LOCATIONS OF THEIR DOCKING STATIONS, AND THEIR PROGRAMMED ROUTES

#211
20160121983
2016-05-05

Deployment and retrieval of seismic autonomous underwater vehicles

#212
20160059944
2016-03-03

SUBSEA SYSTEM FOR SEABED OPERATIONS

#213
20160052126
2016-02-25

Structural assessment, maintenance, and repair apparatuses and methods

#214
20160009344
2016-01-14

System and method for recovering an autonomous underwater vehicle

#215
20150375840
2015-12-31

STAND-OFF DELIVERY OF UNMANNED UNDERWATER VEHICLES

#216
20150375586
2015-12-31

Combined submersible vessel and unmanned aerial vehicle

#217
20150369751
2015-12-24

Device and method for transformer in-situ inspection

#218
20150367938
2015-12-24

OCEAN - AIR VEHICLE

#219
20150362918
2015-12-17

Method of Operating a Remotely Accessible Unmanned Underwater Vehicle

#220
20150336646
2015-11-26

Autonomous underwater vehicle for marine seismic surveys

#221
20150301527
2015-10-22

Adaptative platform for unmanned defense vehicles

#222
20150284060
2015-10-08

Capture and docking apparatus, method, and applications

#223
20150276959
2015-10-01

Acoustic modem-based guiding method for autonomous underwater vehicle for marine seismic surveys

#224
20150259043
2015-09-17

Systems and methods for tensioning mooring lines at the seafloor

#225
20150239538
2015-08-27

Capture and docking apparatus, method, and applications

#226
20150232161
2015-08-20

System for Immobilizing Small Watercraft

#227
20150192925
2015-07-09

Wireless data communications between a remotely operated vehicle and a remote location

#228
20150192488
2015-07-09

Method and system for subsea leak detection using autonomous underwater vehicle (AUV)

#229
20150177212
2015-06-25

Underwater vehicle and sensor

#230
20150166150
2015-06-18

MOBILE OIL PLATFORM SYSTEM AND METHOD

#231
20150148949
2015-05-28

Structural assessment, maintenance, and repair apparatuses and methods

#232
20150136012
2015-05-21

Modular rapid development system for building underwater robots and robotic vehicles

#233
20150120045
2015-04-30

Gliding robotic fish navigation and propulsion

#234
20150068440
2015-03-12

Fluid injection system

#235
20150053413
2015-02-26

METHOD OF PROVIDING BUOYANCY

#236
20140230713
2014-08-21

Underwater mobile inspection apparatus and underwater inspection equipment

#237
20130083624
2013-04-04

Autonomous underwater vehicle for marine seismic surveys

#238
20120087208
2012-04-12

Method for deployment of ocean bottom seismometers

#239
20120087206
2012-04-12

Apparatus for deployment of ocean bottom seismometers

#240
20110286800
2011-11-24

Deployment method for ocean bottom seismometers

#241
20110226174
2011-09-22

COMBINED SUBMERSIBLE VESSEL AND UNMANNED AERIAL VEHICLE

#242
20110144836
2011-06-16

Underwater investigation system providing unmanned underwater vehicle (UUV) guidance based upon updated position state estimates and related methods

#243
20100089126
2010-04-15

Subsea pipeline service skid

#244
20070283871
2007-12-13

Underwater remotely operated vehicle

#245
20070261629
2007-11-15

Remotely controlled apparatus for recovering liquid in sunken ship and method performed by the same

#246
20070258774
2007-11-08

Method and apparatus for deployment of ocean bottom seismometers

#247
20060159524
2006-07-20

Method and apparatus for deployment of ocean bottom seismometers

#248
18810551
2025-01-21

Visualized biological trawl net system based on submersible

#249
17719780
2023-01-31

Hybrid-driven mooring chain cleaning and structural inspection underwater robot and working method thereof

#250
17148602
2023-01-17

Fluid medium vehicle

#251
16598662
2020-09-22

Process for non-vertical installation and removal of a subsea structure

#252
15806131
2019-12-03

Autonomous agent scheduling

#253
15621873
2018-02-20

Offset vertical thruster equipped hydrodynamic submersible remotely operated vehicle

#254
15285255
2017-07-04

Hydrodynamic submersible remotely operated vehicle

#255
14689932
2016-09-13

System and methods of using unmanned underwater vehicles (UUVs) along with tethers and tethered devices