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I saw a movie where they used a device to make a forceful impact in the ground, and there were probes staked in the ground that imaged underground based on the acoustics. It was an alien movie, so I’m not hopeful, but is there not technology like that being worked on? Sonar for underground?


Yes, we have that. You have to already know roughly where you want to look, though.

https://en.wikipedia.org/wiki/Ground-penetrating_radar

https://en.wikipedia.org/wiki/Seismic_source



Didn't they do something like that in the beginning of (ok, scifi) Jurassic Park as well?


Yes, although the script incorrectly calls it "radar". And needless to say it was not a realistic depiction of the technology or its capabilities.




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