Software, electronic hardware, namely, imaging sonar, computers, computer monitors, video monitors, electronic sensors, transducers, transmitters and receivers used in sonar imaging, and computer hardware used for underwater inspection, imaging and measurement of seabed and sub-sea structures, seabed surveying, underwater obstacle avoidance, underwater navigation, underwater object/intruder detection and identification; Software and electronic computer hardware used for the visualization, analysis and interpretation of data from the aforementioned, for the creation of maps, charts and analyses of both man made and natural sub-sea structures, ships hulls, seabed and river-bed, obstacles and intruders; Associated equipment for hydrographic and geophysical survey, namely, imaging sonar, computers, computer monitors, video monitors, electronic sensors, transducers, transmitters and receivers used in sonar imaging; Software and electronic hardware, namely, imaging sonar, computers, computer monitors, video monitors, electronic sensors, transmitters and receivers used in sonar imaging, and computer hardware used in the collection, processing, display and recording of data from underwater sensors in imaging systems, namely, sonar systems; Software and electronic hardware, namely, imaging sonar, computers, computer monitors, video monitors, electronic sensors, transducers, transmitters and receivers used in sonar imaging, and computer hardware used in the measurement of motion, attitude and position of surface watercraft, namely, ships and boats and sub-surface watercraft, namely, submarines, for the purposes of providing data corrected for position and motion errors