A method of obtaining data with a sensor of an autonomous underwater vehicle (AUV), the AUV comprising a bladder which contains a gas and is exposed to ambient water pressure. A downward thrust force is generated which causes the AUV to descend through a body of water, wherein the bladder contracts as the AUV descends due to an associated increase in the ambient water pressure, the contraction of the bladder causing the gas to compress and the AUV to become negatively buoyant. Next the AUV lands on a bed of the body of water. After the AUV has landed on the bed, the sensor is operated to obtain data with the AUV stationary and negatively buoyant and a weight of the AUV supported by the bed. After the data has been obtained, an upward thrust force is generated which overcomes the negative buoyancy of the AUV and causes the AUV to ascend through the body of water, the ascent of the AUV causing the bladder to expand due to the associated decrease in the ambient water pressure, the expansion of the bladder causing the gas to decompress and the AUV to become neutrally buoyant.

The present invention provides a rock movement sensor including an inertial measurement assembly, a control assembly responsive to said inertial measurement assembly and a communication assembly coupled to the control assembly. The control assembly is arranged to determine a displacement associated with a blast or drop based on signals from the inertial measurement assembly. The communication assembly is preferably a wireless communication assembly. A surface unit corresponding to the rock movement sensor is provided which includes a processor programmed to operate a communications assembly to receive displacement data from the rock movement sensor. Consequently, the movement of an ore body due to a blast may be determined by locating a number of the rock movement sensors at known locations about the ore body prior to the blast and subsequently retrieving data values indicating a displacement relative to the known locations from the rock movement sensor post blast.

Embodiments included herein are directed towards a marine seismic streamer. The seismic streamer may include an outer skin formed in a longitudinally extending tubular shape, an inner surface of the outer skin defining an internal volume containing a gel substance. The seismic streamer may also include a plurality of micro-electro-mechanical (MEMS) sensors and a plurality of hydrophones associated with the outer skin, wherein the plurality of MEMS sensors are spaced non-uniformly in the seismic streamer along an axial direction of the streamer, such that not more than 100 MEMS sensors are located in the seismic streamer over a continuous 100 meter axial length of seismic streamer. The seismic streamer may further include an electronics system extending axially through an inside portion of the outer skin and a strength member core extending axially through an inside portion of the outer skin.

A seismometer with high sensitivity, broadband and all-dip is provided, The which relates to the technical field of seismometer, including a first force feedback module, an insulator, a top cover, a terminal post, an upper leaf spring, a mass block, a casing, a sealing ring, an insulation gasket, a guide spring, a wire frame, a magnetic shoe, a compensation ring, a lower leaf spring, a bottom cover, a second force feedback module and a third force feedback module. It provides the broadband seismometer technology based on dynamic force balance feedback and the all-dip broadband seismometer technology based on dip angle perception, which breaks through the limitations of conventional seismometers in sensitivity, frequency band, and dip angle, and truly realizes a seismometer with high sensitivity, broadband, and all-dip.

A method can include receiving an estimated spatial location of a three-component receiver in a borehole; receiving a plurality of spatial locations of sources of seismic energy; receiving incident angles for the three-component receiver at the estimated spatial location for the plurality of spatial locations of the sources of seismic energy; computing orientations for the three-component receiver based at least in part on the incident angles; minimizing an error function for the orientations; and, based at least in part on the minimizing, determining one or more deviation survey parameter values that specify at least a portion of a trajectory for the borehole.

A section of a streamer for acoustic marine data collection, the section having a carrier for accommodating seismic sensors, wherein the carrier includes, a single body, a first particle motion sensor located on the single body, and a second particle motion sensor being located on the single body, with a 90 angular offset, about a longitudinal axis of the carrier, relative to the first particle motion sensor; and a tilt sensor coupled to the carrier and having a known direction relative to the first and second particle motion sensors so that the tilt sensor determines an angle of tilt of the carrier about a vertical. The first and second particle motion sensors measure a motion related parameter and not a pressure.

Embodiments included herein are directed towards a marine seismic streamer. The seismic streamer may include an outer skin formed in longitudinally extending tubular shape, an inner surface of the outer skin defining an internal volume containing a gel substance. The seismic streamer may also include a plurality of micro-electro-mechanical (MEMS) sensors and plurality of hydrophones associated with the outer skin, wherein in the plurality of MEMS sensors are spaced non-uniformly in the seismic streamer along an axial direction of the streamer, such that not more than 100 MEMS sensors are located in the seismic streamer over a continuous 100 meter axial length of seismic streamer. The seismic streamer may further include an electronics system extending axially through an inside portion of the outer skin and a strength member core extending axially through an inside portion of the outer skin.

A section of a streamer for acoustic marine data collection, the section comprising a carrier for accommodating seismic sensors, wherein the carrier includes, a single body, a first particle motion sensor located on the single body, and a second particle motion sensor being located on the single body, with a 90 angular offset, about a longitudinal axis of the carrier, relative to the first particle motion sensor; and a tilt sensor coupled to the carrier and having a known direction relative to the first and second particle motion sensors so that the tilt sensor determines an angle of tilt of the carrier about a vertical, wherein the first and second particle motion sensors measure a motion related parameter and not a pressure.

Embodiments included herein are directed towards a marine seismic streamer. The seismic streamer may include an outer skin formed in a longitudinally extending tubular shape, an inner surface of the outer skin defining an internal volume containing a gel substance. The seismic streamer may also include a plurality of micro-electro-mechanical (MEMS) sensors and a plurality of hydrophones associated with the outer skin, wherein the plurality of MEMS sensors are spaced non-uniformly in the seismic streamer along an axial direction of the streamer, such that not more than 100 MEMS sensors are located in the seismic streamer over a continuous 100 meter axial length of seismic streamer. The seismic streamer may further include an electronics system extending axially through an inside portion of the outer skin and a strength member core extending axially through an inside portion of the outer skin.

Embodiments included herein are directed towards a marine seismic streamer. The seismic streamer may include an outer skin formed in a longitudinally extending tubular shape, an inner surface of the outer skin defining an internal volume containing a gel substance. The seismic streamer may also include a plurality of micro-electro-mechanical (MEMS) sensors and a plurality of hydrophones associated with the outer skin, wherein the plurality of MEMS sensors are spaced non-uniformly in the seismic streamer along an axial direction of the streamer, such that not more than 100 MEMS sensors are located in the seismic streamer over a continuous 100 meter axial length of seismic streamer. The seismic streamer may further include an electronics system extending axially through an inside portion of the outer skin and a strength member core extending axially through an inside portion of the outer skin.