Abstract: Systems, apparatus, and methods for hydrofoil assemblies with planing blades that may be adjusted, and securely maintained in varying tilts with respect to a support member, using a curved indexing system with a curved ridge and a counterpart groove that utilize interacting position retaining elements to retain a desired tilt in different adjustable positions. In one illustrative system, a planing blade may have a convexly curved ridge disposed on a surface thereof with a series of transverse grooves disposed in the curved ridge. A support member may have a counterpart concavely curved receiver with a series of counterpart transverse grooves formed therein. When a user places the planing blade in position with the convex ridge contacting the concave receiver, the blade may be tilted to a desired position. The counterpart transverse grooves interconnect to provide an indexed positive interlock, securely maintaining the blade in the desired position.

Abstract: A lift based acoustic source is towable in an undersea environment by a towing vessel. A controller provides a combined lift control signal and an acoustic source signal. A control cable is joined between the towing vessel and a towed depressor having an active lift control system. The combined signal is used to control the towed depressor active lift control system. The towed depressor lift fluctuates in response to the source signal to generate the undersea acoustic signal. A hydrophone or hydrophone array can be provided for measuring the generated acoustic signal for feedback and monitoring.

Abstract: A low emission submersible engine is part of a multipurpose aquatic device, such as an aquatic craft or an electrical generator. A propulsion system having a propeller is coupled to the submersible engine to produce a swimmer propulsion machine and a generator is attached to the engine to produce an electrical generator. The submersible engine receives air from a snorkel that extends up above a water line. The aquatic device has a fuel reservoir which may receive liquid fuel or may receive a fuel cylinder. Floatation chambers keep the aquatic device afloat with the engine submerged. The exhaust assembly and exhaust ports from the engine may also be submerged and the exhaust ports may provide additional thrust. A propulsion system housing integrates the drive shaft and propeller, clutch coupler, exhaust conduits and water flow conduits and is detachably attachable to the engine.

Abstract: A marine vibrator may include a containment housing, a sound radiating surface, and a compliance chamber. The compliance chamber may include a compliance chamber housing, a non-linear linkage assembly, and a low pressure chamber. The compliance chamber housing may define at least a portion of a compliance chamber internal volume having a compliance chamber internal gas pressure. The low pressure chamber may comprise a low pressure piston and a low pressure chamber housing. The low pressure chamber housing may define at least a portion of a low pressure chamber internal volume having a low pressure chamber internal gas pressure. The low pressure piston may be configured to move in response to a pressure differential across the low pressure piston such that a resonance frequency of the marine vibrator may be changed.

Abstract: Computing device, software and method for balancing forces acting on a piston of a marine vibrator towed in a body of water. The method includes estimating with a management system located on a vessel or a controller located on a marine vibrator, a transient pressure disturbance in the body of water; computing, at the controller, a force correction for the piston of the marine vibrator, based on the transient pressure disturbance; and instructing an actuation system of the marine vibrator to apply the force correction to the piston in anticipation of an arrival of the transient pressure disturbance.

Abstract: A flying underwater imager device operates in two modes, a tow mode and a free fly mode. In the tow mode for locating underwater objects, the imager device opens foldable wings for remaining depressed below the surface when the wings generate a negative buoyancy. Otherwise, neutral buoyancy characteristics bring the imager device back to surface. In the free fly mode for approaching and imaging underwater objects, the imager device closes the foldable wings and uses thrusters for moving into position to image the underwater objects. The flying underwater imager device can be maintained or moved to a desired depth below a surface or height above a sea bed.

Abstract: An apparatus for surveying includes at least one survey cable, each survey cable having a proximal end attached to a mother vessel, a distal end connected to at least one subsurface towing vessel, and at least one survey device connected to the survey cable between the proximal end and the distal end. The survey cable extends in a direction perpendicular to a longitudinal axis of the mother vessel during a survey. The survey cables extend a distance E sideways from the mother vessel, for example under an ice cap, e.g. solid ice or ice floes. When surveying in a polar region, the mother vessel needs only to break a narrow channel in order to survey a large area, thus saving energy, time and money.

Abstract: A method transports and installs a heavy subsea structure such as a subsea processing center for produced crude oil or natural gas. The method includes controlledly flooding at least one ballast tank attached to or incorporated into the structure to the extent that the structure becomes negatively buoyant at a pre-determined towing depth. The method also includes towing the negatively-buoyant structure at the towing depth by the Controlled Depth Towing Method (CDTM). After towing to the installation location, the method includes further flooding the ballast tank to lower the structure onto the seabed. At the seabed, a fluid transportation pipe of a subsea production installation may be coupled to pipework of the structure.

Abstract: A system and method provide for wireless power and/or data transfer between devices, such as coils. A first device, operatively connected to an energy source, is positioned within a wireless transmission range of a second device, which may be operatively coupled to an unmanned vehicle. Power and/or data is wirelessly transferred to/from the energy source from/to the unmanned vehicle via the first device and the second device.

Abstract: A positioning method includes the steps of: obtaining a first geographic coordinate set of a first geographic position at water level in a geographic coordinate system; after a positioning system dives into water at the first geographic position, measuring acceleration in the geographic coordinate system for a predetermined time duration; calculating a displacement vector of the positioning system during the predetermined time duration; calculating an estimated coordinate set of an underwater position of the positioning system according to the displacement vector and using the first geographic coordinate set as an initial point; and outputting the estimated coordinate set to indicate the underwater position of the positioning system.

Abstract: Various implementations described herein are directed to a non-transitory computer readable medium having stored thereon computer-executable instructions which, when executed by a computer, may cause the computer to sense deployment of a transducer in water based on receiving sonar data from the transducer. The computer may automatically trigger at least one event upon receiving the sonar data. The at least one event may include recording the sonar data generated by the transducer.

Abstract: The present invention is a linear actuation system comprising a reversible screw type linear actuator, equipped with at least one reversible electrical motor system and energy storage. The energy storage is charged by linear actuation system functioning as a generator when a mobile rod of the linear actuator is moved by heave and is discharged when the mobile rod is moved by activation of an electric motor of the linear actuation system motor.

Abstract: A system may include a message server. The system may include a telemetry unit in communication with the message server. The telemetry unit may be configured to discover an identification of an auxiliary device coupled thereto. The telemetry unit may be configured to report the identification to the message server. The telemetry unit may be configured to request the message server to send messages associated with the identification to the telemetry unit. The telemetry unit may be configured to forward the messages to the auxiliary device.

Abstract: The present invention relates to a motion compensation system for a load hanging from a mobile unit (1). The compensation system comprises two blocks (3 and 4), an articulated arm (2), a cable (5), at least one main cylinder (6) and at least one secondary cylinder (7). The secondary cylinder (7) is mounted to pivot (rotation about a substantially horizontal axis) on mobile unit (1) and on a joint of articulated arm (2).

Abstract: A seismic survey system having a source array (11) coupled to a deflector device (15) that controls the position of the source array. A positioning system unit (16) is mounted on the source array to provide a signal to a controller, informing the controller of the current position of the source array so that the controller can control the position of the deflector device (15) and the coupled source array. A seismic source (14) on the source array may be triggered when the source array is at a desired location as measured by the positioning system unit. The deflector device (15) comprises one or more wings (18) in a generally vertical or, alternatively, in a generally horizontal arrangement disposed adjacent to a central body (19). The streamlined central body has connection points that allow the deflector device (15) to be connected to a tow cable (13) from the tow vessel (12) and to the source array (11).

Abstract: A system (1) for attaching a plurality of seismic nodes (110, 110a) along a main carrier rope (101). The main carrier rope is made of steel or synthetic fiber, and comprises no power or communication lines. The system has a length measuring device (210) for providing a measured length (Lm) of deployed main carrier rope (101); a data source (220, 230, 240) for providing positioning data affecting the rope position of each seismic node (110, 110a) on the main carrier rope (101); a control unit (200) for providing an attachment command whenever the measured length (Lm) corresponds to a rope position of a seismic node (110, 110a) computed from the positioning data; and a node attaching unit (100) for attaching a seismic node (110, 110a) to the main carrier rope (101) in response to the attachment command. The system is capable of attaching nodes (110) with different node spacing between some or all nodes along the main carrier rope (101).

Abstract: The invention is directed to a towing adaptation system for optimizing the pitch attitude, hydrodynamic lift and drag forces on an underwater acoustic vessel. The towing adaptation system an underwater vessel to which is attached a first adapter plate and a second adapter plate, with each adapter plate having a plurality of vertically displaced staged attachment points. Corresponding attachment points of the first and second adapter plates form attachment pairs, with each attachment pair calibrated to provide a desired cable angle, hydrodynamic lift, and drag force, at a predetermined steady-state speed, for optimizing performance.

Abstract: A flying underwater imager device operates in two modes, a tow mode and a free fly mode. In the tow mode for locating underwater objects, the imager device opens foldable wings for remaining depressed below the surface when the wings generate a negative buoyancy. Otherwise, neutral buoyancy characteristics bring the imager device back to surface. In the free fly mode for approaching and imaging underwater objects, the imager device closes the foldable wings and uses thrusters for moving into position to image the underwater objects.

Abstract: Operating at constant depth, various embodiments are provided equipped with automatic depth-control mechanisms in dynamic devices such as lures and carriers that acquire and maintain a constant target depth when pulled through a medium such as water. The depth-control mechanism incorporates a mechanical pressure measurement of depth using a bladder with changing dimensionality and mechanical coupling to a variable angle dive plane. The measured pressure is compared with the target depth pressure causing the dive plane angle to adjust and converge to an adjustable target depth with forward motion due to retrieval or trolling. The dive plane extension is optionally a variable angle lip or bill protruding from the front of the lure or a pectoral fin-like configuration. Multi-purpose carriers are provided that can perform various underwater sensing and measuring tasks. Included are systems and methods for using a lure or platform equipped with a depth-controlling device.

Abstract: The invention relates to a device for the exploration of the ocean space, intended to be fixed to a boat, the exploration device comprising a support that is able to receive one or more users in a lying position, a deployment means, said deployment means making it possible to position the support in a given position under the water such that, when the support is in said given position under the water, said one or more users can lie down on the support, being partially immersed, and fixing means for maintaining the support in the given position under the water.

Abstract: A winch is employed for deploying a probe to a precise depth within a water column for making and recording physical measurement within such water column. More particularly, the winch rapidly unspools a line from an underway vessel, while maintaining minimal but constant line tension, as a probe, tethered to such line, descends within the water column in a “near” free-fall to a predetermined depth and then stops. The line lacks means for communicating its depth to the winch. The probe achieves a predictable descent behavior, even though it is tethered by a line to a winch onboard an underway vessel of unknown velocity and in variable weather conditions. The predictable descent behavior is achieved by maintaining a minimal constant tension on the line within a narrow range. The descent behavior of a probe in “near” free-fall has sufficient predictability to construct an algorithm to correlate descent time with depth.

Abstract: A method of hosting an autonomous underwater vehicle (“AUV”) at a subsea location lowers at least one AUV basket to a subsea location adjacent at least one preinstalled subsea structure. The subsea structure has provision for electrical power to be provided to it. At the subsea location, the, or each, basket is connected to the, or each, subsea structure to receive electrical power from the subsea structure. Electrical power routed via the subsea structure may be used to charge batteries of an AUV docked with the basket. Provision may also be made to effect data communications with the AUV with data being communicated between the subsea structure and the basket.

Abstract: A submerged front end buoy has a body with a connecting mechanism for connecting to a lead-in cable and a seismic streamer. A depth adjustment mechanism is disposed within the body to set a depth of the submerged front end buoy and includes an adjustable buoyancy mechanism and a plurality of wings extending from an exterior surface of the body.

Abstract: Embodiments relate to coupling a heading sensor to a deflector surface reference for obtaining the deflector heading which can be used in estimation of the deflector angle of attack. A method may comprise: towing a plurality of streamers behind a survey vessel in a body of water, wherein at least one deflector provides a lateral component of force to the streamers; determining a deflector heading over ground using at least measurements from a heading sensor on a surface reference corresponding to the deflector; determining a deflector velocity over ground using at least measurements from a position sensor on the surface reference; determining a water current of the body of water; and estimating a deflector angle of attack based on inputs comprising the deflector heading, the deflector velocity over ground, and the water current.

Abstract: A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Abstract: A power management system comprises a remotely operated vehicle (ROV), a tether management system (TMS), and an umbilical operatively in communication with the TMS external electrical power interface and the TMS-to-ROV umbilical interface. The system can be configured to provide electrical power management that moves some or all of the electrical power required for ROV propulsion and tooling to the ROV and/or TMS, and maximizes available power and manages loads across all systems as necessary and by priority. Power management may also be required that features intelligent routing of power to subsystems and integration of variable frequency drives (VFDs).

Abstract: A mooring system (10) for use in mooring a marine device (24) within a fluid (12) subject to flow comprises a mooring line (16) to be secured to an anchor (18) and defining a tether point for a marine device (24), and a loading assembly (20) secured to the mooring line (16) and configured to generate hydrodynamic lift when exposed to flow to apply tension to the mooring line (16). In embodiments of the invention the loading assembly (20) is configured to also generate a buoyancy force, such that tension is applied to the mooring line (16) by a combination of the hydrodynamic lift force and the buoyancy force.

Abstract: A submersible telemetry platform includes a body and lift-generating surface(s) configured to provide lift to the body when a fluid flows thereacross. The platform includes attitude control surface(s) for controlling a pitch of the body in such a way that modifies the lift characteristics of the body. A control device is coupled to the attitude control surface(s) for controlling the lift attitude control surface(s). A base is configured to be anchored to a subsurface location and is coupled to the telemetry platform by a tether in such a way that the telemetry platform has freedom-of-movement about a common center point at the base. Telemetry equipment is coupled to the body of the telemetry platform for enabling wireless communication with at least one remote device. The telemetry platform is controllable to rise from a submersed position in a body of liquid to a surface of the body of liquid.

Abstract: Device, system and method for protecting towed marine survey equipment from line entanglement are provided. A cutter device has a mounting mechanism configured to fixedly attach at a predetermined position along a cable used for towing, and one or more cutting structures. The cutting structures are attached to and extend away from the mounting mechanism, being configured to cut lines that get caught by the cutting structures or slide along the cable to the predetermined position.

Abstract: The methods and devices described herein provide a sensor array positioning system that may allow a user to program a series of sensor array locations, depths and orientations into a control center, which therein commands an unmanned surface or submarine vehicle which positions a sensor array. The devices comprise of an unmanned vehicle using less than about 20 Watts of power, a tow cables, a flexible sensor array comprising one or more sensors, one or more floats and one or more weights.

Abstract: An enhanced system for controlling boat fenders wherein, based on a tidal range chart, a motion function is calculated for one or more boat fenders, which is loaded into a fender controller so that fenders are lifted or lowered to protect a boat over a period of time as boat rises and falls with water levels when stationed at a dock.

Abstract: The present invention is a submersible device comprising a body encasing an enclosed compressible void capable of physically responding to changes in ambient pressure imparted by the device's depth underwater. This physical response to pressure changes actuates a dynamic dive plane. The forces imparted on the dive plane by the motion of the device through the water drives the device to seek, achieve and then maintain a predetermined depth. This device can be used for fishing applications and other underwater activities that benefit from dynamic depth control.

Abstract: Depth and tilt control systems for geophysical sensor streamers and methods of use are discussed. Such systems may include a plurality of tilt sensors disposed at spaced apart locations along the geophysical sensor streamer, each tilt sensor having a first tilt sensing element arranged to measure tilt of the geophysical sensor streamer proximate the associated spaced apart location, a plurality of LFD control devices, each disposed proximate one of the tilt sensors along the geophysical sensor streamer, and a plurality of microcontrollers, each microcontroller in signal communication with at least one of the LFD control devices and its associated tilt sensor, wherein each microcontroller is capable of utilizing the tilt measured by the associated tilt sensor to selectively operate the associated LFD control device to cause the geophysical sensor streamer to align with a selected depth profile.

Abstract: A spacecraft coupling system includes an integral component that can be deformed and placed into a stable state that locks one component into a mating component, and can easily be released from the deformed state, decoupling the two components. The integral component may include a central ring, a plurality of leaf elements arranged at the perimeter of the component, and a plurality of fins that extend outward from the ring to the plurality of leaf elements. A rotation of the ring element while the component is held stationary causes the fins to urge the leaf elements toward the receiving surface areas and to subsequently force the leaf elements against surfaces on the mating component. To reduce cost and complexity, the integral component is a metal, such as titanium, that can be formed using an additive manufacturing process, commonly termed a 3-D printing process.

Abstract: A cable for connecting to a connector of a high-voltage device includes an integral yield sensor. The yield sensor may be a pressure or force sensor, or a displacement sensor, including a stator part and a mobile part, and a spring for maintaining a compression force on the end portion of the cable towards the connector of the high-voltage device. The displacement sensor can include a Hall effect sensor and a linear array of magnetic elements arranged such that the Hall effect sensor moves relative to the linear array if there is any movement between the stator and mobile parts of the sensor, The magnetic field readings are interpreted in order to determine the amount of movement. A system for controlling a high voltage device in response to pressure and other information received from sensors in the cable is also provided.

Abstract: A deflector is configured to be attached to a cable towed by a vessel. The deflector includes a foil configured to provide a lift force; first and second bulbs attached to opposite ends of the foil; and a joint attached to the foil and configured to receive the cable. The first and second bulbs are offset by a predetermined distance from a plane that extends through the foil, and at least one of the first and second bulbs has a longitudinal axis that makes an angle (?) with a cord of the foil, the cord extending in the plane.

Abstract: Disclosed are methods and systems for marine geophysical surveying that include a combined electromagnetic source electrode and deflector. An example embodiment discloses an electromagnetic source assembly comprising: a deflector-source electrode, wherein the deflector-source electrode comprises an electromagnetic source electrode integrated into a deflector; a separate electromagnetic source electrode; and a power source coupled to the electromagnetic source electrode and the separate electromagnetic source electrode.

Abstract: A foil having a leading edge, trailing edge, chord and span is attached between a first head float position and bottom submerged position below the head float on the array. The foil being flexible along its span and has a first interior conduit rearward of the leading edge and a second interior conduit forward of the trailing edge. The conduits are centered on the chord and separated by a distance. A first cable having a first length is strung inside the first conduit and a second cable having a second length is strung inside the second conduit, and an adjustment mechanism is used to vary the length of the first cable relative to the length of the second cable and vice versa.

Abstract: An operation managing system is provided for managing the operation of a navigation control device. The navigation control device is adapted for controlling the depth and/or the lateral position of a towed acoustic linear antenna and including a body to which is attached a set of wings. The operation managing system operates the navigation control device according to a degraded operating mode, by acting on at least one non-released and motorized wing when detecting that at least one wing of the set of wings has been released or must be released.

Abstract: Performing a geophysical survey beneath a surface obstruction, or around a fixed object or formation. At least some of the example embodiments include: programming a towing pattern into an autonomous underwater vehicle; and towing a sensor streamer under the surface obstruction, or around the fixed object or formation by the autonomous underwater vehicle. In some of the embodiments, the sensor streamer comprises a distributed sensor in the form of an optical fiber. In some of the embodiments, the optical fiber is encapsulated in an outer covering of resilient material, the resilient material exposed to the water during the towing.

Abstract: Disclosed are rigid protracted geophysical equipment that comprise control surfaces and associated methods of use in marine geophysical surveys. An apparatus for use in a marine geophysical survey comprising: rigid protracted geophysical equipment having a ratio of length to a largest dimension of width or height of about 1000:1 or more, wherein the rigid protracted geophysical equipment comprises control surfaces for controlling movement of the rigid protracted geophysical equipment when towed through a body of water.

Abstract: A method and apparatus for a seismic cable is described. In one embodiment, a method for performing a seismic survey in a water column is described. The method comprises providing a length of flexible cable from a cable storage device disposed on a vessel to a cable handling device adjacent the cable storage device. The flexible cable comprises a specific gravity that is greater than a specific gravity of water in the water column. The method further comprises routing the flexible cable to pass adjacent a workstation disposed on the vessel, deploying a free end of the flexible cable into the water column, attaching at least one of a plurality of seismic sensor units to the cable as the cable passes the workstation, and controlling the motion of the vessel and the rotational speed of the cable handling device to allow the flexible cable to rest on the bottom of the water column.

Abstract: A control device or “bird” for controlling the position of a marine seismic streamer is provided with an elongate, partly flexible body which is designed to be electrically and mechanically connected in series with a streamer. In its preferred form, the bird has two opposed wings which are independently controllable in order to control the streamer's lateral position as well as its depth.

Abstract: The present invention relates to an underwater floating device (1) characterized in that it comprises: an insert (4) comprising a thermoplastic material and a hollow tube (7), a foam (5) of a thermoplastic material, at least partly covering the insert (4), an outer skin (6) comprising a thermoplastic material formed by injection molding over the foam and configured for being in contact with water during use.

Abstract: Techniques are disclosed relating to acoustically interfacing marine survey devices. In one embodiment, a system includes survey equipment, first and second acoustic transducers, and a first device. In this embodiment, the first acoustic transducer is coupled to the survey equipment and configured to perform at least one of receiving survey information and sending control information. In this embodiment, the first device is not directly coupled to the survey equipment. In this embodiment, the second acoustic transducer is coupled to the first device and configured to perform at least one of sending survey information and receiving control information. In one embodiment, the first acoustic transducer is included in or coupled to a streamer cable.

Abstract: Retriever systems for marine geophysical survey cables. At least some of the illustrative embodiments are methods including causing a submerged sensor streamer to surface. The causing may be by moving a piston within a cylinder of a housing coupled to the sensor streamer, the moving of the piston responsive to pressure exerted on a face of the piston as the sensor streamer reaches or exceeds a predetermined depth, wherein the pressure exerted on the face of the piston overcomes a latching force tending to hold the piston in place at depths above the predetermined depth; and responsive to the piston overcoming the force that latches the piston releasing a ballast weight, wherein prior to the releasing the ballast weight is at least partially held in place based on position of the piston, and the releasing responsive to movement of the piston.

Abstract: An interface connector is provided for connecting homogenous spacecraft cells. The interface connector includes at least one male valve assembly and at least one female valve assembly. The male valve assembly includes an extendable and retractable piston having a central conduit. The female valve assembly has a central bore closed by a ball valve. Preferably, the male and female valves are positioned so that extension of the piston engages the ball valve so as to create a fluid pathway. Various components in the male and female valve assemblies are electrically conductive to allow the transmission of power and data. Further, the male valve assembly is constructed to function as a propulsion thruster when not mated to a female valve assembly.

Abstract: Deflectors configured to be attached to cables towed behind a vessel for performing a marine survey are provided. A deflector has a wing body including a first part joined to a second part to form a swept-back-wing shape, the first part and the second part being substantially coplanar. A first straight line stretching along at least a portion of a front edge of the first part makes a first angle with a second straight line stretching along at least a portion of a front edge of the second part. A third straight line stretching along at least a portion of a trailing edge of the first part makes a second angle with a fourth straight line stretching along at least a portion of a trailing edge of the second part, the first angle and the second angle being non-zero angles.

Abstract: Pressure activated linear locking mechanisms and related methods. At least some of the illustrative embodiments are systems including: a first and second cover defining an inner and outer surface, a length, and a locking portion, respectively; a first and second hollow defined in the locking portion of the first and second cover member, respectively, the hollows extending along the length of the first and second cover members, respectively; a locking member defining first and second appendages extending along a first and second side, respectively, each appendage defines a cross-section and an internal volume; said first and second appendages disposed within the first and second hollows, respectively, and when the releasable cover is exposed to atmospheric pressure, the first and second appendages in an inflated condition; and the first and second appendages are configured to transition to a deflated condition in response to a predetermined pressure greater than the initial pressure.

Abstract: Control device (10, 50) for controlling the position of an instrumented cable towed in water, such as a marine seismic streamer, and/or an instrumented towed cable array (streamer array) with the possibility of controlling the individual instrumented cables both with in shape and position in relation to other instrumented cables and by that counteract cross currents and/or other dynamic forces which affect a towed array behind a seismic survey vessel, which control device (10, 50) is provided with one or more acoustic means, such as acoustic transmitter/receiver elements (40), arranged to or integrated in the wings (11, 52), main body (12, 53) or motor and drive gear housings (51) of the control device for determination of position and distance.