Abstract: A method, system and a marine node for recording seismic waves underwater. The node includes a first module configured to house a seismic sensor; bottom and top plates attached to the first module; a second module removably attached to the first module and configured to slide between the bottom and top plates the second module including a first battery and a data storage device; and a third module removably attached to the first module and configured to slide between the bottom and top plates, the third module including a second battery.

Abstract: Apparatuses, systems, and methods for the deployment of a plurality of seismic autonomous underwater vehicles (AUVs) on or near the seabed. In one embodiment, the AUV comprises a buoyant body coupled to a pressure vessel that contains substantially all of the AUV's electronic components. The pressure vessel may comprise a plurality of composite components coupled together by a metallic ring to provide a substantially cylindrical shape to the pressure vessel. The AUV body provides lift to the AUV during lateral movement and compensates for an overall negative buoyancy of the AUV. The AUV may include a plurality of thrusters for propulsion. A vertical thruster may be used to create an upwards attack angle during takeoff and to maintain depth and orientation during flight. During normal flight operations, the AUV is configured to travel horizontally and vertically in a body of water by using only the horizontal thrusters.

Abstract: A system, apparatus, and method for transferring a subsea payload (such as seismic nodes) at a subsea position by using an elevator system located on a subsea basket. A plurality of seismic nodes may be located on a plurality of support slides, trays, or other node holders at different levels within the basket. The elevator system is configured to move the seismic nodes between different heights within the basket for external transfer from one or more vertical positions. During transfer operations between a subsea basket and an underwater vehicle (e.g., ROV), the desired level of seismic nodes may be positioned to the desired vertical position within the basket and transferred to the ROV by various transfer mechanisms, such as an extendable stinger or chain drive. Multiple levels of seismic nodes (or node holders) may be transferred between the basket and ROV during a single subsea docking.

Abstract: Apparatuses, systems, and methods for the docking of an underwater vehicle (such as a ROV) to a subsea structure (such as a basket or cage) for the transfer of payload devices, such as ocean bottom seismic nodes. The ROV may have a docking probe that is rotatable between an extended and retracted position by a rotatory actuator. The subsea structure may have a docking receptacle that receives the docking probe while the probe is in an extended position. The docking probe and receptacle can latch and/or be secured together by a variety of mechanisms. Once secured, the docking probe can rotate thereby changing the relative positions (horizontal and/or vertical) of the ROV and the subsea structure. The underwater vehicle may have an elevator mechanism that may move vertically and/or horizontally and that is coupled to a handler or grabber for handling and/or transfer of the payload devices.

Abstract: Embodiments, including systems and methods, for modeling the catenary shape of one or more deployment lines from a marine vessel, each of which is connected to a subsea device. A subsea device may include ROVs or other underwater vehicles and subsea cages, baskets, and similar devices that may be lowered or raised from the surface vessel. The disclosed system and method provides real-time modeling and predictive modeling of the catenary shape of the deployed lines based on input from one or more real time navigation sensors, as well as inputted parameters or values such as length of deployed cable, etc. This allows the surface vessel and/or ROV operators to maximize the position and speed of the surface vessel, ROV, and other subsea devices, and overall seismic node deployment and recovery operations, within the operational constraints of the system without causing cable failure or entanglement of the deployed lines.

Abstract: Apparatuses, systems, and methods for data and/or power transfer to and from an ocean bottom seismic node are described. In an embodiment, an autonomous seismic node is configured with a bulkhead connector assembly that may be coupled to a plug assembly for data and/or power transfer and a pressure cap assembly when utilized subsea. A plurality of pins may be located on the bulkhead assembly in a substantially flat contact surface to obtain an external electrical connection to the node. The pins on the bulkhead assembly may form a flat circuit with an external device, such as a plug assembly or pressure cap assembly. One or more external devices may be coupled to the pressure cap assembly and/or bulkhead connector for increased functionality to the node. A quick release assembly and/or locking ring may be utilized to fasten any external device to the bulkhead connector assembly.

Abstract: Apparatuses, systems, and methods for the deployment of a plurality of seismic autonomous underwater vehicles (AUVs) on or near the seabed. In one embodiment, the AUV comprises a buoyant body coupled to a pressure vessel that contains substantially all of the AUV's electronic components. The pressure vessel may comprise a plurality of composite components coupled together by a metallic ring to provide a substantially cylindrical shape to the pressure vessel. The AUV body provides lift to the AUV during lateral movement and compensates for an overall negative buoyancy of the AUV. The AUV may include a plurality of thrusters for propulsion. A vertical thruster may be used to create an upwards attack angle during takeoff and to maintain depth and orientation during flight. During normal flight operations, the AUV is configured to travel horizontally and vertically in a body of water by using only the horizontal thrusters.

Abstract: Disclosed is a method for determining skew measurements for clock errors in an autonomous seismic node. A parabolic fit may be used to estimate the clock drift of an ocean bottom seismic node during node deployment. A temperature and/or frequency trend and a real-time temperature measurement may be used to compute a temperature corrected parabolic trend. The temperature and/or frequency trend may be measured in a laboratory on a node by node basis or it may be a single trend that is suitable for all nodes. The method may include measuring clock skew prior to node deployment and after node recovery, correcting the pre and post deployment skew measurements based on a temperature and/or frequency trend and/or to a constant reference temperature, and/or computing a parabolic trend of the skew measurements of the clock based on the temperature corrected pre and post deployment skew measurements.

Abstract: Embodiments of systems and methods for inductively powering seismic sensor nodes are presented. An embodiment of an inductive battery includes a battery cell configured to store charge for use by an external device. The inductive battery may also include a first inductive element coupled to the battery cell, the first inductive element configured to receive current from the battery cell and emit a responsive magnetic field for powering an external device through inductance. In an embodiment the external device is a seismic sensor node.

Abstract: Apparatuses, systems, and methods for monitoring, positioning, and/or guiding a plurality of seismic nodes on or near the seabed by a plurality of acoustic pinging devices coupled to a deployment line and at least one surface buoy. The acoustic pinging devices are configured to emit a unique ID that may be detected by a receiver or transceiver located on each of the surface buoys. The acoustic pinging devices may be coupled to each node or only to a portion of the plurality of nodes (such as every two, three, or four nodes). The monitoring system may be configured to identify the ID, position, depth, and height of each seismic node during travel to the seabed and upon node touchdown with the seabed. A guidance system may be configured to guide the deployment of the deployment cable based upon node position data determined by the monitoring system.

Abstract: Apparatuses, systems, and methods for the deployment of a plurality of autonomous underwater seismic vehicles (AUVs) on or near the seabed based on acoustic communications with an underwater vehicle, such as a remotely operated vehicle. In an embodiment, the underwater vehicle is lowered from a surface vessel along with a subsea station with a plurality of AUVs. The AUVs are configured to acoustically communicate with the underwater vehicle or a second surface vessel for deployment and retrieval operations. The underwater vehicle and/or second surface vessel is configured to instruct the AUVs to leave the subsea station or underwater vehicle and to travel to their intended seabed destination. The underwater vehicle and/or second surface vessel is also configured to selectively instruct the AUVs to leave the seabed and return to a seabed location and/or a subsea station for retrieval.

Abstract: Apparatuses, systems, and methods for monitoring, positioning, and/or guiding a plurality of seismic nodes on or near the seabed by a plurality of acoustic pinging devices coupled to a deployment line and at least one surface buoy. The acoustic pinging devices are configured to emit a unique ID that may be detected by a receiver or transceiver located on each of the surface buoys. The acoustic pinging devices may be coupled to each node or only to a portion of the plurality of nodes (such as every two, three, or four nodes). The monitoring system may be configured to identify the ID, position, depth, and height of each seismic node during travel to the seabed and upon node touchdown with the seabed. A guidance system may be configured to guide the deployment of the deployment cable based upon node position data determined by the monitoring system.

Abstract: Embodiments of systems and methods for inductively powering seismic sensor nodes are presented. An embodiment of an inductive battery includes a battery cell configured to store charge for use by an external device. The inductive battery may also include a first inductive element coupled to the battery cell, the first inductive element configured to receive current from the battery cell and emit a responsive magnetic field for powering an external device through inductance. In an embodiment the external device is a seismic sensor node.

Abstract: Apparatuses, systems, and methods for the deployment of a plurality of autonomous underwater seismic vehicles (AUVs) on or near the seabed based on acoustic communications with an underwater vehicle, such as a remotely operated vehicle. In an embodiment, the underwater vehicle is lowered from a surface vessel along with a subsea station with a plurality of AUVs. The AUVs are configured to acoustically communicate with the underwater vehicle or a second surface vessel for deployment and retrieval operations. The underwater vehicle and/or second surface vessel is configured to instruct the AUVs to leave the subsea station or underwater vehicle and to travel to their intended seabed destination. The underwater vehicle and/or second surface vessel is also configured to selectively instruct the AUVs to leave the seabed and return to a seabed location and/or a subsea station for retrieval.

Abstract: A system, apparatus, and method for transferring a subsea payload (such as seismic nodes) at a subsea position by using an elevator system located on a subsea basket. A plurality of seismic nodes may be located on a plurality of support slides, trays, or other node holders at different levels within the basket. The elevator system is configured to move the seismic nodes between different heights within the basket for external transfer from one or more vertical positions. During transfer operations between a subsea basket and an underwater vehicle (e.g., ROV), the desired level of seismic nodes may be positioned to the desired vertical position within the basket and transferred to the ROV by various transfer mechanisms, such as an extendable stinger or chain drive. Multiple levels of seismic nodes (or node holders) may be transferred between the basket and ROV during a single subsea docking.

Abstract: Seismic autonomous underwater vehicles (AUVs) for recording seismic signals on the seabed. The AUV may be negatively buoyant and comprise an external body (which may be formed of multiple housings) that substantially encloses a plurality of pressure housings. Portions of the external body housing may be acoustically transparent and house one or more acoustic devices for the AUV. The AUV may comprise a main pressure housing that holds substantially all of the electronic components of the AUV, while a second and third pressure housing may be located on either side of the main pressure housing for other electronic components (such as batteries). A plurality of external devices (such as acoustic devices or thrusters) may be coupled to the main pressure housing by external electrical conduit. The AUV may comprise fixed or retractable wings for increased gliding capabilities during subsea travel.

Abstract: Systems and methods for deploying seismic autonomous underwater vehicles (AUVs) to the seabed by using a variety of guidance systems and/or positioning/communication protocols based on a particular AUV's location. A combination of a USBL system and a phased array system may be used to deploy different groups of AUVs on one or more deployment lines of a seismic survey area. The deployment lines may be generally perpendicular or parallel to a deployment vessel's direction of travel. Once a certain number of AUVs have landed on the seabed, the landed AUVs may be used to guide flying AUVs to their intended seabed destination by using acoustic pingers and phased array techniques. Time intervals for acoustic signals emitted from landed AUVs may be generated using a predetermined Time of Emission pattern and received by a phased array receiver on flying AUVs.

Abstract: Apparatuses, systems, and methods for the docking of an underwater vehicle (such as a ROV) to a subsea structure (such as a basket or cage) for the transfer of payload devices, such as ocean bottom seismic nodes. The ROV may have a docking probe that is rotatable between an extended and retracted position by a rotatory actuator. The subsea structure may have a docking receptacle that receives the docking probe while the probe is in an extended position. The docking probe and receptacle can latch and/or be secured together by a variety of mechanisms. Once secured, the docking probe can rotate thereby changing the relative positions (horizontal and/or vertical) of the ROV and the subsea structure. The underwater vehicle may have an elevator mechanism that may move vertically and/or horizontally and that is coupled to a handler or grabber for handling and/or transfer of the payload devices.

Abstract: Embodiments of systems and methods for deploying and retrieving a plurality of autonomous seismic nodes from the back deck of a marine vessel using an overboard node deployment and retrieval system are presented. The overboard system may comprise one or more overboard wheels that are actively powered to move in response to changes in movement of the deployed cable. The overboard system may comprise a first overboard wheel with a plurality of rollers and a second overboard wheel configured to detect movement and/or changes in a position of the deployment line. The overboard system may be configured to move the first overboard wheel in response to movement of the second overboard wheel. In addition, the first overboard wheel may comprise at least one opening or pocket configured to hold a node while the node passes across the wheel. Other seismic devices may also pass through the overboard system, such as transponders and weights attached to the deployment cable.

Abstract: Apparatuses, systems, and methods for the deployment of a plurality of autonomous underwater seismic vehicles (AUVs) on or near the seabed based on acoustic communications with an underwater vehicle, such as a remotely operated vehicle. In an embodiment, the underwater vehicle is lowered from a surface vessel along with a subsea station with a plurality of AUVs. The AUVs are configured to acoustically communicate with the underwater vehicle or a second surface vessel for deployment and retrieval operations. The underwater vehicle and/or second surface vessel is configured to instruct the AUVs to leave the subsea station or underwater vehicle and to travel to their intended seabed destination. The underwater vehicle and/or second surface vessel is also configured to selectively instruct the AUVs to leave the seabed and return to a seabed location and/or a subsea station for retrieval.