Abstract: A method of deploying a device to the seabed with a submersible vehicle, the vehicle having a hull which defines a hull axis and appears substantially annular when viewed along the hull axis. The hull has an interior defining a duct which is open at both ends. The device is mounted to the hull on one or more struts so that it is positioned in line with the duct or at least partially within the duct. The device is transported to the seabed mounted to the hull on the strut(s), water flowing through the duct as it does so. The device is then deployed on the seabed after it has been transported to the seabed by the vehicle.

Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. At least part of the outer hull is swept with respect to the hull axis A buoyancy control system may be provided. Various methods of deploying and using the vehicle are described.

Abstract: A seismic sensor node comprising an annular body (2) with an annular cutting edge (3) at one end. One or more seismic sensors (8, 9) are coupled to the annular body (2). The annular body (2) surrounds a duct (5) which is open at either end to permit liquid to flow through the duct, and which increases in cross-sectional area as it extends towards the cutting edge (3). The compression of the seabed material squeezes out water from the material, making it more dense so that it transmit seismic vibrations more efficiently. The shape of the duct (5) also means that the centre of gravity of the node is lower than it would be for a cylindrical node—thus increasing the stability of the node compared with a cylindrical one.

Abstract: A seismic sensor node 1 comprising one or more seismic sensors (8,9) and an annular skirt (3) defining an annular axis. The annular skirt (3) has a cutting edge (10) which appears serrated when viewed at a right angle to the annular axis. The skirt (3) also has a series of ribs (15) and channels (11) which terminate at the cutting edge so that the cutting edge has an undulating shape when viewed parallel with the annular axis. The ribbed shape of the skirt (3) makes it particularly resistant to ellipsoid or modal oscillation, so that it can transmit seismic vibrations to the seismic sensor (s) with minimal distortion, attenuation or damping.

Abstract: An airborne vehicle having a wing-body which defines a wing-body axis and appears substantially annular when viewed along the wing-body axis, the interior of the annulus defining a duct which is open at both ends. A propulsion system is provided comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device mounted to the wing-body and positioned on a first side of a plane including the wing-body axis, and a second propulsion device mounted to the wing-body and positioned on a second side of the plane including the wing-body axis.

Abstract: An airborne vehicle having a wing-body which defines a wing-body axis and appears substantially annular when viewed along the wing-body axis, the interior of the annulus defining a duct which is open at both ends. A propulsion system is provided comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device mounted to the wing-body and positioned on a first side of a plane including the wing-body axis, and a second propulsion device mounted to the wing-body and positioned on a second side of the plane including the wing-body axis.

Abstract: An airborne vehicle having a wing-body which defines a wing-body axis and appears substantially annular when viewed along the wing-body axis, the interior of the annulus defining a duct which is open at both ends. A propulsion system is provided comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device mounted to the wing-body and positioned on a first side of a plane including the wing-body axis, and a second propulsion device mounted to the wing-body and positioned on a second side of the plane including the wing-body axis.

Abstract: An airborne vehicle having a wing-body which defines a wing-body axis and appears substantially annular when viewed along the wing-body axis, the interior of the annulus defining a duct which is open at both ends. A propulsion system is provided comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device mounted to the wing-body and positioned on a first side of a plane including the wing-body axis, and a second propulsion device mounted to the wing-body and positioned on a second side of the plane including the wing-body axis.

Abstract: An airborne vehicle having a wing-body which defines a wing-body axis and appears substantially annular when viewed along the wing-body axis, the interior of the annulus defining a duct which is open at both ends. A propulsion system is provided comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device mounted to the wing-body and positioned on a first side of a plane including the wing-body axis, and a second propulsion device mounted to the wing-body and positioned on a second side of the plane including the wing-body axis. A direction of thrust of the first propulsion device can be adjusted independently of the direction of thrust of the second propulsion device and/or a magnitude of thrust of the first propulsion device can be adjusted independently of the magnitude of thrust of the second propulsion device.

Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. At least part of the outer hull is swept with respect to the hull axis. A buoyancy control system may be provided. Various methods of deploying and using the vehicle are described.

Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. The vehicle further comprising means for rolling the vehicle about the hull axis. A buoyancy control system may be provided, and the outer hull may be swept with respect to the hull axis. Various methods of deploying and using the vehicle are described.

Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. At least part of the outer hull is swept with respect to the hull axis A buoyancy control system may be provided. Various methods of deploying and using the vehicle are described.

Abstract: An airborne vehicle having a wing-body which defines a wing-body axis and appears substantially annular when viewed along the wing-body axis, the interior of the annulus defining a duct which is open at both ends. A propulsion system is provided comprising one or more pairs of propulsion devices, each pair comprising a first propulsion device mounted to the wing-body and positioned on a first side of a plane including the wing-body axis, and a second propulsion device mounted to the wing-body and positioned on a second side of the plane including the wing-body axis. A direction of thrust of the first propulsion device can be adjusted independently of the direction of thrust of the second propulsion device and/or a magnitude of thrust of the first propulsion device can be adjusted independently of the magnitude of thrust of the second propulsion device.

Abstract: A submersible vehicle having an outer hull which defines a hull axis and appears substantially annular when viewed along the hull axis, the interior of the annulus defining a duct which is open at both ends so that when the vehicle is submerged in a liquid, the liquid floods the duct. The vehicle further comprising means for rolling the vehicle about the hull axis. A buoyancy control system may be provided, and the outer hull may be swept with respect to the hull axis. Various methods of deploying and using the vehicle are described.