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.

Disclosed are advantageous designs for highly-sparse seabed acquisition for imaging geological structure and/or monitoring reservoir production using sea surface reflections. The highly-sparse geometry designs may be adapted for imaging techniques using the primary and higher orders of sea surface reflection and may advantageously allow for the use of significantly fewer sensors than conventional seabed acquisition. The highly-sparse geometry designs may be relevant to 3D imaging, as well as 4D (“time-lapse”) imaging (where the fourth dimension is time). In accordance with embodiments of the invention, geophysical sensors may be arranged on a seabed to form an array of cells. Each cell in the array may have an interior region that contains no geophysical sensors and may be sufficiently large in area such that a 500 meter diameter circle may be inscribed therein.

Embodiments, including systems and methods, for remotely controlling underwater vehicles (such as ROVs) and deploying ocean bottom seismic nodes from the underwater vehicles. A direct data connection may be created between an Integrated Navigation System (located on a surface vessel) and a ROV controller/Dynamic Positioning (DP) system (which may be located on the surface vessel and/or the ROV). The INS may be configured to output the ROV target position and ROV position (such as standard 2 or 3 dimensional coordinates) to the DP system. The DP system may be configured to calculate the necessary ROV movements based on directly received data from the INS. Based on a selected ROV target destination or desired ROV action (which may be done automatically or by an operator), the ROV may be automatically positioned and/or controlled based on commands from the DP system based on commands and/or data from the INS.

The present disclosure is directed to a system to locate seismic data acquisition units in a marine environment. The system can include a first seismic data acquisition unit. The first seismic data acquisition unit can include a case having a wall defining an internal compartment, a power source, a clock, a seismic data recorder, and at least one geophone disposed within the case. The system can include a flexible connector and a telltale component, wherein the flexible connector and the telltale component can be stored adjacent to the first seismic data acquisition unit, wherein a second seismic data acquisition unit is coupled with the first seismic data acquisition unit.

An autonomous underwater seismic wave generation system includes a housing, and an autonomous navigation system, a propulsion system and a seismic wave generator, each connected to the housing. The autonomous navigation system can navigate the autonomous underwater seismic wave generation system to subsea locations including a location on a seabed. The propulsion system can drive the autonomous underwater seismic wave generation system to the location on the seabed. The seismic wave generator can couple to the location on the seabed to generate seismic waves at the location on the seabed.

There is described a system for deploying and retrieving seismic nodes on the seabed. The system uses a modular container that can be connected to a ROV. The container includes a magazine for storing a number of individual nodes, as well as having means for moving the nodes through the magazine onto the seabed.

A marine survey node can include a body to be deployed to a seabed, a marine survey receiver coupled to the body and to acquire marine survey data, and a soil sample module associated with the body to collect a soil sample from the seabed. A soil sample module can include a vessel, a first valve coupled to the vessel, and a spike coupled to the vessel. The spike can penetrate an earth surface. The first valve can maintain a pressure difference between the vessel and the spike when closed and equalize a pressure between the vessel and the spike when open. An inlet in the spike can equalize pressure between an inside of the spike and an outside of the spike and to collect a soil sample from the earth surface.

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.

The present disclosure is directed to delivering nodes to an ocean bottom. A system can include a tether management system (TMS) towed by a vessel that moves on the surface of the ocean in a first direction. An underwater vehicle (UV) can be connected to the TMS and can move in a second direction that is different from the first direction. A thruster can be coupled to the TMS can cause the TMS to move in a third direction that is different from the first direction. A control unit can control the thruster to move the TMS in the third direction based on a cross-line location policy, and cause the UV to deploy nodes to target locations on the ocean bottom.

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.