A line intended to be submerged in an aquatic environment. The line includes a mooring configured to be placed on the bottom of the aquatic environment and for immobilizing the line relative to the bottom, a buoy configured to float on the surface of the aquatic environment, an object extending along a vertical axis, having a center of balance of hydrodynamic forces when the object is subjected to a horizontal water current and called the hydrodynamic center, and having a center of gravity vertically remote from the hydrodynamic center, a frame connected to the object by a pivoting link with a substantially horizontal axis passing through the hydrodynamic center, at least one fin extending vertically, whereby the object can be oriented relative to a horizontal water current, a first section of line connecting the mooring to the frame, a second section of line connecting the frame to the buoy.

A line intended to be submerged in an aquatic environment. The line includes a mooring configured to be placed on the bottom of the aquatic environment and for immobilizing the line relative to the bottom, a buoy configured to float on the surface of the aquatic environment, an object extending along a vertical axis, having a center of balance of hydrodynamic forces when the object is subjected to a horizontal water current and called the hydrodynamic center, and having a center of gravity vertically remote from the hydrodynamic center, a frame connected to the object by a pivoting link with a substantially horizontal axis passing through the hydrodynamic center, at least one fin extending vertically, whereby the object can be oriented relative to a horizontal water current, a first section of line connecting the mooring to the frame, a second section of line connecting the frame to the buoy.

A system for inspecting flexible pipelines comprises a data analyzer, a data collector and an ultrasonic transducer. Further, the ultrasonic transducer is adapted to propagate shear wave into the annulus of the flexible pipeline. The data collector further comprises a data store and a communicator. Further, the system is capable of differentiating flooding and non-flooding condition of the annulus of the flexible pipeline which is subjected to high pressure. Using the system, an indicator of a flooded or non-flooded condition within the flexible pipeline may be calculated using transmitted and detected reflective waves or the lack of detected reflective waves.

A system for inspecting flexible pipelines comprises a data analyzer, a data collector and an ultrasonic transducer. Further, the ultrasonic transducer is adapted to propagate shear wave into the annulus of the flexible pipeline. The data collector further comprises a data store and a communicator. Further, the system is capable of differentiating flooding and non-flooding condition of the annulus of the flexible pipeline which is subjected to high pressure. Using the system, an indicator of a flooded or non-flooded condition within the flexible pipeline may be calculated using transmitted and detected reflective waves or the lack of detected reflective waves.

A system for inspecting flexible pipelines comprises a data analyzer, a data collector and an ultrasonic transducer. Further, the ultrasonic transducer is adapted to propagate shear wave into the annulus of the flexible pipeline. The data collector further comprises a data store and a communicator. Further, the system is capable of differentiating flooding and non-flooding condition of the annulus of the flexible pipeline which is subjected to high pressure. Using the system, an indicator of a flooded or non-flooded condition within the flexible pipeline may be calculated using transmitted and detected reflective waves or the lack of detected reflective waves.

Embodiments of the present disclosure are directed towards a system and method for performing an inspection of an underwater environment. Embodiments may include providing an autonomous underwater vehicle (AUV) and performing an inspection of an underwater environment using the AUV. Embodiments may further include acquiring real-time sensor data during the inspection of the underwater environment and applying an active simultaneous localization and mapping (SLAM) algorithm during the inspection, wherein applying includes estimating one or more virtual landmarks based upon, at least in part, at least one past measurement and a current estimate of AUV activity.

Embodiments of the present disclosure are directed towards a system and method for performing an inspection of an underwater environment. Embodiments may include providing an autonomous underwater vehicle (AUV) and performing an inspection of an underwater environment using the AUV. Embodiments may further include acquiring real-time sensor data during the inspection of the underwater environment and applying an active simultaneous localization and mapping (SLAM) algorithm during the inspection, wherein applying includes estimating one or more virtual landmarks based upon, at least in part, at least one past measurement and a current estimate of AUV activity.

The system for positioning an underwater device including at least two surface transponders comprising a receiver for receiving radio signals transmitted by a geolocation system; each surface transponder comprising: an estimator for estimating at least one radio pseudo-distance; an attachment to a float; and a communicator for communicating information representative of the radio pseudo-distances; and an underwater acoustic transmitter; the underwater device comprising: a receiver for receiving information representative of the radio pseudo-distances; an acoustic signal receiver; a determinator for determining one or more acoustic pseudo-distances between at least two underwater acoustic transmitters and the underwater device; and a calculator for calculating the position of the device in a terrestrial frame of reference centered on one of the surface transponders.

The system for positioning an underwater device including at least two surface transponders comprising a receiver for receiving radio signals transmitted by a geolocation system; each surface transponder comprising: an estimator for estimating at least one radio pseudo-distance; an attachment to a float; and a communicator for communicating information representative of the radio pseudo-distances; and an underwater acoustic transmitter; the underwater device comprising: a receiver for receiving information representative of the radio pseudo-distances; an acoustic signal receiver; a determinator for determining one or more acoustic pseudo-distances between at least two underwater acoustic transmitters and the underwater device; and a calculator for calculating the position of the device in a terrestrial frame of reference centered on one of the surface transponders.

A seabed object detection system is provided. The system can include a receiver array including streamers. The system can include a plurality of receivers coupled with the streamers. The system can include a receiver array cross-cable to couple with the first streamer and to couple with the second streamer. The receiver array cross-cable can be disposed at a first depth of a body of water. The system can include a first diverter and a second diverter coupled with the receiver array cross-cable. The system can include a source array including a first source and a second source. The source array can be coplanar to the receiver array. The system can include a source array cross-cable to couple with the first source and to couple with the second source, the source array cross-cable disposed at a second depth of the body of water.