Abstract: An apparatus for subsea environment sensing. In one aspect, the apparatus may include a repeater assembly, disposed in an optical repeater; and an environmental sensor assembly, disposed proximate to the repeater assembly, the environmental sensor assembly being coupled to receive power from the repeater assembly over an optical link.

Abstract: The present disclosure is directed to systems and methods for simultaneously and concentrically handling cylindrical objects of different diameters. Also, the present disclosure is directed to a handler having a clamp that includes pairs of outer and inner tongs spaced apart on separate sides of the central plane that is orthogonal to a central longitudinal axis of the cylindrical object. Some embodiments may include a clamp having a mounting plate and a piston assembly coupled to the mounting plate where the central plane is parallel to the mounting plate. Some embodiments include a plurality of linkage bars pivotally coupled between the piston assembly and the plurality of outer tongs and inner tongs. In some embodiments, in response to a movement of the piston assembly, the inner and outer tongs pivot between an open position and a closed position to secure the cylindrical object between the inner and outer tongs.

Abstract: A rod and casing handler according to embodiments of the present disclosure includes a boom mount that is configured to be coupled to a boom. A clamp mounting structure is coupled to the boom mount and has a central portion, a first arm, and a second arm, where each arm extends from the central portion. A first clamp is coupled to the first arm and includes a first set of actuatable tongs and a first removable saddle plate. A second clamp is coupled to the second arm, and it includes a second set of actuatable tongs and a second removable saddle plate. The first removable saddle plate has a first arcuate surface sized and shaped to correspond to a cylindrical body having a first diameter, and the second saddle plate has a second arcuate surface sized and shaped to correspond to a cylindrical body having a second diameter, the first and second arcuate surfaces are disposed to hold the first cylindrical body in coaxial alignment with the second cylindrical body.

Abstract: This disclosure describes methods and systems for remote control of stroke length and frequency of percussion apparatus, such as a rock hammer drill. At a high level, the hammer drill is allowed to stay at a default low stroke length and high frequency to avoid applying excessive cyclic stress to the housing of the hammer drill and can be controlled to operate at a long stroke length and low frequency when the hammer drill has engaged the target material. The long stroke length and low frequency during operation can be initiated when a sufficient forward feed pressure is provided. While the hammer drill is idling or retracting, the forward fee pressure is not sufficient for the long stroke length operation and thus the drill operates at the default state and at a safe stress level to avoid premature damage.

Abstract: A rod and casing handler according to embodiments of the present disclosure includes a boom mount that is configured to be coupled to a boom. A clamp mounting structure is coupled to the boom mount and has a central portion, a first arm, and a second arm, where each arm extends from the central portion. A first clamp is coupled to the first arm and includes a first set of actuatable tongs and a first removable saddle plate. A second clamp is coupled to the second arm, and it includes a second set of actuatable tongs and a second removable saddle plate. The first removable saddle plate has a first arcuate surface sized and shaped to correspond to a cylindrical body having a first diameter, and the second saddle plate has a second arcuate surface sized and shaped to correspond to a cylindrical body having a second diameter, the first and second arcuate surfaces are disposed to hold the first cylindrical body in coaxial alignment with the second cylindrical body.

Abstract: A rod and casing handler according to embodiments of the present disclosure includes a boom mount that is configured to be coupled to a boom. A clamp mounting structure is coupled to the boom mount and has a central portion, a first arm, and a second arm, where each arm extends from the central portion. A first clamp is coupled to the first arm and includes a first set of actuatable tongs and a first removable saddle plate. A second clamp is coupled to the second arm, and it includes a second set of actuatable tongs and a second removable saddle plate. The first removable saddle plate has a first arcuate surface sized and shaped to correspond to a cylindrical body having a first diameter, and the second saddle plate has a second arcuate surface sized and shaped to correspond to a cylindrical body having a second diameter.

Abstract: A rod and casing handler according to embodiments of the present disclosure includes a boom mount that is configured to be coupled to a boom. A clamp mounting structure is coupled to the boom mount and has a central portion, a first arm, and a second arm, where each arm extends from the central portion. A first clamp is coupled to the first arm and includes a first set of actuatable tongs and a first removable saddle plate. A second clamp is coupled to the second arm, and it includes a second set of actuatable tongs and a second removable saddle plate. The first removable saddle plate has a first arcuate surface sized and shaped to correspond to a cylindrical body having a first diameter, and the second saddle plate has a second arcuate surface sized and shaped to correspond to a cylindrical body having a second diameter.

Abstract: This disclosure describes methods and systems for remote control of stroke length and frequency of percussion apparatus, such as a rock hammer drill. At a high level, the hammer drill is allowed to stay at a default low stroke length and high frequency to avoid applying excessive cyclic stress to the housing of the hammer drill and can be controlled to operate at a long stroke length and low frequency when the hammer drill has engaged the target material. The long stroke length and low frequency during operation can be initiated when a sufficient forward feed pressure is provided. While the hammer drill is idling or retracting, the forward fee pressure is not sufficient for the long stroke length operation and thus the drill operates at the default state and at a safe stress level to avoid premature damage.

Abstract: A method of defeating an incoming missile, such as a rocket propelled grenade, includes soft launching an interceptor missile, and then using pitch over motors of the interceptor missile to alter course of the missile to a desired interception direction. By launching at a relatively slow speed, such as a speed less than or equal to 40 m/sec (130 ft/sec), the interceptor missile may reach the desired interception direction within 250 milliseconds of launch. The interceptor missile may be able to cover substantially all interception directions over a hemisphere or greater extent around a launch location. For example, the interceptor missile may be launched vertically from a ground vehicle, and be capable of altering course to any above-ground trajectory within 250 milliseconds.

Abstract: A method of defeating an incoming missile, such as a rocket propelled grenade, includes soft launching an interceptor missile, and then using pitch over motors of the interceptor missile to alter course of the missile to a desired interception direction. By launching at a relatively slow speed, such as a speed less than or equal to 40 m/sec (130 ft/sec), the interceptor missile may reach the desired interception direction within 250 milliseconds of launch. The interceptor missile may be able to cover substantially all interception directions over a hemisphere or greater extent around a launch location. For example, the interceptor missile may be launched vertically from a ground vehicle, and be capable of altering course to any above-ground trajectory within 250 milliseconds.

Abstract: A percussion drill, and methods of using the same, including a shank in mechanical alignment with a piston-hammer and a valve in fluid communication with the piston-hammer. The percussion drill further includes an internal hydraulic dampening system for reducing the velocity of the piston-hammer when the shank is forward of a power position relative to the velocity of the piston-hammer when the shank is in a power position. Preferably, the internal hydraulic dampening system includes mechanical alignment of a portion of the piston-hammer with a port in fluid communication with the valve, operable to reduce fluid flow into an area surrounding the valve when the piston-hammer is forward of its position relative to its normal operation.

Abstract: Embodiments of a buoyancy dissipater and method for deterring an errant vessel are generally described herein. In some embodiments, a volume of gas is generated from a propellant and diffused below a waterline of a vessel. The resulting gas bubble dissipates the buoyancy of the vessel providing a non-lethal deterring effect. The buoyancy dissipater includes a diffuser having radially-positioned diffusion ports to radially diffuse the gas generated by a gas generator below the waterline. In some embodiments, the radially-positioned diffusion ports comprise holes positioned radially around the diffuser to diffuse the gas around the buoyancy dissipater.

Abstract: Embodiments of a buoyancy dissipater and method for deterring an errant vessel are generally described herein. In some embodiments, a volume of gas is generated from a propellant and diffused below a waterline of a vessel. The resulting gas bubble dissipates the buoyancy of the vessel providing a non-lethal deterring effect. The buoyancy dissipater includes a diffuser having radially-positioned diffusion ports to radially diffuse the gas generated by a gas generator below the waterline. In some embodiments, the radially-positioned diffusion ports comprise holes positioned radially around the diffuser to diffuse the gas around the buoyancy dissipater.

Abstract: Embodiments of a buoyancy dissipater and method for deterring a vessel are generally described herein. In some embodiments, a volume of gas is generated from a propellant and diffused below a waterline of a vessel. The resulting gas bubble dissipates the buoyancy of the vessel providing a non-lethal deterring effect.

Abstract: A percussion drill, and methods of using the same, including a shank in mechanical alignment with a piston-hammer and a valve in fluid communication with the piston-hammer. The percussion drill further includes an internal hydraulic dampening system for reducing the velocity of the piston-hammer when the shank is forward of a power position relative to the velocity of the piston-hammer when the shank is in a power position. Preferably, the internal hydraulic dampening system includes mechanical alignment of a portion of the piston-hammer with a port in fluid communication with the valve, operable to reduce fluid flow into an area surrounding the valve when the piston-hammer is forward of its position relative to its normal operation.

Abstract: A percussion drill, and methods of using the same, including a shank in mechanical alignment with a piston-hammer and a valve in fluid communication with the piston-hammer. The percussion drill further includes an internal hydraulic dampening system for reducing the velocity of the piston-hammer when the shank is forward of a power position relative to the velocity of the piston-hammer when the shank is in a power position. Preferably, the internal hydraulic dampening system includes mechanical alignment of a portion of the piston-hammer with a port in fluid communication with the valve, operable to reduce fluid flow into an area surrounding the valve when the piston-hammer is forward of its position relative to its normal operation.

Abstract: A drill stem centralizer and/or breakout wrench includes a frame with opposed hydraulic cylinder actuators mounted on the frame and engaged in with jaw support members for movement toward and away from each other for centralizing or breakout of drill stem sections. The hydraulic actuators are mounted on trunnions which are supported by bearing caps which may be indexed to change the spacing of the opposed actuators to accommodate a wide range of drill stem diameters or cross-sectional shapes. The jaw support members are provided with laterally spaced guide parts which are moveable in slots in the frame to guide the jaw support members for linear reciprocal movement in response to actuation by the hydraulic actuators. The frame may be mounted for limited rotation on a feed beam to effect drill stem breakout operations.

Abstract: A percussion drill, and methods of using the same, including a shank in mechanical alignment with a piston-hammer and a valve in fluid communication with the piston-hammer. The percussion drill further includes an internal hydraulic dampening system for reducing the velocity of the piston-hammer when the shank is forward of a power position relative to the velocity of the piston-hammer when the shank is in a power position. Preferably, the internal hydraulic dampening system includes mechanical alignment of a portion of the piston-hammer with a port in fluid communication with the valve, operable to reduce fluid flow into an area surrounding the valve when the piston-hammer is forward of its position relative to its normal operation.

Abstract: A drill stem centralizer and/or breakout wrench includes a frame with opposed hydraulic cylinder actuators mounted on the frame and engaged in with jaw support members for movement toward and away from each other for centralizing or breakout of drill stem sections. The hydraulic actuators are mounted on trunnions which are supported by bearing caps which may be indexed to change the spacing of the opposed actuators to accommodate a wide range of drill stem diameters or cross-sectional shapes. The jaw support members are provided with laterally spaced guide parts which are moveable in slots in the frame to guide the jaw support members for linear reciprocal movement in response to actuation by the hydraulic actuators. The frame may be mounted for limited rotation on a feed beam to effect drill stem breakout operations.

Abstract: A hydraulic percussion drill includes a piston hammer disposed in a cylinder for reciprocating movement in response to pressure fluid acting continuously on one transverse face of the piston hammer and in response to valving of pressure fluid alternately to an opposed piston face of the piston hammer by a tubular sleeve valve disposed around the piston hammer. The drill includes a percussion bit configured to have a face portion disposed at an acute angle with respect to a plane normal to the bit and the drill central axis. Cooperating spiral splines on the bit and a bit chuck provide for directional drilling using a method which includes causing the bit to receive impact blows without rotating the cylinder housing to initiate a deviated drillhole.