Abstract: An underwater vehicle is provided to move in various orientations and directions, including pitch, yaw, roll, heave, surge and sway. The underwater vehicle comprises an upper body and a lower body, wherein both bodies are separated by two rudders. One rudder is positioned towards the fore of the underwater vehicle, while the other is positioned towards the aft. Each rudder forms the basis of a propulsion system, such that the underwater vehicle has at least two independently controlled propulsion systems. Each propulsion system further comprises an elevator extending horizontally from the sides of each rudder and a thrust generator attached to the elevator. The elevator and thrust generator are able to pitch about an axis extending horizontally through the sides of the rudder, and the rudder is able to yaw about an axis extending vertically through the top and bottom of said rudder.

Abstract: A seismic source is provided that uses suitable low frequency acoustic transducers enabling a complex chirp to be used while increasing the effective power level and keeping the peak power down to a fraction of this effective power. The transducers can be driven using a pseudo-random coding of chirps that change frequency in each contiguous burst within the chirp and the interval between chirps varied to provide a pseudo-random duty cycle allowing multiple signals to be present in the water at the same time with a wider spectral coverage. By changing the timing of the drive signal for specific transducers, the direction of the source beam can be altered to steer the beam towards or away from certain objects or areas.