Abstract: A sonar includes a first part and a second part linked by an electric carrier cable configured to mechanically support the second part and allow the two parts of the sonar to exchange signals comprising: a unidirectional signal, called electrical power supply signal, unidirectional signals, called signals to be emitted, transmitted by the first part to the second part for them to be transmitted in the form of acoustic waves, and a bidirectional signal conveying communication data, the sonar wherein the first part comprises signal combination means configured for the signals to be transmitted simultaneously over the electric carrier cable, and in that the second part comprises separation means allowing the recovery of each of the signals transmitted over the electric carrier cable.

Abstract: A working method using an AUV includes a step of working on a work object with a work device included in the AUV while causing the AUV to sail along the work object, a step of dropping and sinking a transponder to the bottom of water, a step of causing the AUV to sail toward a return destination, and a step of resuming work on the work object by causing the AUV to sail from a return destination to the vicinity of a work suspended position, at which work on the work object is suspended, based on information obtained by acoustic positioning using the transponder that is sunk to the bottom of water.

Abstract: Various examples are provided for systems and methods for geodesy in shallow water. In one example, a method includes obtaining, from a sensor module, a position of a superstructure of a moored device. At least one measurement corresponding to a heading, a pitch, or a roll of the superstructure can be obtained from the sensor module. An estimated position of an anchor, ballast, or other seafloor marker of the moored device can be determined based on the position of the superstructure and at least one corrected heading associated with the at least one measurement. The at least one corrected heading can be determined by applying a magnetic declination correction to the at least one measurement.

Abstract: A small aperture acoustic velocity sensor and a method for velocity measurement are disclosed. In one aspect, the disclosed technology uses spatially-shifted sub-arrays for projection and/or hydrophone receipt and cross-correlation of successive pulses to improve correlation and reduce bias. The spatial shift can be created physically by selection of groups of elements or virtually by weighting the contributions of fixed sub-arrays. Spatial modulation can be used to form a projected signal and measured spatial phase of slope across the set of sub-arrays allows correction of both long- and short-term errors. The disclosed technology uses spatial and/or temporal interpolation.

Abstract: A low-drag dipping sonar includes an antenna equipped with acoustic transmitters and receivers. The dipping sonar further comprises a motorized winch comprising a reel, and an actuator configured to rotate the reel and a cable wound on the reel, in that the winch is placed in the antenna, and in that the cable allows the antenna to be hooked to a carrier at its one free end of the cable.

Abstract: The present disclosure generally relates to a monocoque body for an unmanned underwater vehicle (“UUV”) comprising a nose portion, a tail portion, a body interior surface, a body exterior surface. The monocoque body can be a one-piece structural shell made of fiber reinforced polymer. The UUV may further include transverse structural members.

Abstract: Aspects of the subject technology relate to a method of correcting sensor position. The method comprises transmitting one or more first pulses of a first frequency range towards a first portion of a seabed and one or more second pulses of a second frequency range towards a second portion of the seabed, and receiving a first set and second set of backscattered data. The method further includes processing the first and second set of backscattered data to form a first and second set of image data and comparing the first set and second set of image data. The method further includes creating one or more error vectors between the first set and second set of image data, and updating the first set of backscattered data based on the one or more error vectors to produce an updated set of image data.

Abstract: A tether control system for an inspection vehicle operable in a housing having a liquid medium is disclosed in the present application. The tether system includes a tether connected between the inspection vehicle and an electronic controller. A controllable buoyancy system associated with the tether is operable for moving the tether in a desired location. The controllable buoyancy system includes one or more floating bodies having a propulsion system and one or more buoyant elements having variable buoyancy capabilities.

Abstract: One or more transducer assemblies configured for multiple mounting options is provided. An example transducer assembly includes a housing configured to retain at least one sonar transducer. The housing includes a body having at least a top, a bottom, a first end, and a second end. The housing includes a first mounting feature integral to the housing and disposed proximate the first end, which is configured to mount the housing to a hull of watercraft to facilitate at least a first type of mounting. The housing also includes a second mounting feature integral to the housing and formed proximate the top of the body, which is configured to mount the housing to at least one of a watercraft or a trolling motor according to at least one second type of mounting. The at least one second type of mounting is different than the first type of mounting.

Abstract: A marine electronics system is provided including a transducer assembly configured to receive active sonar returns during a first time period and receive passive sonar data during a second time period. The system also includes a marine electronics device including a user interface comprising a display, a processor, and a memory including computer program code configured to cause the marine electronics device to receive the passive sonar data from the transducer element, generate a noise level indicator based on the passive sonar data, and cause the noise level indicator to be displayed on the user interface. The noise level indicator includes an indication of an ambient noise level associated with the vessel.

Abstract: A impact detection system is provided which includes a user interface comprising a display, processor, and memory. The memory includes computer program code configured to cause an electronic device to receive impact detection data from at least one impact detection device and generate one or more notifications based on the impact detection data.

Abstract: A semi-passive acoustic transponder providing identity information related to the transponder when it is reflecting a received pulsed acoustic signal underwater. The transponder includes a memory unit holding ID-sequence data controlling operation of the switching device, and an electronic circuit includes frequency adjusting means for adjusting the frequency and duration of the switch such that the duration of the ID-sequence data is shorter than the duration of pulses of the received acoustic signal. Additionally, a method and system may provide position and identity information related to one or more of said semi-passive acoustic transponders.

Abstract: A seafloor haulage system (10), for lifting seafloor materials from the seafloor to the surface, that has a line member (150), preferably synthetic rope, that extends at least partially between the seafloor and the surface and a container (400), preferably a plurality of containers, capable of carrying a load connected to the line member (150). The containers have a steerable element (410), such as a rudder, that enables the container to manoeuvre as it is propelled, typically towed by the line member, through the water.

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

Abstract: In the field of bodies towed behind a ship, commonly called fish, a fish comprises a supporting structure configured to move in water in a horizontal main direction, at least one appendage configured to generate a hydrodynamic lift directed downwards when the fish moves in the water under the towing effect, and a lock for reducing the hydrodynamic lift of the appendage.

Abstract: It is described an attachment device (2) for attaching a seismic node to a cable (1), the attachment device comprising an in-line fastening device (6) fastening the cable (1); and at least one locking device (3) securing the cable (1) in the at least one in-line fastening device (6). The locking device (3) prevents the cable (1) from escaping the fastening device (6). A seismic node and a method for deployment and retrieval of a number of seismic nodes are also described.

Abstract: Techniques for providing instructions to an operator of a sea vessel (301) via a computing device (502, 900, 1000) are described. The computing device (502, 900, 1000) can request, from another computing device (306, 309, 900, 1000), instructions regarding one or more of an intended course and action plan for the sea vessel (301), which can include at least one navigational instruction and/or deployment instruction. The computing device (502, 900, 1000) can send data to a display device (303) to cause a prompt to be displayed. The prompt can include options regarding the at least one instruction.

Abstract: Use of sonar systems to collect dimensional and relational data for use in metrology, mapping, object and structure detection, survey and evaluation applications is disclosed. Systems and methods for collecting underwater data sets, using registration targets, for data registration of underwater acoustic data sets, as well as for data registration of underwater acoustic data sets with above-the-waterline data sets (e.g., laser-based data sets) are described.

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

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

Abstract: A pressure estimator, based on information acquired by an acquirer and model information that includes connection information of nodes in a water distribution pipeline network, estimates water pressure at at least one part of the nodes in the water distribution pipeline network. An extractor extracts a minimum water pressure value from a plurality of water pressures that include the water pressure estimated by the pressure estimator. A controller controls an adjustor to adjust at least one of a water pressure and a flow rate of water flowing into the water distribution pipeline network, based on a minimum water pressure value extracted by the extractor.

Abstract: Seismic data recorded on an ocean bottom node (OBN) is used to determine observed direct arrival times at the OBN from a set of seismic source shots having a time span that is only a portion of an entire span time for a shot line. The observed direct arrival times for each shot in the set of seismic source shots are compared statistically with a plurality of predicted direct arrival times for each shot in the set of seismic source shots to derive a statistical measure of differences across all shots. Each predicted direct arrival time is associated with a unique proposed position of the OBN. The unique proposed position that minimizes the statistical measure of differences between the observed direct arrival times and the predicted direct arrival times is selected for each shot in the set of shots as a corrected OBN position.

Abstract: A system controller 16 determines whether the quality of either a distance image or a light intensity image satisfies reference quality, and, when the quality of either the distance image or the light intensity image dos not satisfy the reference quality, outputs a speed change command to lower a speed, an altitude change command to change a submarine altitude (depth), or the like to a navigation control unit 2, thereby changing a physical relative relation between a measurement plane 3 and a device in question. As an alternative, the system controller changes a beam scanning rate f, a beam divergence ?, or the like within limits at which the amount of variation in a spatial resolution does not exceed a permissible amount.

Abstract: Systems and methods are provided for operating streamer recovery devices to retrieve seismic streamers, for example streamers that become severed from their towing vessels. The streamer recovery can be remotely activated to cause the streamer to surface where the streamer is more easily retrieved.

Abstract: An imaging system (300) includes a transducer array (308) with a transducer element (310) with at least two faces (402, 904). Each face faces a different direction. The transducer element includes at least two sub-elements (404, 902). Each sub-element is part of a different face. The at least two sub-elements transmit respective beams at each location along a scan path (806).

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 two or more unmanned surface or submarine vehicles which positions one or more sensor arrays. The devices consist of at least two unmanned vehicles, two or more tow cables, a flexible sensor array comprising one or more sensors, and one or more buoyancy engines. The unmanned vehicles may consist of a master vehicle and one or more slave vehicles, wherein the master vehicle commands the one or more slave vehicles.

Abstract: A method for estimating a position of a first acoustic linear antenna relative to a second acoustic linear antenna belonging to a network of towed acoustic linear antennas on which are arranged a plurality of nodes. The method includes: setting a first plurality of nodes arranged on the first antenna to act as sender nodes and a second plurality of nodes arranged on the second antenna to act as receiver nodes; forming a first group of sender nodes each sending a same first acoustic signature; for each receiver node: obtaining a propagation duration and establishing a geometrical figure representative of potential positions of a sender node, based on the propagation duration and the first acoustic signature; determining a set of common points between the geometrical figures; estimating the position of the first antenna relative to the second antenna based on the set of common points.

Abstract: A system for monitoring for gas and oil flow venting from a surface using time intervals, size and velocity, and using an analysis processor with a data storage containing a bubble flow classification and bubble flow categories. The data storage receives at least one of: video feed, logging while drilling data feed, seismic profile data feed, drilling parameter data feed, measurement while drilling data feed, sonar data feed, hydrographic data feed and a laser data feed to verify a determined bubble flow category and bubble flow classification as a baseline bubble flow classification and provides an alarm when a bubble flow emergency is ascertained due to a change in bubble flow classification without an anticipated change or changes outside predefined acceptable limits within the video feed, logging while drilling data feed, seismic profile data feed, drilling parameter data feed, measurement while drilling data feed, sonar data feed, hydrographic data feed and a laser data feed.

Abstract: A method of providing assistance from an assistant to a user, wherein the user and the assistant are remote from each other, includes obtaining an image of an area adjacent the user, transmitting the image from the user to the assistant, and displaying the image on a display to the assistant. The method also includes transmitting a message generated by the assistant relating to the image from the assistant to the user and audibly outputting the message to the user.

Abstract: An acoustic-sensing underwater tow cable includes a cable core for transmission of power/signals there along, a first jacket encasing the cable core, and discrete regions of carbon nanotubes affixed to the first jacket. The carbon nanotubes at each of the discrete regions define an acoustic sensor. A second jacket encases each acoustic sensor and any electrical conductors coupled thereto.

Abstract: Systems and methods for positioning one or more spread elements of a marine seismic spread are described. One system comprises a seismic vessel-mounted acoustic Doppler current meter adapted to ascertain at least the horizontal component of the current velocity vector at a point ahead of the seismic vessel, and one or more controllers adapted to use the ascertained current velocity vector to control position of one or more seismic spread elements. It is emphasized that this abstract is provided to comply with the rules requiring an abstract, which will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. 37 CFR 1.72(b).

Abstract: A method for determining distance between a vessel and at least one sensor module arranged on fishing gear being towed by the vessel, the at least one sensor module comprising a transmitter connected to a clock and a receiver connected to a clock being arranged on the vessel, comprises time-synchronising the clocks connected to transmitter and receiver with each other, transmitting a series of signals from the transmitter at a predetermined fixed time interval, receiving in the receiver the signals from the transmitter, and, on the basis of the time of the reception of the signals, calculating the distance between the transmitter and the receiver.

Abstract: A compound buoy. At least some of the illustrative embodiments are buoy systems that include: a surface buoy; a subsurface buoy comprising an elongated outer body; a connector disposed on the lower surface; and a winch having a line, the line coupled between the surface buoy and the subsurface buoy. The buoy system has first configuration in which the upper surface of the subsurface buoy abuts the surface buoy, the abutting relationship held by tension in the line, and the buoy system has a second configuration where a distance between the surface buoy and the subsurface is limited by a length of the line spooled off the winch. In operation, the subsurface buoy supports more of the subsurface load than the surface buoy.

Abstract: An acoustic ranging system and method of use is provided that measures the magnitude of the separation of a pair of towed acoustic line arrays at a discrete point along the length of each array. One array acts as the measurement source, while the other array acts as a frequency-shifted echo repeater. The source array incorporates one sonar transmitter and two sonar receivers. The system further includes a configurable frequency shifter that enables one measurement source to make measurements with multiple repeater arrays.

Abstract: The present invention relates to towed array shape sensing and manipulation. More particularly, embodiments of the present invention relate to an array of multiple flow sensors positioned at set lengths along a tow cable to measure changes in the flow direction and water speed as a function of position along the length of the cable, which can be used to accurately determine tow cable shape and assist in maintaining a desired tow cable shape. Embodiments include a system for determining the shape of a towed cable comprising: a tow cable; multiple probes linearly distributed along the cable, each for measuring pressure, velocity, and/or flow direction in water; and means for using the measurements as a function of probe position along the cable to determine cable shape or to correct/restore cable shape during use with the aid of actuators and a control system.

Abstract: A method for obtaining a node-to-surface distance between a reference surface and a first node belonging to a network of a plurality of nodes arranged along towed acoustic linear antennas. A plurality of acoustic sequences are sent between the nodes. Each sequence is used to estimate an inter-node distance as a function of a propagation duration of the sequence between nodes. After emission by the first node of a given signal: the first node measures a first propagation duration of a first reflection by the reference surface of the given signal, and a first value of the node-to-surface distance is obtained as a function of that first propagation duration; and/or a second node measures a second propagation duration of a second reflection by the reference surface of the given signal, and a second value of the node-to-surface distance is obtained as a function of that second propagation duration.

Abstract: A method for reducing noise in a towed acoustic array includes providing a towed array having a length, diameter, frequency range and tow speed. The relationship between tension in the towed array and wall pressure fluctuation spectral levels is determined. Wall pressure fluctuation spectral levels are related to the noise in the array. An optimal towed array tension is calculated using the determined relationship. Tension is increased to the optimal towed array tension by either provided additional towed array hose or a drogue at the end of the towed array.

Abstract: A collision avoidance system for use with vehicles includes a sensor mounted on a moving vehicle, wherein the sensor is operative to measure the distance between an overhead obstacle ahead of the vehicle and the sensor itself; a processor connected to the sensor; means for determining a reference height which is the height above ground level at which the sensor is mounted on the vehicle, and wherein the reference height is entered into the processor; means for determining the height of the tallest portion of the vehicle above ground level, wherein the height of the tallest portion of the vehicle is also entered into the processor; and wherein the processor adds the reference height to the distance between the obstacle and the sensor to determine a measured height of the obstacle, and wherein the processor produces an alarm if the measured height of the obstacle is less than the height of the tallest portion of the vehicle.

Abstract: A vehicular collision avoidance system includes a sensor mounted on a vehicle, wherein the sensor is operative to measure the distance between an overhead obstacle ahead of the vehicle and the sensor; a processor connected to the sensor; means for determining a reference height which is the height above ground level at which the sensor is mounted on the vehicle, and wherein the reference height is entered into the processor; means for determining the height of the tallest portion of the vehicle above ground level, wherein the height of the tallest portion of the vehicle is also entered into the processor; and wherein the processor adds the reference height to the distance between the obstacle and the sensor to determine a measured height of the obstacle. The processor produces an alarm if the measured height of the obstacle is less than the height of the tallest portion of the vehicle.

Abstract: A method, system, and apparatus are provided for focused ultrasonic acoustic imaging of objects within a body of water. Echo soundings are collected, produced by an ultrasonic transmitter and detected by an ultrasonic receiver. Spatial location information of the transmitter and receiver is collected and associated with each echo sounding. A focused signal spatial location is selected at a desired output location. One or more of the collected soundings are selected. An echo signal from each selected sounding is selected. The signal selection is determined by a calculation of which signal from the selected sounding scattered from an object at the selected focused signal spatial location. A focused echo signal is formed by combining the selected signals for the selected focused signal location. The focused signals are graphed, based on their respective selected focused signal spatial locations, producing a focused image.

Abstract: A method is disclosed for determining earth vertical electrical anisotropy from offshore electromagnetic survey measurements. The method requires both online and offline data, which includes at least one electromagnetic field component sensitive at least predominantly to vertical resistivity and another component sensitive at least predominantly to horizontal resistivity. Using a horizontal electric dipole source, online EZ and offline HZ measurements are preferred. For a horizontal magnetic dipole source, online HZ and offline EZ data are preferred. magnetotelluric data may be substituted for controlled source data sensitive to horizontal resistivity. Maxwell's equations are solved by forward modeling or by inversion, using resistivity models of the subsurface that are either isotropic or anisotropic.

Abstract: A method, system, and apparatus are provided for focused ultrasonic acoustic imaging of objects within a body of water. A plurality of echo soundings are collected, the soundings produced by an ultrasonic transmitter and detected by an ultrasonic receiver. Spatial location information of the transmitter and receiver is collected and associated with each collected echo sounding. A focused signal spatial location is selected. One or more of the collected echo soundings are selected. An echo signal from each selected echo sounding is selected. The echo signal selection is determined by a calculation of which echo signal from the selected echo sounding corresponds to a focused signal occurring at the selected focused signal spatial location. The calculation is based on the selected focused signal spatial location and on the collected spatial information associated with the selected echo sounding. The selected echo signals are combined, whereby a focused echo signal is formed.

Abstract: To determine a position of an object in a positioning network associated with a marine survey arrangement, images of targets on the object in the positioning network are captured with a plurality of cameras. Based on known positions of the plurality of cameras and known separation between the targets, positions of the targets are computed by processing the images. A position of the object is derived based on the positions of the targets.

Abstract: Apparatus, systems and methods for calculating position of marine seismic acoustic receivers, and for estimating sound velocity profile of a fluid, are disclosed. One position calculation system includes a vessel, two or more vessel hull-mounted transmitters, a plurality of acoustic receivers on a cable being deployed from the vessel into the fluid, and a calculation unit. The calculation unit may be adapted to calculate position of the receivers, and may be used in calculating the sound velocity profile in the fluid and correcting raw seismic data. It is emphasized that this abstract is provided to comply with the rules requiring an abstract, which will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. 37 CFR 1.72(b).

Abstract: In one aspect, the invention is directed to an adaptive cruise control system for a host vehicle, comprising a long-range sensor configured to determine a location of objects positioned ahead of the host vehicle, at least one short-range sensor configured to determine the location of objects in close proximity ahead of the host vehicle, and a controller configured to receive information from the long-range sensor and from the at least one short-range sensor and to control the speed of the host vehicle based at least in part thereon, wherein the controller is configured to operate the at least one short-range sensor in a plurality of operating modes, and to select a short-range sensor operating mode at least in part in response to the location of any objects detected by the long-range sensor.

Abstract: A synthetic antenna sonar system, includes: a sonar provided with emission elements and reception elements, the reception elements including a composite physical antenna having N transducers, the sonar being located on a mobile carrier; an inertial unit arranged on the carrier and suitable for measuring instantaneous position and orientation informations of the carrier; a common clock supplying a temporal signal enabling the synchronization of both the inertial unit and the sonar; elements for determining the instantaneous speed of the carrier, the determined speed feeding the inertial unit to correct the draft thereof; and micronavigation elements enabling an image of the seafloor to be obtained through formation of the synthetic antenna channels from K sonar operation recurrences, considering that the physical antenna movement during the carrier displacement is fully known from the informations measured by the inertial unit.

Abstract: Systems and methods for determining position of one or more seismic streamers are disclosed. One system embodiment includes a seismic streamer towed by a towing vessel at a first depth; at least one positioning streamer towed by the towing vessel at a second depth different than the first depth; and an acoustic ranging system between the seismic and positioning streamers It is emphasized that this abstract is provided to comply with the rules requiring an abstract, which will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. 37 CFR 1.72(b).

Abstract: Low frequency vibration induced noise is reduced in a towed sonar array of the type comprising a number of oil-filled modules joined end to end with each module housing a plurality of hydrophones by arranging that the signal output from each hydrophone in an array is equally weighted at low frequencies to form a single channel. Beamforming is then carried out by applying different weights to the different module channels. High modulus internal strength members are included in each module to resist anti-phase vibration of the couplings at the end of the module. The hydrophone spacing and the coupling lengths are both made small compareed to the module length to improve vibration noise reduction.

Abstract: The invention relates to a module (100) which is attached to a trawl, and which at least comprises measuring sensors (330) and a power supply unit. (320) The sensors are basically inactive, but can be activated as the need arises to measure different parameters. In an embodiment the module also includes a power-generating movement device connected to a charging device that can supply energy to the power supply unit. The module may also include communication means. In an alternative embodiment the module ma include a trawl door that can drag the drawl in a desired direction. Several modules may be (combined to form a system that both measures different parameters and positions the trawl in order to achieve an optimal trawling process.

Abstract: An embodiment of a method for conducting a bathymetric survey across a seismic spread includes the steps of emitting a signal from a pinger positioned within the seismic spread, measuring the arrival time of a bottom reflection of the signal at a receiver positioned within the seismic spread, measuring the arrival time of a direct arrival of the signal at the receiver, and determining the water depth utilizing the measured arrival times of the signal.