Abstract: Disclosed is an apparatus, system, and method, by which a gaseous chemical, e.g., hydrogen gas, can be retrieved by, stored within, and transported by, a low-cost autonomous vessel. The vessel is deployed, and operates, within a body of water. A submerged portion of the vessel is subjected to an ambient hydrostatic pressure that is used to compress the stored gases. A spar buoy that floats adjacent to a surface of the body of water regulates and stabilizes a depth of the submerged portion. A single pressure-tolerant chamber within the submerged portion is used to acquire gas from a gas provider and to equilibrate the pressure of the gas so acquired. The pressure-equilibrated and/or pressure-balanced gas is then drawn into a first gas storage tank through a venting of an approximately equal volume of another gas, e.g., air, from a second gas storage tank, resulting in a gas transfer at an approximately constant pressure.

Abstract: In an underwater glider, stability and versatility can be enhanced by the use of a high wing design. In a high wing design, a centerline of the wings extending from the sides of the body of the glider are located above a relative centerline of the body of the glider. The relative centerline of the wings may rise continuously from a region where the wings attach to the body to respective ends of the wings. In particular for a blended wing glider, a top surface of the glider is level in a line extending between ends of each wing.

Abstract: A robot (2) and method for underwater monitoring and maintenance of a ship's hull (1) when the ship is underway, are described. The robot (2) comprises a main body (5), a connector (21) for connecting the robot (2) to a cable (3) for towing the robot (2), a resting base (13) adopted to rest against the ship's hull (1), one or more hydrofoil(s) (6, 7) arranged perpendicular to the length axis of the main body (5), and a rudder (8) arranged at the front part of the main body (5), the main body (5) being a straight and elongated body having a length to width ratio of 5 or more, where the length of the hydrofoil(s) (6, 7) as seen perpendicular to the main body (5), is/are longer than the width of the main body (5), and where the connector (21) for the cable (3) is arranged at one end of a hydrofoil (6), or at an arm extending parallel with the one or more hydrofoil(s).

Abstract: A method and system for the offshore production of fuel includes an offshore marine platform on which is mounted a hydrogen production unit. The hydrogen production unit may produce hydrogen utilizing raw materials sourced adjacent the marine platform, including seawater and electricity from offshore wind turbines. The produced hydrogen may then be blended onboard the marine platform with liquefied natural gas delivered to the marine platform in order to produce a blended fuel comprised of the delivered natural gas and a portion of the produced hydrogen. The blended fuel may be subsequently liquified and transported away from the marine platform, or conveyed to a remote location via a seabed pipeline, or combusted by onboard combustion turbines that can in turn drive electric generators onboard the marine platform to produce electricity.

Abstract: A sonar system includes a towfish comprising a first body linked to a second body, the first body being elongate along a longitudinal axis and comprising a plurality of acoustic transmitters distributed along the longitudinal axis, the sonar system comprising a cable linked to the second body and via which a surface carrier ship is intended to tow the towfish, the first body being mounted to pivot, with respect to the second body, about an axis of rotation so that, the first body can switch, by pivoting with respect to the second body about the axis of rotation, from an operational position to a capture position; the axis of rotation being substantially an axis of movement of the towfish, the longitudinal axis being substantially vertical in the operational position of the first body and being substantially horizontal in the capture position of the first body, when the towfish is totally submerged and towed by the carrier ship.

Abstract: The present invention provides a hybrid-power-driven underwater robot, including a robot body and a releasing and recovering device, wherein a first transmission cavity is formed in the releasing and recovering device, a seawater removing mechanism and an electric take-up reel are arranged inside the first transmission cavity, a cable is arranged on the electric take-up reel, the cable extends out of the first transmission cavity, and the robot body is fixedly connected to one end of the cable; and a tail fin is movably connected to the robot body, an acceleration mechanism is further arranged on the robot body, a second transmission cavity is formed in the robot body, a driving mechanism for driving the tail fin and the acceleration mechanism is arranged inside the second transmission cavity, and the driving mechanism can drive the tail fin separately or drive the acceleration mechanism separately.

Abstract: A tension sensor includes a planar tab having a first and second side, first and second end sections and an aperture through each of the end sections. A first strain gage is attached to the first side of the tab. The first strain gage has a tension grid aligned to a longitudinal axis of the tab and a cross-tension grid perpendicular to the tension grid. A second strain gage is attached to the second side of the tab. The second strain gage has a tension grid aligned to the longitudinal axis of the tab and a cross-tension grid perpendicular to the tension grid. The first strain gage and second strain gage are wired in a Wheatstone bridge in which the tension grid and the cross-tension grid of the first strain gage form one side and the tension grid and the cross-tension grid of the second strain gage form another side.

Abstract: A sensor platform is provided with a rigid hull having a planar shape having a bow, stern, a port and a starboard side. The platform includes an inflatable perimeter tube having sides extending along a perimeter of the hull. A tow connection is at the bow and rigid control surfaces are at the stern. A planar sensor array is disposed within the platform. The planar sensor array includes inflatable sensor panels attached to the port and a starboard side of the perimeter tube. Each of the inflatable sensor panels has a plurality of sensors embedded with electrical conductors for power and data transfer. A manifold disposed within the platform operationally connects to the inflatable perimeter tube and the inflatable sensor panels. An electrical controller disposed within the platform connects to the sensors and the manifold.

Abstract: A system includes an unmanned underwater vehicle (UUV), a reaction structure configured to deploy from a body of the UUV, and one or more tendons connecting the reaction structure to the body of the UUV, wherein the reaction structure deploys at a depth below the body of the UUV. The system further includes one or more power take-out (PTO) units coupled to or between the reaction structure and the UUV. The system further includes a control unit coupled to the one or more PTO units to convert energy from waves on a surface of a body of water for use in other systems within the UUV.

Abstract: A rope releasing apparatus includes an actuator, a wireless receiver for receiving a wireless signal to control the actuator, and a rope securing mechanism mechanically coupled to the actuator. The rope securing mechanism secures a rope. The rope is attached to a fishing net. In response to receiving the wireless signal, the wireless receiver activates the actuator to cause the rope securing mechanism to release the rope.

Abstract: Disclosed is a system for underwater exploration using a submerged device towed by a surface vessel, the submerged device being connected to the vessel by a towing line and including equipment supplied by the electricity, characterized in that the submerged device includes at least one device for the local production of electrical energy, the device being an electric hydrogenerator and in that the towing line has no electrical supply cable connecting the vessel to the submerged device.

Abstract: A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The vehicle and other autonomous vehicles can be transported to the location of use by a ferry vehicle thereby conserving vehicle systems and resources and expanding the vehicle utility.

Abstract: A system for ocean bottom node (OBN) deployment can include a first deployment device located on a marine vessel, a second deployment device located on the marine vessel, a first line coupled to the first deployment device and comprising a first plurality of OBNs, and a second line coupled to the second deployment device and comprising a second plurality of OBNs. The first deployment device and the second deployment device can be configured to deploy and retract the first line and the second line simultaneously.

Abstract: A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The vehicle can include a mechanisms that magnetically attaches to a ferry vehicle for transport to the location of use.

Abstract: A body towed by a cable behind a ship and commonly referred to as a towfish, the towfish includes a structure configured to move through the water in a horizontal main direction and at least one appendage configured to generate on the towfish a downwardly directed hydrodynamic lift (P) when the towfish is moving through the water under the effect of the towing, the appendage being orientable so as to modify its lift. The towfish comprises a bracket capable of rotational movement with respect the structure about a horizontal axis perpendicular to the horizontal main direction, the cable being attached to the bracket. An orientation (?) of the appendage, allowing it to alter the lift (P), is dependent on an angle (?) formed between the bracket and the structure about the horizontal axis.

Abstract: An autonomous loading/unloading system and method for transferring material includes: a buoy for releasing onto water; a messenger line coupled to the buoy for being pulled; a carrier line loop coupled to the messenger line for being pulled, where a payload is coupled to the carrier loop for transferring the material to or from an unmanned ship; a fetch/release platform to fetch or release the payload from or onto the water; a loading/unloading dock for the payload; a plurality of line guides for guiding the carrier loop; and a platform-to-payload interconnect for autonomous loading or unloading of the material from/to the payload.

Abstract: A marine array having various embodiments of a modular foil system is disclosed. The modular foil system may be configured to generate lift when towed in a marine environment, and thus used to move, position, and/or depress instrument of the array. The modular foil system may include multiple groups of foil sections, each having an angle of attack that is adjustable relative to other groups of foil sections. For example, each group may be supported by a pair of through cables, and an actuator may adjust a tension in one or both of through cables, thereby alerting the angle of attack. The pair of through cables may converge toward one another at connection points adjacent opposing ends of a given group of foil sections of the modular system. The connection points thus establishing a modular framework to couple the given group to other groups of foils of the system.

Abstract: A system for bridle bite adjustment can include a tow rope coupled to a paravane at a first position on a lever arm and a spur line coupled to the paravane at a second position on the lever arm. The system can also include a winch to adjust a deployed length of the tow rope. The tow rope and the lever arm can adjust a bridle bite of the paravane by when the deployed length of the tow rope is adjusted by the winch, thereby balancing tension between the tow rope and the spur line.

Abstract: Apparatus and methods are disclosed relating to a body towable behind a vessel in a body of water, an arm rotatably coupled to the body, and one or more foils disposed on the arm. The arm, when deployed, is configured to be free to rotate as the apparatus is towed through the body of water. The one or more foils are configured to generate lift as the apparatus is towed. Due to the free rotation of the arm, the foils impart tension force to the body and not torque forces.

Abstract: A terminal structure of an armored cable includes an end of an armored cable, a terminal metal fitting, and a support. The end includes a core, and an armoring including armor wires made of copper or copper alloy disposed on an outer circumference of the core. The terminal metal fitting is attached to an end of each armor wire. The support is disposed on a tip side of the core and supports a plurality of the terminal metal fittings. The support includes a base plate and a fixing member. The base plate is provided with a first through hole into which the core is inserted, and second through holes which are provided on an outer circumference of the first through hole and into each of which a corresponding one of the terminal metal fittings is inserted. The fixing member fixes each terminal metal fitting to the base plate.

Abstract: The invention relates to a seismic streamer (1) for underwater towing at a towing speed in ice-free or wholly or partially icy water, the streamer (1) is provided with birds (2) spaced along the streamer, the streamer including the birds (2) has negative buoyancy, the birds have wings (8) which can be set so that the birds during movement in the water apply an upward or downward force on the streamer. The streamer (1) is provided with buoyant bodies (4) spaced along the streamer, the buoyant bodies are connected to the streamer by spacer elements (5), the streamer including the birds, the buoyant bodies with associated spacer elements and any other equipment together have positive buoyancy. The invention also relates to a corresponding method for securing a seismic streamer (1) from damage at a substantial reduction or cessation of towing speed when towing underwater in ice-free or wholly or partially icy water.

Abstract: An electromagnet can be used to provide a controlled magnetic field, for example for the purpose of minesweeping. The electromagnet is constructed of a material which has a Curie temperature, such that the electromagnet can be stored at a temperature above the Curie temperature, but deployed below the Curie temperature in use.

Abstract: Described herein are embodiments of an autonomous drone for refueling. The autonomous drone may comprise a fuel storage area; a fuel delivery mechanism coupled to the fuel storage area; a delivery connection coupled to the fuel delivery mechanism; a drive mechanism; and a central controller. The central controller may be configured to receive a refueling location; and control the drive mechanism to pilot the autonomous drone to the refueling location.

Abstract: A compact and simplified heave compensation system for reducing the effect of waves or wavelike movements on a lifting device. The system can have active and passive heave compensation components. An overload protection to protect lifting equipment can also be implemented. The system enables accurate load and displacement calculations, as well as simplifying the control schemes utilized for lifting devices.

Abstract: A submersible inspection drone used for inspection can include a ballast system used to control depth of the submersible inspection drone. The submersible can be configured to communicate to a base station using a wireless transmitter and receiver. The ballast system can include a pressure vessel for storing fluid and a bag for inflating and deflating as it receives a fluid. Buoyancy of the submersible inspection drone can be provided by change in density of the pressure vessel as a compressible gas is expanded when the ballast bag is caused to inflate or deflate. A pump can be used to draw fluid from the ballast bag and store the fluid in the pressure vessel. In one form the pressure vessel can include a compressible fluid and an incompressible fluid, where the incompressible fluid is used to inflate and deflate the bag.

Abstract: The invention in particular relates to a method for controlling the horizontal position of a seismic cable adapted for acquiring seismic data midwater. The method comprises, based on a deviation observed between the position of the seismic cable and a setpoint horizontal position, a correction of the position of the seismic cable through an adjustment of the forces respectively exerted by lead-in cables on the ends of the seismic cable, the exerted forces simultaneously and each having an axial component and a lateral component relative to the seismic cable at at least one moment of the correction. This allows an easy to implement and relatively precise control of the horizontal position of a seismic cable adapted for acquiring seismic data midwater and kept stationary or quasi-stationary during the data acquisition.

Abstract: A multi-hull seaplane configured to eliminate most porpoising modes (only the low angle planing remains) by separating the forward and aft hulls and staggering them transversely so as the water flow from the forward hulls does not strike the rear hulls at planing speeds thereby eliminating afterbody induced porpoising. The forward and aft hulls are offset laterally with possible vertical offset and longitudinally to maintain lateral and longitudinal stability over all speed regimes.

Abstract: An underwater camera assembly is configured to be dragged behind a boat underwater. The camera assembly includes a housing having a hollow interior that is configured to hold a camera in waterproof manner. The camera assembly includes at least one rail disposed along an outer surface of the housing and being configured to slidingly receive and interlockingly engage a first accessory (camera positioning fin). The camera assembly can further include a second accessory (trolling fin) that is also interlockingly, yet releasably, engaged to the housing.

Abstract: A method for handling a cable that is faired by means of a fairing, the cable towed by a ship on board which there is a winch allowing the faired cable to be wound in and paid out through a faired-cable guide device, the method comprises: a first step of monitoring the cable, making it possible to detect whether the fairing is experiencing a double twist around the cable comprising an immersed full twist and an airborne full twist, and, when a double twist is detected, a first step of hauling in the faired cable, during which step the faired cable is hauled in, the first hauling step being carried out in such a way that the immersed full twist at least partially leaves the water and does not enter the guide device.

Abstract: A towed vessel suitable for containing and transporting various liquids is disclosed. The vessel further comprises various features useful in the transportation, navigation, and storage of the towable vessel, both when in use for transporting fluids and when transported in an emptied state. Such features include navigational and positioning devices and methods, power supply devices and methods, and means for filling, inflating, emptying, and deflating a non-rigid, towed vessel. Aspects of embodiments of the present invention further include features useful for purifying or preserving the purity of the fluid to be transported.

Abstract: A recovery system for recovering an autonomous underwater vehicle from a ship, the underwater vehicle comprising a front portion referred to as the nose, the system comprising: a receiving device comprising a stop on which the nose of the underwater vehicle is capable of bearing, blocking means making it possible to secure the underwater vehicle to the stop, a flexible link intended to provide the interface between the receiving device and the ship, the flexible link being arranged so the ship pulls the assembly formed by the receiving device and the underwater vehicle on the front of the underwater vehicle when the latter is rigidly connected to the stop, stabilization means configured to make it possible to control the depth and the attitude, in particular the list and trim of the assembly formed by the receiving device and the underwater vehicle when the latter is rigidly connected to the stop.

Abstract: A sea bed survey system being configured to be towed by a towing body (12) is provided. The system comprises at least one sensor carrier (100) having a plurality of sensors (128) disposed along its length, and at least one deflector (110) for controlling the lateral extension and the vertical position of said sensor carrier (100), wherein the lateral extension exceeds 25% of the length of sensor carrier, and the vertical height above the sea bed is less than the lateral extension of said sensor carrier.

Abstract: A tow body apparatus, a method of making a modular tow body, and a method of using a tow body. The tow body comprises a nose module, a tail module, and a first payload module that may be made of plastic by three-dimensional printing. The nose module is configured to be connected to a tow cable for towing the tow body through water and comprises a nose module mating interface. The tail module comprises fins for stabilizing the tow body as the tow body is towed through water and a tail module mating interface. The first payload module comprises an interior configured to hold a payload, a first mating interface configured to be attached alternatively to the nose module mating interface or to a second payload module, and a second mating interface configured to be attached alternatively to the tail module mating interface or to the second payload module.

Abstract: A system for use by a diver during an underwater dive. An autonomous underwater vehicle (one component of the system, AUV) comprises a component for detecting that the AUV has entered water, an AUV acoustic transceiver, a plurality of AUV sensors, a propulsion unit, a processor for determining dive information and diver information responsive to data from one or both of the AUV acoustic transceiver and the plurality of AUV sensors, and one or more cameras. Diver equipment carried by the diver comprises a plurality of diver sensors and a diver acoustic transceiver for receiving sensed information from the plurality of diver sensors and communicating the sensed information to the AUV, and for receiving information from the AUV acoustic transceiver.

Abstract: A method for estimating a tilt angle ?(t) of at least one given particle motion sensor nearly collocated, in a multi-sensor streamer for seismic prospection, with a pressure sensor. The given particle motion sensor has two orthogonal sensing axes Y and Z in a plane orthogonal to a longitudinal axis of the streamer. The tilt angle is formed by the Z sensing axis and a reference vertical axis Z0.

Abstract: A cable winch, comprising an electric drive motor, a transmission, and a rotary indicator, where the electric drive motor is coupled to the transmission and the rotary indicator is associated with the electric drive motor and/or the transmission in such a way that the rotary indicator provides a signal for determining the rotational speed of the drive motor and/or of the transmission, with the rotary indicator being arranged between the electric drive motor and the transmission.

Abstract: Techniques are disclosed relating to marine geophysical prospecting. According to some embodiments, a survey vessel may tow a streamer through a body of water. If the streamer needs to be maintained (e.g., cleaned, repaired, or serviced), a second vessel may lift the streamer out of the water for this purpose. Techniques are disclosed that are relevant to the handling of protruding members (such as streamer steering devices) on the streamer.

Abstract: A method for automatically controlling a trim position of a trimmable drive unit with respect to a transom of a marine vessel includes retrieving from a memory a stored level trim position of the drive unit, measuring an actual trim position of the drive unit, and determining with a controller whether an absolute difference between the level trim position and the actual trim position exceeds a given threshold. The method also includes determining whether at least one of a plurality of trim-to-level enable conditions indicative of an idle state of an engine powering the drive unit is true. In response to a determination that the absolute difference exceeds the given threshold and that at least one trim-to-level enable condition is true, the method includes sending a control signal with the controller to trim the drive unit to the level trim position. A system for carrying out the method is provided.

Abstract: A submarine survey platform, including: a gasbag; a gas tube; a floater; an upper longitudinal plate; a lower longitudinal plate; diaphragm plates including upper openings, lower openings, and trapezoid openings disposed between the upper openings and the lower openings; and diagonal braces. The upper longitudinal plate includes a flat plate and a flanged plate. The lower longitudinal plate is a rectangular plate. The upper longitudinal plate pass through the upper openings, and the lower longitudinal plate pass through the lower openings. The diagonal braces and longitudinal stiffeners are disposed between every two adjacent diaphragm plates. Two diaphragm plates at two ends of the flat plate are provided with a lifting lug. The diagonal braces are symmetrically disposed and include outward braces and inward braces which are crossed with each other. Cross points of the upper/lower longitudinal plate with the diaphragm plates are support points of the upper/lower longitudinal plate.

Abstract: Disclosed herein is a floating recovery device for underwater equipment. The device includes a recovery body partitioned into a first compartment, a second compartment, and a third compartment by a partition wall, first and second pressure tanks installed in the first and second compartments, respectively, first and second striking parts fastened to the first and second pressure tanks, respectively, to strike the first and second pressure tanks, first and second actuators wirelessly actuating the first and second striking parts, respectively, and a buoyancy generator installed in the third compartment, and inflated by high-pressure gas introduced from the first and second pressure tanks, thus generating buoyancy. Such a configuration allows the pressure tank to be wirelessly struck for the purpose of supplying high-pressure gas to the buoyancy generator and floating the underwater equipment in the event of the loss of the underwater equipment.

Abstract: When one of at least two independently driven gripper chains (102) of a coiled tubing injector (100) begins to turn faster than another one of the injector's other independently drive gripper chains by an amount that indicates slipping of one of the independently driven gripper chains relative to tubing (109) being held between the driven gripper chains, a hydraulic timing circuit (318), which is coupled with the driven chains through hydraulic timing motors (214, 216), generates a pressure signal that causes the injector's hydraulic traction system to increase the hydraulic pressure applied by hydraulic cylinders (220) to generate a normal force applied by grippers on the chains to the tubing.

Abstract: A towed vessel suitable for containing and transporting various liquids is disclosed. The vessel further comprises various features useful in the transportation, navigation, and storage of the towable vessel, both when in use for transporting fluids and when transported in an emptied state. Such features include navigational and positioning devices and methods, power supply devices and methods, and means for filling, inflating, emptying, and deflating a non-rigid, towed vessel. Aspects of embodiments of the present invention further include features useful for purifying or preserving the purity of the fluid to be transported.

Abstract: A hydrodynamic foil system for a sensor streamer array includes towing equipment coupled to a survey vessel. The towing equipment includes at least one spreader cable extending substantially transversely to a direction of motion of the survey vessel. A plurality of laterally spaced apart sensor streamers is coupled at respective forward ends thereof to the towing equipment. A plurality of foils disposed on the spreader cable, the foils configured to provide hydrodynamic lift in a vertical direction as the at least one spreader cable is moved through the water. The foils are each rotatable about the spreader cable.

Abstract: A water mill, power generator, for use underwater, has a flexible support shaft which permits the water current to orient the turbine axis substantially parallel to the direction of flow so that the force of the water on the blades is optimized for a given turbine, without the need for slip ring style connections between the generator at the turbine and the 5 anchored base. Optionally, the design features fins or cowlings on the flexible support shaft to further improve reorientation of the turbine with the water current or flow acting as the source of power; and/or output power links or power conditioning systems at the anchored base. The generators may be selected to meet low rotation operating conditions, and the entire system may be designed for particular ocean bottom and/or current parameters applicable to the 10 deployment.

Abstract: System and method for enriching a bandwidth of seismic data related to a subsurface of a body of water. The system includes streamers and sources that are towed at alternating depths during consecutive and/or adjacent line of sails or during the same line of sail.

Abstract: An arrangement that brings all of the separate elements of equipment used to lay product offshore such as pipe, umbilicals and power cables and assembles them into a single device that can be installed on a vessel of opportunity is described. A base is used for mounting, integration, and installation of the separate elements onto a vessel. The base receives a movable lay chute, an apparatus for moving and stabilizing the lay chute, a movable hang off clamp and work table, a movable access platform, a product support arm and wheel, and a fixed chute.

Abstract: There is provided an apparatus for positioning in water of seismic equipment towed by a survey vessel. The apparatus is made of an elongated body part for receiving a towed underwater cable. The body part is provided with wings and integrated wing flaps for stably holding the apparatus in the correct water position.

Abstract: An underwater towing device, including an underwater towing assembly and a fixing mechanism of the underwater towing assembly. The underwater towing assembly includes a first floating body, a second floating body, and a third floating body. The fixing mechanism includes a fairlead carrier and two supports disposed on two sides of the fairlead carrier. The first floating body, the second floating body, and the third floating body are connected together via a fixing frame. The first floating body, the second floating body, and the third floating body have streamlined and bilaterally symmetrical shapes and all are hollow to accommodate experimental equipment. The first floating body is a cylinder having a drop-shaped horizontal cross-section. The upper part of the first floating body is provided with a buoyancy reserve tank having an elliptic horizontal cross-section.

Abstract: One example of an aircraft fuel line assembly clamp member includes a c-shaped outer shell and a plurality of spokes. The c-shaped outer shell is sized to be positioned within an outer tube of an aircraft fuel line assembly. The plurality of spokes is arranged on an inner surface of the outer shell. The plurality of spokes protrudes from the inner surface towards a center of the outer shell to define a shape to receive an inner tube of the aircraft fuel line assembly. The plurality of spokes is also spaced apart on the inner surface.

Abstract: A control system for use in a marine seismic survey is provided. The system may include one or more processors configured to receive a desired position for one or more seismic streamers during the marine seismic survey. The one or more processors may be further configured to determine a current position for the one or more seismic streamers and to adjust a position of a steering device on each streamer, based upon, at least in part, a comparison between the current position of the one or more seismic streamers and the desired position of the one or more seismic streamers.