Abstract: A cable winding system carried by a vehicle for extending and retracting cable responsive to vehicle movement. The cable frictionally engages a controllably powered sheave and is guided into a horizontally disposed coil by a cylindrical guide arm having a vertically directed opening adjacent the sheave and a downwardly, radially and circumferentially directed opening adjacent the coil. The guide arm is freely rotatable about a vertical axis so that as cable is extended and retracted the guide arm rotates to guide the cable between the coil and sheave. The powered sheave directs cable from the vehicle through an instrumented fairlead which, through a control system, controls the operation of the sheave. The fairlead is pivotally mounted about a horizontal pivot axis so that the head pivots in one direction as the cable is tensioned and in the opposite direction as the cable tension is relieved.

Abstract: An elongated metal workpiece such as a slab or billet is moved longitudinally beneath a grinding head by a reciprocating car mounted on an elongated track. The grinding head includes a rotating grinding wheel mounted at the end of a first arm which is pivotally secured to one end of a pivotally mounted second arm. A hydraulic actuator extending between the frame and the first arm controls the grinding force exerted by the grinding wheel on the workpiece. One end of the actuator is connected to an accumulator which provides a constant upward bias to the arm while the pressure in the other end of the actuator is varied in accordance with a pressure control signal. The pressure control signal is derived from both a calculated torque command indicative of the grinding force expected to produce a grinding torque corresponding to the torque command and a torque error signal which is a function of the deviation of actual torque from the torque command in order to maintain the grinding torque substantially constant.

Abstract: A pipe laying vessel has a hoisting winch whose cable is connected to an underwater pipeline during abandonment and recovering operations by a shock absorbing device inserted into and connected to the free end of the pipeline. The shock absorbing device includes a pre-pressurized hydraulic accumulator which is hydraulically coupled to a cylinder and piston, the piston being connected to the hoisting cable with shock loading due to wave action on the vessel being converted to movement of the piston in the cylinder and against pressure of the accumulator.

Abstract: Method and apparatus for coiling long lengths of substantially rigid pipe. Sections of pipe can be welded into a length several thousand feet long which is then bent to form a continuous spiral. Preferably, the pipe is stored in a vertical coil, with the weight being carried solely by the lowermost coil.

Abstract: A floating drilling derrick is provided with a split crown block and an opening to allow passage of a heave compensator cylinder which is secured to a lower traveling block. The piston rod of the compensator is secured to a drill string carrier. Coupling means are provided in the traveling block and carrier to selectively lock out the heave compensator. The traveling block and carrier are kept in proper orientation by guides thereon cooperating with guide rails on the derrick.