Abstract: This application discloses integrated probes and probe systems, which can be attached to the robotic arms of a remotely operated vehicle to perform both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. In some embodiments, the integrated probe system couples an inner and outer gimbal together such that one or more electrically conductive legs pass from the outer gimbal through the inner gimbal. These legs are arranged about an ultrasonic sensor which extends from the front surface of the inner gimbal. When the integrated probe contacts the underwater surface, both the ultrasonic sensor and at least one leg contact the surface, thereby providing substantially simultaneous CP and UT measurements.

Abstract: A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Abstract: A water environment robotic system and method has a buoyancy configuration which can be selectively altered. The system includes an underwater robotic vehicle and a buoyancy module that is configured to be selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the buoyancy module and a motor is operatively connected to the tether and is configured to extend and retract the tether and buoyancy module. The tether can be extended and retracted to extend and retract the buoyancy module. Extending and retracting the buoyancy module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the arrangement of the system. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered.

Abstract: This application discloses integrated probes and probe systems, which can be attached to the robotic arms of a remotely operated vehicle to perform both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. In some embodiments, the integrated probe system couples an inner and outer gimbal together such that one or more electrically conductive legs pass from the outer gimbal through the inner gimbal. These legs are arranged about an ultrasonic sensor which extends from the front surface of the inner gimbal. When the integrated probe contacts the underwater surface, both the ultrasonic sensor and at least one leg contact the surface, thereby providing substantially simultaneous CP and UT measurements.

Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Abstract: Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.

Abstract: A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Abstract: The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.

Abstract: A deployable docking station for supporting at least one mobile robot is provided. The deployable docking station includes a housing and an anchor connected to the housing. The anchor can engage with a surface to maintain the position of the deployable docking station. The deployable docking station is further configured to couple and decouple with the at least one mobile robot. The deployable docking station can be configured to selectively alternate between a first and second condition. In the first condition, the deployable docking station is coupled with the at least one mobile robot and the at least one mobile robot can transport the deployable docking station to a desired location on the surface. In the second condition, the deployable docking station is de-coupled from the at least one mobile robot.

Abstract: The present apparatus is configured to carry an instrument or probe and optionally deploy it against a surface, such as a metal pipeline or storage tank. The apparatus can include a sensor probe for inspecting the integrity of the surface and a first linkage that is operatively coupled to the sensor probe and configured to move the sensor probe according to a first path (in a first direction/first degree of freedom). An actuator can be operatively connected to the first linkage for moving the first linkage so as to move the sensor probe along the first path. A second linkage is operatively connected to the sensor probe and configured to passively move the sensor probe according to a second degree of freedom to cause the sensor probe to become normal to the surface when at least a portion of the apparatus contacts the surface.

Abstract: A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.

Abstract: A water environment robotic system and method has a buoyancy configuration which can be selectively altered. The system includes an underwater robotic vehicle and a buoyancy module that is configured to be selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the buoyancy module and a motor is operatively connected to the tether and is configured to extend and retract the tether and buoyancy module. The tether can be extended and retracted to extend and retract the buoyancy module. Extending and retracting the buoyancy module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the arrangement of the system. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered.

Abstract: A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Abstract: Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.

Abstract: This application discloses integrated probes and probe systems, which can be attached to the robotic arms of a remotely operated vehicle to perform both cathodic protection (CP) voltage measurements and ultrasonic testing (UT) thickness measurements at an underwater surface. In some embodiments, the integrated probe system couples an inner and outer gimbal together such that one or more electrically conductive legs pass from the outer gimbal through the inner gimbal. These legs are arranged about an ultrasonic sensor which extends from the front surface of the inner gimbal. When the integrated probe contacts the underwater surface, both the ultrasonic sensor and at least one leg contact the surface, thereby providing substantially simultaneous CP and UT measurements.

Abstract: A system for underwater remotely operated vehicles (ROVs) and wirelessly controlled subsystems is provided. The system comprises an ROV and a subsystem mounted to the ROV. The ROV includes a microcontroller, a main battery, and a transmitter-receiver. The subsystem includes a controller and a transmitter-receiver. The ROV is configured to communicate wirelessly with the subsystem via signals transmitted between the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise a control center having a transmitter-receiver configured to communicate wirelessly with the ROV transmitter-receiver and the subsystem transmitter-receiver. The system can further comprise at least one relay module configured to relay signals between the transmitter-receivers of the system. The ROV of the system can also be configured to wirelessly transfer power from the main battery to the power source of the subsystem, such as by resonance coupling.

Abstract: A modular inspection vehicle having at least first and second motion modules is provided. The first and second motion modules are connected to a chassis. The first motion module includes a first wheel mounted to the chassis. The second motion module includes second wheel mounted to the chassis, the second wheel being at an angle to the first wheel. The vehicle further includes a navigation module configured to collect position data related to the position of the vehicle, an inspection module configured to collect inspection data related to the vehicle's environment, and a communication module configured to transmit and receive data. The vehicle can also include a control module configured to receive the inspection data and associate the inspection data with received position data that corresponds to the inspection data collect at a corresponding position for transmission via the communication module.

Abstract: A cleaning device that passively self-adjusts to improve biofoul removal across curved, non-uniform, or irregular underwater surfaces. The cleaning device includes a motor, one or more shafts coupled to the motor and coupled to one another via at least one universal joint, and a cleaning mechanism for removing biofoul from the target surface. The cleaning device includes an alignment mechanism that restricts the cleaning mechanism's movement to improve biofoul removal. The alignment mechanism can include bearings, spring components, dampening material, adhesion components, floatation objects, or a combination thereof.

Abstract: A multidirectional wheel for traversing a surface is provided that includes a magnet and a plurality of rollers disposed around an outer periphery of each of the hubs of the wheels. The rollers are mounted for rotation in a second axial direction that is perpendicular to a first axial direction of the wheel. The rollers are supported by a plurality of magnetically-inducible brackets attached to the hub. The brackets are optimally sized and shaped to reduce the space between the magnetized materials of the wheel and the surface upon which the wheel travels.

Abstract: A water environment robotic system that includes a control station, an underwater robotic vehicle, and a water-surface robotic vehicle. The underwater robotic vehicle is in communication with the water-surface robotic vehicle and the water-surface robotic vehicle is in communication with the control station. Accordingly, the water-surface robotic vehicle can act as a relay between the control station and the underwater robotic vehicle. The water-surface robotic vehicle is further capable of detecting the position of the underwater vehicle and automatically adjusting the position of the underwater vehicle in order to maintain general vertical alignment between the two vehicles.