Abstract: An imaging lens includes a first group, a second group, an aperture stop, a third group, and a fourth group. The second group includes one positive lens. The third group includes two positive lenses and one negative lens. At least two of the third group are joined together to form a compound lens. The imaging lens has a fixed focal length and an angle of view of 120 degrees or more. Conditional expressions (1), (2), (3), and (4) below are satisfied: ?2.7?f1/f??0.7??(1) 2.2?f2/f?6.6??(2) 3.9?f3/f?14.3??(3) 2.8?f4/f?11.0??(4) where fi denotes focal length of i-th group with respect to a d-line, i denotes one of 1 to 4, and f denotes focal length of an entirety of the imaging lens with respect to the d-line.

Abstract: A wellhead alignment system includes a visual marker configured to be placed at a wellhead and a camera configured to capture an image that includes the visual marker. The wellhead alignment system also includes one or more processors configured to apply computer vision algorithms to identify the visual marker in the image and to calculate an offset between the wellhead and a drilling rig based on a position of the visual marker in the image.

Abstract: A computer-implemented method comprising: receiving data associated with an operational control problem; formulating the operation control problem as an optimization problem; recursively generating a sequence of policies of operational control associated with the operational control problem, wherein each subsequent policy in the sequence is constructed by modifying one or more actions at a single state in a preceding policy in the sequence, and wherein the modifying monotonically changes a risk associated with the subsequent policy; constructing, from the sequence of policies, an optimal solution path, wherein each vertex on the optimal solution path represents an optimal solution to the operational control problem; calculating a ratio of reward to risk for each of the vertices on the path; and selecting one of the policies in the sequence to apply to the operational control problem, based, at least in part, on the calculated ratios.

Abstract: An underwater ROV or AUV with 8 vectored thrusters that provides a high degree of dynamic stabilisation, 6-degrees of freedom, and a system to control an underwater ROV or AUV with single or multiple thruster failures. In addition, the ROV/AUV has a system to minimise silt disturbance when operating close to fine silt or sensitive environments.

Abstract: A device for processing images are provided. The device a support bar, a mounting housing mounted with a camera lens, and a connector configured to connect the support bar to the mounting housing. The mounting housing is integrally rotatable with the connector with respect to the support bar. The mounting housing may further be mounted with an ultrasonic probe and a lightening device. The ultrasonic probe is configured to monitor a predefined change, such as a change in an occupation state of a parking space, and the camera lens and the lightening device is controlled at least by the monitored change. When the ultrasonic probe monitors that a car is leaving or entering a parking space, the camera lens and the lightening may be switched on.

Abstract: A method for external fish parasite monitoring in aquaculture, comprising the steps of: submerging a camera (52) in a sea pen containing fish, the camera having a field of view; capturing images of the fish with the camera (52); and identifying external fish parasite on the fish by analyzing the captured images, characterized in that a target region within the field of view of the camera (52) is illuminated from above and below with light of different intensities and/or spectral compositions.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer-storage media, for underwater camera biomass prediction aggregation. In some implementations, an exemplary method includes obtaining images of fish captured by an underwater camera; providing data of the images to a trained model; obtaining output of the trained model indicating the likelihoods that the biomass of fish are within multiple ranges; combining likelihoods of the output based on one or more ranges common to likelihoods of two or more fish to generate a biomass distribution; and determining an action based on the biomass distribution.

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that validate the synchronization of controllers in an aquaculture environment. One of the methods includes an image processor that receives images generated by a first image generating device that includes a light filter that is associated with light of a particular light frequency while an aquaculture environment was illuminated with light. Based on the image that was generated by the first image generating device, the image processor determines whether the intensity value of the light frequency in the image satisfies a threshold value. Based on determining whether the intensity value of the light frequency in the image satisfies the threshold value, the image processor determines whether the aquaculture environment was illuminated with light of the particular light frequency when the image was generated.

Abstract: Methods and devices for correcting underwater photon displacement and for depth sounding with a single-photon Lidar are provided. The method includes: acquiring a pointing angle of a photon emitted by the single-photon Lidar, and coordinates of a water-surface photon signal and a water-bottom photon signal returned by the photon emitted by the single-photon Lidar; performing a sea wave fitting according to the water-surface photon signal to determine a sea wave model; determining an intersection of the photon and an air-water interface according to coordinates of any water-bottom photon, the pointing angle and the sea wave model; determining an underwater displacement error of the photon according to the intersection, the sea wave model and the pointing angle; and correcting the coordinates of the water-bottom photon according to the underwater displacement error. The invention performs sea wave modeling through water surface photon signal and determines intersection of the photon and water-air interface.

Abstract: A control device is provided to reliably locate objects and calculate appropriate grasp points for each object to thereby effectively control a robot system. grasp point calculation is based on, at least, properties of a surface of the object to be grasped by the robot system to more effectively calculate a grasp point for the surface of the object. An organised point cloud generator and a robot system having a suction cup end are arranged to generate an organised point cloud of a storage. The robot system can grasp the object from the storage means. Normals of the organised point cloud and principal curvatures of the organised point cloud can be calculated. A grasp point can be calculated for the suction cup end effector of the robot system to grasp an object based on the organised point cloud, the calculated normal, the calculated principal curvatures, and a normal of a lower surface of the storage.

Abstract: Methods and systems for detecting marine mammals. Acoustic data can be received from one or more hydrophones. The acoustic data can be sampled, and the sampled acoustic data can be transformed to time-frequency image data. The image data can be processed to transform the data for input to a model. The model can be trained to detect the presence or absence of marine mammal vocalizations in the acoustic data. The model can output a prediction of whether or not a mammal is present.

Abstract: A remote sensor system comprising a laser transmitter that emits a pulse of broadband laser illumination comprising a plurality of wavelengths and a receiver configured to detect laser illumination backscatter. The sensor system further includes a computing system configured to determine a plurality of species number densities along a travel path of the laser illumination. Determining the plurality of species number densities includes determining a first number density of a first species based on a first set of optical transmission values from the backscatter data for a first subset of wavelengths of the plurality of wavelengths and a first attenuation cross-section of the first species. Additional species are determined based on additional sets of optical transmission values from the backscatter data for additional subsets of wavelengths of the plurality of wavelengths and additional cross-sections of additional species.

Abstract: An illuminator/collector assembly can deliver incident light to a sample and collect return light returning from the sample. A sensor can measure ray intensities as a function of ray position and ray angle for the collected return light. A ray selector can select a first subset of rays from the collected return light at the sensor that meet a first selection criterion. In some examples, the ray selector can aggregate ray intensities into bins, each bin corresponding to rays in the collected return light that traverse within the sample an estimated optical path length within a respective range of optical path lengths. A characterizer can determine a physical property of the sample, such as absorptivity, based on the ray intensities, ray positions, and ray angles for the first subset of rays. Accounting for variations in optical path length traversed within the sample can improve accuracy.

Abstract: The present invention is related to a condensation prevention type transmission window for a CMS module test chamber, the transmission window being provided at the module test chamber. The condensation prevention type transmission window includes: a multilayer glass panel in which heating wires are coated on upper, lower, left, and right side surfaces thereof; and an air injector provided at each of opposite surfaces of the transmission window to inject air from an upper side edge and/or a lower side edge of the transmission window and to form an air curtain. The present invention provides the condensation prevention type transmission window for a CMS module test chamber, which prevents freezing and fogging on inside and outside surfaces of the transmission window of the CMS module test chamber varying in a temperature range from 40° C. to +125° C.

Abstract: An information processing apparatus including a display control unit that causes an image captured by any of one or a plurality of imaging devices to be displayed in a captured image display region that is a part of a display unit, causes second information related to the one or plurality of imaging devices to be displayed in a captured image hiding region that is a part of the display unit and different from the captured image display region, and causes first information related to the one or plurality of corresponding imaging devices to be displayed in the captured image display region in accordance with the second information being displayed and the one or plurality of imaging devices being in a predetermined state.

Abstract: A modular mechanical arm of an underwater pile foundation structure includes a modular interface disposed at one end of the transmission arm rod, a mechanical arm connecting part disposed at the other end of the transmission arm rod. The mechanical arm connecting part is separately provided with two arm frames, each of the arm frames comprises an inner arm frame and an outer arm frame, the inner arm frame and the outer arm frame are coupled by a joint, and a soft moving and cleaning part is disposed on an inner side of each of the arm frames; the modular interface is coupled with an underwater UAV interface to transmit current and a control signal, a waterproof steering gear is built in the transmission arm rod to receive the control signal.

Abstract: A method for determining a corrected axial displacement parameter of a conduit inspection tool, in particular a downhole inspection tool, during transit of the tool axially along a conduit is disclosed. The tool used in the method has an imaging device and may be attached to a control module with a connecting line. The method comprises obtaining successive axially overlapping images of an internal wall of the conduit, determining, from the images, an observed axial displacement parameter of the tool as a function of transit time, identifying, in the images, a plurality of reference points, determining an estimated axial displacement parameter of the tool over an of transit time between successive reference points, and computing the corrected axial displacement parameter of the tool by applying a correction factor to the observed axial velocity of the tool.

Abstract: An untethered apparatus for measuring properties along a subterranean well includes a housing, and one or more sensors configured to measure data along the subterranean well. The data includes one or more physical, chemical, geological or structural properties in the subterranean well. The untethered apparatus further includes a processor configured to control the one or more sensors measuring the data and to store the measured data, and a transmitter configured to transmit the measured data to a receiver arranged external to the subterranean well. Further, the untethered apparatus includes a controller configured to control the buoyancy or the drag of the untethered apparatus to control a position of the untethered apparatus in the subterranean well. The processor includes instructions defining measurement parameters for the one or more sensors of the untethered apparatus within the subterranean well.

Abstract: A buoyant camera device that is mechanically connectable to existing equipment to image underwater objects and underwater processes, and method of using the device to image the underwater objects and the underwater processes.

Abstract: Methods are provided to package and deploy a marine vibrator for use in connection with marine seismic surveys. Marine vibrators are provided with a number of buoyancy configurations with corresponding techniques for controlling the submergence depth of the marine vibrators. An exemplary marine vibrator comprises a positively buoyant hydrodynamic tow body, comprising: a low frequency electro-acoustic projector; a power electronics system; a control-monitoring electronics system; and a pressure compensation system, wherein the hydrodynamic tow body comprises one or more active control surfaces to adjust a submergence depth and a roll attitude of the hydrodynamic tow body. Additional embodiments employ a free-flooding, load-bearing frame with positive or negative buoyancy.

Abstract: An anti-fouling lighting system is used for protecting a surface (16) against biofouling while the surface (16) is submerged in water. A non-contact water sensor (60) is used for sensing water thereby to detect whether or not a light source arrangement (26), or a portion of the light source arrangement (26), is submerged in water. The light source arrangement (26), or the portion of the light source arrangement (26), is controlled in dependence on the water sensor (60) output.

Abstract: To present various types of information related to image capturing in a more suitable manner. An information processing apparatus including: a display control unit that causes an image captured by any of one or a plurality of imaging devices to be displayed in a captured image display region that is a part of a display unit, cause second information related to the one or plurality of imaging devices to be displayed in a captured image hiding region that is a part of the display unit and different from the captured image display region, and cause first information related to the one or plurality of corresponding imaging devices to be displayed in the captured image display region in accordance with the second information being displayed and the one or plurality of imaging devices being in a determined state.

Abstract: A battery powered do-it-yourself (DIY) swimming pool sensor and alarm unit that is removably mounted in a floating assembly. The sensor monitors movement in the pool and around the pool deck and provides remote video alerts to designated cell phones as well as a localized audible and visual alarm when motion is detected. It has an above waterline camera and a below waterline camera that provides a video feed for further remote investigation. It utilizes a float stabilizing means to ensure the floating assembly is not capsized by large waves or wind. It cannot be defeated because of its floating location, and can be simply installed and set up by the average homeowner. Optionally, it has sensors that monitor the pool water's chemistry and provides the results to an owner's cell phone or to a remote chemical dispensing unit located at the pool.

Abstract: A waterproof wall 60 is provided to be interposed between an end face 31 of a base end section of a waterproof lens unit 20 and a mount face 13 of a camera body 10, thereby shutting off the front surface of the camera body 10 from a space in front of the front surface of the camera body 10 by the waterproof wall 60.

Abstract: Aspects of the present invention disclose a method for color reconstruction of individual detected objects of an underwater image using a library of reference images. The method includes one or more processors obtaining image data of a computing device that includes an underwater image. The method further includes determining a depth measurement corresponding to the underwater image. The method further includes identifying an object of the underwater image based at least in part on a shape of the object. The method further includes reconstructing one or more colors of the object of the underwater image based at least in part on a reference image.

Abstract: The invention relates to a camera module (100) for a vehicle. The camera module (100) has a housing section (105) with a camera lens (110) and is characterized in that the camera module (100) contains a cylindrical front cover receiver (115) surrounding the housing section (105) that extends beyond the camera lens (110). A transparent front cover (120) for the camera lens (110) is received in the front cover receiver (115). The front cover (120) has an outer surface (125) that can be exposed to environmental effects.

Abstract: A watercraft and method for operating the watercraft, wherein the watercraft includes an electrical system that is present in a space that has an atmosphere that differs from air, where the space is formable by a pressure hull, where the atmosphere contains, for example, an inert gas, and where the space having the electrical system is filled with the atmosphere.

Abstract: A sensor module assembly includes a sensor housing that houses a sensing element configured to sense a characteristic of a process and generate a sensor signal indicative of the characteristic. The sensor module assembly includes a wireless device housing that houses communication circuitry configured to receive the sensor signal and a wireless transmitter configured to send the sensor signal wirelessly to a remote device. The sensor module assembly also includes a communication cable that communicatively couples the sensing element in the sensor housing to the communication circuitry in the wireless device housing.

Abstract: An improved leak detection system for oil and gas pipelines and the like, including submerged or buried structures, the system including an aerial- or space-based platform with GPS and Attitude Determination and Control System (ADCS) capability, the platform connected to a hyperspectral imaging sensor, the system including processor and memory structured with a vegetative index such that chemical and hydrocarbon leaks are detected within regulatorily-approved time limits based on changes in the vegetative index.

Abstract: An underwater ultrasonic device includes at least one first ultrasonic transducer and at least one second ultrasonic transducer. The first ultrasonic transducer is configured to transmit a plurality of ultrasonic signals and the second ultrasonic transducer is configured to receive a plurality of reflected signals of the ultrasonic signals. The first ultrasonic transducer and the second ultrasonic transducer are disposed with respect to each other. One of the first ultrasonic transducer and the second ultrasonic transducer is curvilinear and another one of the first ultrasonic transducer and the second ultrasonic transducer is curvilinear or straight linear.

Abstract: The invention relates to a method of generating 3D data of an object, in particular for the generation of underwater maps. This method comprises the following steps: provision of two-dimensional image data of the surface of the object, such as e.g. the bottom of a body of water, together with reference information provision of a three-dimensional relief map of a predetermined area of the object or of the bottom of a body of water, and mapping of the two-dimensional image data as texture on the three-dimensional relief map by means of the reference information.

Abstract: A thermal imaging system is provided. The thermal imaging system includes an explosion-proof housing with an optical window configured to contain an explosive pressure. The optical window allows electromagnetic thermal energy to pass. A thermal imaging sensor is disposed within the explosion-proof housing. Thermal imaging electronics are coupled to the thermal imaging sensor and configured to provide at least one thermal image based on a signal from the thermal imaging sensor. A lens assembly is disposed at least in front of the optical window external to the explosion-proof housing. A composite optical window for thermal imaging is also provided. In another embodiment, a thermal imaging system includes an explosion-proof housing having an optical window configured to contain an explosive pressure. An infrared (IR) camera is disposed within the explosion-proof housing. A reflector reflects electromagnetic thermal energy to the IR camera, but prevent an object from impacting the optical window.

Abstract: Techniques for reducing biofouling on optical equipment, using minimum power in a marine environment are provided. An example of an apparatus according to the disclosure includes a housing including a cavity and an ultraviolet transparent window disposed over the cavity, an optical device disposed in the cavity and directed towards the ultraviolet transparent window, one or more ultraviolet light emitting diodes disposed in the cavity and directed towards the ultraviolet transparent window, and a controller operably coupled to the one or more ultraviolet light emitting diodes and configured to provide at least one lamp power function to the one or more ultraviolet light emitting diodes, wherein the at least one lamp power function is based on at least a flash power value, a flash duration, a rest power value and a rest duration.

Abstract: A method of quantifying gas leak rate includes receiving image frames acquired with a camera and including a plume from a gas leak source, determining a real-world size that each pixel represents, identifying pixels corresponding to the plume in a first image frame, calculating gas concentration path lengths of the plume for the pixels in the first image frame, calculating, based on the first image frame and a second image frame, an image velocity field of the plume including displacement vectors for the pixels, identifying, within the first image, a closed boundary enclosing the gas leak source of the plume, and calculating a first gas leak rate in the first image frame by calculating a volume rate of the plume flowing across the closed boundary based on the image velocity field, the gas concentration path lengths, and a time interval between the first and the second image frames.

Abstract: A camera module comprising: a lens barrel comprising a lens; a lens holder for accommodating the lens barrel; an image sensor disposed below the lens barrel; a printed circuit board on which the image sensor is mounted and is coupled to the lens barrel; and at least one welding point for mutually coupling the lens barrel and the lens holder while an optical axis of the lens and an optical axis of the image sensor are aligned.

Abstract: An electronic device and method for communicating with an external electronic device that is connected via a connector of the electronic device are provided. The electronic device includes a connector including a first pin and a second pin, a communication interface connected with the connector, and at least one processor electrically connected with the communication interface, wherein the at least one processor may be configured to apply a first current to the first pin, determine whether liquid is introduced into the connector using the second pin, and if the liquid is introduced into the connector, apply a second current smaller than the first current to the first pin.

Abstract: A system and method for viewing what person or movement may be at their door via their smartphone, without having to do any destructive installation, is disclosed. The camera system attaches to the typical residential door via adhesive pad anchor which uses a hinge portion to orient the camera system through a peephole within the door. One purpose of the camera system is to enable a user to see what's happening at their door, and be alerted to what's going on outside their door at all times, and/or anytime they want to look.

Abstract: Low profile concavely curved cameras, camera housings and related systems and methods. These devices, etc., simultaneously reduce snags and other hazards and also provide improved protection to people such as military and first-responder personnel and athletes by improving the attachment of the camera housing to a helmet or other complexly curved convexly curved base substrate.

Abstract: A pole mounted lighted camera preferably includes a camera unit, a light board, a camera housing, a liquid cap, a swivel base and a swivel bracket. The camera unit preferably includes a camera, a camera circuit board and a wireless transmitter circuit board. A second embodiment of a pole mounted lighted camera includes a camera housing, a front end cap, a rear end cap housing, a light board, a wireless transmission board, a power supply board and a self-leveling unit. The front end cap includes a lens and is attached to a front of the camera housing. The self-leveling unit is attached to the rear end cap housing. The rear end cap housing is attached to a rear of the camera housing. The self-leveling unit includes a stationary housing, a self-leveling mounting block, a bearing plate, a camera eye mounting plate and an optical imaging board.

Abstract: The present invention discloses a foldable breathing mask, comprising: a mask body and a breathing tube, wherein the top end of the mask body extends upwardly to form a connecting tube, and one side of the connecting tube and the corresponding side of the breathing tube are respectively provided with a hinge mechanism, such that the breathing tube is turned over downwardly to be flatly attached to the mask body or turned over upwardly to be communicated with the connecting tube, the other side of the connecting tube corresponding to the hinge mechanism is provided with an elastic hook, and the breathing tube is correspondingly provided with a hook groove or a hook opening. The foldable breathing mask has the advantages of quickness in folding and convenience in assembling.

Abstract: A four-sided frame for a camera is disclosed. The four-sided frame includes a first side including a hinge mechanism and a second side having a first segment, a second segment that is separable from the first segment, and a latch mechanism. The four-sided frame includes a third side between the first side and the second side and a fourth side between the first side and the second side. The four-sided frame includes a latch mechanism that couples the first segment to the second segment. In an open configuration of the latch mechanism, the first segment and the second segment are separated to allow insertion or removal of the camera. In a closed configuration of the latch mechanism, a distance between the first segment and the second segment is reduced as compared to the open configuration and the four-sided frame secures the outer perimeter of the camera.

Abstract: Ultrasound signal processing device including: transmitter causing transmission array composed of all or some transducer elements of ultrasound probe to transmit ultrasound; reception aperture setter designating reception array having center position corresponding to center position of transmission array; transmission time calculator calculating, for each of measurement points arranged within area of reach of ultrasound, transmission time from transmission of ultrasound until arrival of ultrasound at measurement point; reception time calculator calculating reception time from reflection of ultrasound at measurement point until arrival of ultrasound at reception transducer element; delay amount calculator calculating total propagation time being sum of transmission time and reception time, and calculating delay amount for reception transducer element based on total propagation time; delay processor specifying reception signal value corresponding to delay amount, from reception signal sequence corresponding to

Abstract: An electronic device and method for communicating with an external electronic device that is connected via a connector of the electronic device are provided. The electronic device includes a connector including a first pin and a second pin, a communication interface connected with the connector, and at least one processor electrically connected with the communication interface, wherein the at least one processor may be configured to apply a first current to the first pin, determine whether liquid is introduced into the connector using the second pin, and if the liquid is introduced into the connector, apply a second current smaller than the first current to the first pin.

Abstract: The present embodiment relates to a camera module comprising: a first body; a second body coupled to the first body; a lens unit coupled to the second body; a circuit substrate unit located in an internal space formed by the first body and the second body and having an image sensor mounted thereon; and a focusing unit formed in the second body, and moving and fixing the lens unit or the circuit substrate unit in an optical axis direction of the lens unit, wherein a distance between the lens unit and the image sensor in the optical axis direction is adjusted through the focusing unit.

Abstract: A door assembly for a marine electronics device including a door defining a first end and a second end, a substantially planar surface, at least one hinge element disposed proximate the first end, and a finger recess. The finger recess is sized to enable a user to fit at least a portion of a finger therein to enable movement of the door to an open position. The door assembly also includes a deformable tab disposed at the peripheral edge of the planar surface of the door at the second end. The deformable tab fills the finger recess of the door and is movable between a resting position and a deflected position, is biased to the resting position. Movement of the deformable tab to the deflected position enables the user to move the door to the open position.

Abstract: Systems and methods for capturing an orbiting image of a subject are disclosed. The system includes a rotatable turntable mountable to an overhead surface with a spindle formed therein and a retractable line extending therefrom at a proximal end thereof. First and second lines extend from a distal end of retractable line in opposite directions as retractable line is extended from an exterior of rotatable turntable. The system further includes an imaging assembly with a housing and an interior compartment in which housing includes first and second rotors at first and second ends thereof such that first and second lines are connected to first and second rotors. Interior compartment receives a multimedia device attached thereto and is at least partially visible from an exterior of housing.

Abstract: An information acquiring device for acquiring information data of an object includes: a condition detecting unit configured to detect use condition data of the information acquiring device; and a file generating unit configured to generate a file in which the information data, the use condition data, and information on response characteristics of the condition detecting unit are associated with one another. A method for acquiring information executed by an information acquiring device includes: acquiring information data of an object and storing the information data in a storage unit; detecting use condition data of the information acquiring device and storing the use condition data in the storage unit; and reading the information data and the use condition data from the storage unit, and generating a file in which the information data and the use condition data are associated with information on response characteristics in detecting the use condition data.

Abstract: A mounting assembly may effectively mount a transducer and a marine electronic display via the same mounting assembly. In order to mount the mounting assembly, the mounting assembly may be configured to utilize a hole or a surface of a watercraft without needing any additional fastening elements (e.g., screw or bolts) being attached to or inserted into the hole or watercraft. Accordingly, no screw holes are required in order to mount either the marine electronic display or the transducer. Thereby, the user may put the mounting assembly through the hole or attach it to a surface of the watercraft, and then attach the marine electronic display and transducer to the appropriate components of the mounting assembly. Thereby, the mounting of a transducer and a marine electronic display will take less time and require less parts.

Abstract: Disclosed herein is a method including receiving, via a bridge system including a first adapter and a second adapter, a service set identifier and a password of a capture device and discovering the capture device via the first adapter and the second adapter of the bridge system. Based on a comparison of a first signal-to-noise ratio between the first adapter and the capture device with a second signal-to-noise ratio between the second adapter and the capture device, the method includes assigning one of the first adapter and the second adapter as a host adapter in the bridge system to communicate with the capture device, transmitting, from the host adapter, a signal to the capture device to prioritize a frequency band to use for communication with the bridge system, receiving, via the frequency band, IP packets from the capture device at the host adapter and forwarding the IP packets from the bridge system to a client device.

Abstract: Exemplary embodiments provide autonomous surveillance systems for underwater environments. In one embodiment, a submerged node rests on a floor of a body of water, a module floats on the surface of the water, and a cable connects the submerged node to the floating module. The floating module collects sensor data and generates electricity, and provides both to the submerged node over the cable for storage by the submerged node. The submerged node receives a query for the sensor data from an antenna on the floating module. The submerged node identifies the sensor data based on the query, and transmits a response to the query for the sensor data using the antenna on the array.