An example system can comprise autonomous submarines and an auxiliary station including a power supply. Each autonomous submarine can include a respective power supply and a respective marine survey node coupled thereto. The auxiliary station can be configured to dock the autonomous submarines in a body of water and recharge the respective power supply of each of the autonomous submarines via the power supply of the auxiliary station. Each autonomous submarine can be configured to autonomously navigate from and return to the auxiliary station and position the respective marine survey node on an underwater surface.

An adaptive tooling interface comprises a plurality of motors, disposed at least partially within a housing, which are operatively in communication with a controller and where a first power output is operatively in communication with a first motor of the plurality of motors and a second power output operatively in communication with a second motor of the plurality of motors. A drive interface, comprising a tooling adapter, is operatively in communication with the plurality of motors and configured to mate with and provide power to one or more tools, which comprise a matching subsea tool tooling interface, via the first power output and the second power output. The adaptive tooling interface may be connected to or otherwise integrated into a subsea vehicle system comprising a subsea vehicle.

A system to perform marine surveying may include a pair of identical design autonomous marine survey vehicles configured for coordinated operations. The vehicles may navigate and transit from a launch location to a geographically distant designated survey location, continuously survey and transit to a designated recovery location. A pair of vehicles may operate interchangeably at the sea surface, semi-submerged and underwater. Each may generate energy when operating at the surface and store energy in a rechargeable battery to power vehicle operation. The payload may include a sensor system to acquire seabed sensor data. A data storage system may store the sensor data. An on-board payload quality control system may analyze data validity. Positioning when the vehicle is collecting seabed sensor data may be determined with high precision, to provide survey data of high precision.

A deployable wave energy harvesting device for autonomous underwater vehicles (AUVs) includes a deployable lifting platform and an energy harvesting mechanism. The deployable lifting platform includes two scissor-type lifting structures, which are supported by a double-end threaded rod. A first stepper motor is connected to a threaded rod passing through a threaded hole at a center of a slotted pin shaft, and drives the threaded rod to lift and lower the deployable lifting platform. A spindle on the energy harvesting mechanism is connected to a generator. A support frame is hung at the end of the spindle. A scissor-type single-pendulum structure is hung at the lower end of the support frame. A load is hung on the end of the scissor-type single-pendulum structure. Second and third stepper motors are installed on the support frame to lift and lower the load by rope drive.

This invention relates generally to geotechnical rig systems and methods. In one embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor.

A sound source for acoustic communication, navigation, and networking of an underwater glider may include a cylindrical body, a rigid front section disposed anteriorly to the cylindrical body, a plurality of metal rods, a resonant pipe surrounding the rods, and a rod-mounted piezo-ceramic transducer disposed between the body and the front section. Each rod may be attached at a first end to an anterior portion of the body and at a second end to a posterior portion of the front section. The pipe may be disposed between the body and the front section. The transducer may be disposed within the pipe. A posterior end of the pipe may be separated from the anterior portion of the body by a first orifice, and an anterior end of the pipe may be separated from the posterior portion of the front section by a second orifice.

The present invention provides an apparatus, method and system for utilizing commercial cargo containers. The present invention utilizes containers made autonomous by coupling a container with a detachable propulsion system, having a motor and navigation and steering controls, permitting the rapid, controlled, efficient and safe delivery of cargo containers individually by water. Ballast units, deployment systems and control via remote units are also disclosed. The containers, utilizing their inherent buoyancy, can move autonomously according to a preplanned or remote controlled route to a specific location.

The present disclosure provides systems, apparatuses, and methods for measuring submerged surfaces. Embodiments include a measurement apparatus including a main frame, a source positioned outside a pipe and connected to the main frame, and a detector positioned outside the pipe at a location diametrically opposite the source and connected to the main frame. The source may transmit a first amount of radiation. The detector may receive a second amount of radiation, determine a composition of the pipe based on the first and second amounts of radiation, and send at least one measurement signal. A control canister positioned on the main frame or on a remotely operated vehicle (ROV) attached to the apparatus may receive the at least one measurement signal from the detector and convey the at least one measurement signal to software located topside.

Method and seismic data acquisition system includes a streamer spread including (i) a streamer having receivers for recording seismic data and (ii) a connecting cable connecting the streamer to a towing vessel; a collar device configured to move along the connecting cable, between the towing vessel and the streamer; and a remotely operated vehicle (ROV) attached to the collar device with an umbilical and configured to carry an interchangeable payload.

An unmanned underwater vehicle having one, some, or all of an integrated communication control fin, a ballast and trim control, a reusable trigger mechanism for a drop weight, and a visual hull display. Furthermore, associated methods are also provided.