The main components of an exemplary inventive simulation are a towing platform (such as a ship), a towed body, an underwater vehicle (such as a UUV), and a tow cable connecting the towing platform and the towed body. An objective of the dynamic arrangement of the components is to perform a “line capture” of the moving vehicle by the cable. Respective motions and positions of the towing platform and the towed body affect the cable. Waves and currents in the water, as well as changes in catenary and tension of the cable, affect the tow body. Advantageously, the invention more accurately accounts not only for continuities, but also for discontinuities, characterizing the dynamic interrelationships between and among the components. Among the invention's features is its ability to “trigger” consideration of certain dynamic manifestations relating to the vehicle, depending on whether or not the vehicle is in a captured state.

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.

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.

There is provided a casing for a towable sonar apparatus, comprising: a tubular member, wherein the tubular member comprises a foam member or a mesh member; a first layer around the tubular member, wherein the first layer is porous.

A seabed object detection system is provided. The system can include a receiver array including a first streamer and a second streamer. The system can include a first plurality of receivers coupled with the first streamer and a second plurality of receivers coupled with the second streamer. The system can include a receiver array cross-cable to couple with the first streamer and the second streamer. The system can include a source array including a first source and a second source. The system can include a first source cable coupled with the first source and a second source cable coupled with the second source. The system can include a source array cross-cable to couple with the first source cable and the second source cable. The system can include a first lateral cable to couple with a first diverter and second lateral cable to couple with a second diverter.

A seabed object detection system is provided. The system can include a receiver array including a first streamer and a second streamer. The system can include a first plurality of receivers coupled with the first streamer and a second plurality of receivers coupled with the second streamer. The system can include a receiver array cross-cable to couple with the first streamer and the second streamer. The system can include a source array including a first source and a second source. The system can include a first source cable coupled with the first source and a second source cable coupled with the second source. The system can include a source array cross-cable to couple with the first source cable and the second source cable. The system can include a first lateral cable to couple with a first diverter and second lateral cable to couple with a second diverter.

The present invention relates to the field of marine towing operations for marine seismic survey systems and seismic data gathering. More specifically, the present invention relates to seismic sources and receiver sensor cables, streamers, floats etc., that have means for adjusting and keeping a desired position in an array during a tow behind a vessel. The apparatus comprises a body (10) with means for being towed behind a vessel, means for connecting with and supporting and steering submerged marine seismic equipment laterally in the water and means for remote control from vessel. The body (10) of the apparatus has a forward positioned float unit (16) with an elongated rear float (12) hinged at the rear of the forward float. The forward float unit has vertical wings (18, 18′) with means for adjusting angle of attack in water.

The present invention relates to the field of marine towing operations for marine seismic survey systems and seismic data gathering. More specifically, the present invention relates to seismic sources and receiver sensor cables, streamers, floats etc., that have means for adjusting and keeping a desired position in an array during a tow behind a vessel. The apparatus comprises a body (10) with means for being towed behind a vessel, means for connecting with and supporting and steering submerged marine seismic equipment laterally in the water and means for remote control from vessel. The body (10) of the apparatus has a forward positioned float unit (16) with an elongated rear float (12) hinged at the rear of the forward float. The forward float unit has vertical wings (18, 18′) with means for adjusting angle of attack in water.

A modular seismic unit storage and handling system with a gantry robot and charging magazine is provided. The storage and handling system can include a storage container. The storage and handling system can include a top hat and a top hat extension. The storage and handling system can include an automated connection and charging magazine. The top hat can be connected to a gantry robot. The gantry robot can include a robotic arm.

A modular seismic unit storage and handling system with a gantry robot and charging magazine is provided. The storage and handling system can include a storage container. The storage and handling system can include a top hat and a top hat extension. The storage and handling system can include an automated connection and charging magazine. The top hat can be connected to a gantry robot. The gantry robot can include a robotic arm.