Abstract: A condition of a flexible pipeline may be monitored by scanning a section of the flexible pipeline with an ultrasonic scanner and using the ultrasonic scanner to produce a first ultrasonic signal that penetrates the section of the flexible pipeline and is used to create a set of condition data indicative of a condition present near or within an annulus of the flexible pipeline, the condition comprising pressure on or within the flexible pipeline.

Abstract: A trip avoidance X-ray inspection system, typically defining a specialized system that delivers pulsed X-rays, comprises one or more pulse X-ray cameras, each comprising a known set of effects on nucleonic instrumentation; a predetermined set of such shielded X-ray sources; a predetermined set of nucleonic instrumentation operatively in communication with one or more pulse X-ray cameras; and a digital radiography detector adapted to allow, process, or otherwise create an X-ray produced image when disposed proximate predetermined set of nucleonic instrumentation. The pulse X-ray camera is adapted to be disposed at a predetermined distance from predetermined set of shielded X-ray sources.

Abstract: A seabed trenching plow has a chassis, a sled and a towing assembly. The towing assembly has a pair of wings extending laterally from each side of the chassis. The wings are aligned on an axis transverse to the chassis and adapted for connection to a towing line. The transverse axis is forward of the center of gravity of the plow and rearward of the sled, affording an over the stern releasable and retrievable trenching plow of sufficient weight and strength to excavate a three meter trench in a single pass. To assess the protective capabilities of the trench, a threshold signal indicative of a desired composition of seabed-trench soil is compared with a real-time data signal indicative of the actual to produce an alarm signal when the real-time data signal is not protective-capability compliant with the threshold signal.

Abstract: The invention relates to an apparatus and related method for cleaning vessel hulls and other subsea structures at sea. In an embodiment, a hull cleaning system comprises a housing defining an interior void; a multifunction bar; a propulsion system; a power system; a positioning system; a water pump operatively connected to the power system; a high flow manifold operatively in fluid communication with the water pump; a hull cleaner; and a suction device configured to selectively adhere the hull cleaning system to a hull.

Abstract: A resident remotely operated vehicle may be deployed subsea by deploying a remotely operated vehicle (ROV) (200) configured to be disposed and remain resident subsea for an extended time where the ROV comprises an ROV electrical power connector port (202) to be operatively connected to an electrical power supply (700) dedicated to the ROV. An RTMS configured to be disposed subsea for an extended time is also deployed subsea (210), typically proximate the ROV. A subsea docking hub subsea is also deployed subsea proximate the RTMS and operatively connected to the ROV and the RTMS. In addition, an umbilical is connected from the subsea docking hub to a subsea structure and a signal supplied from the subsea structure to the ROV.

Abstract: A BAS plow creates a V-trench along the linear route of a pipeline path and an instrumented bottle moving with the BAS plow collects BAS data indicative of the pitch, roll, heading, yaw, three dimensional positioning, speed and depth of the chassis, the shearing force applied to the seabed material and the applied tow force. The bottle can be swapped to collect the acquired data or an umbilical can be used to provide a real time stream of data. The BAS plow can simultaneously backfill the created trench, leaving an undisrupted seabed, or the pipeline can be laid in the BAS trench, which can also be made deeper and wider by additional trench cutting passes, significantly reducing the total time required for combined BAS and pipeline laying processes. The BAS plow can be released and retrieved over-the-stern of a towing vessel.

Abstract: A surface buoy comprising a resident electrical power supply allows the surface buoy to be an integrated part of a remotely operated vehicle (ROV) deployed power buoy system which makes transport and installation more efficient than alternatives. The ROV deployed power system can be operational via built in radio link and kept operational during service, transport, testing, installation, and operation.

Abstract: A condition of a flexible pipeline may be monitored by scanning a section of the flexible pipeline with an ultrasonic scanner and using the ultrasonic scanner to produce a first ultrasonic signal that penetrates the section of the flexible pipeline and is used to create a set of condition data indicative of a condition present near or within an annulus of the flexible pipeline, the condition comprising pressure on or within the flexible pipeline.

Abstract: A Computed Tomography (CT) system can be deployed by subsea vehicles such as remotely operated vehicles (ROVs) or by divers to perform CT inspections on a subsea structure. In embodiments, a marinized signal source and a marinized flat panel signal detector are positioned at a structure to be inspected subsea and possibly repositioned at different angles about the structure to acquire a series of 2D radiographic images which are then fed to a reconstruction algorithm that produces a 3D reconstructed volume of the structure being inspected.

Abstract: Coiled tubing may be placed inside a subsea flowline, such as with a subsea insertion tool, to remediate blockages in the flowline subsea. In embodiments, the subsea insertion tool is used to unspool a length of coiled tubing string from a coiled tubing reel and insert the unspooled coiled tubing string subsea into flowline to where a jetting nozzle is positioned proximate a blockage in flowline 120. Fluid is provided, e.g. pumped, from chemical pumping unit 80 to coiled tubing string 100 through to jetting nozzle 110 to remediate the blockage in flowline 120.

Abstract: External heating assembly 1 is usable to heat subsea flowline 100 and remediate a blockage in subsea flowline 100 and comprises a predetermined set of heaters 10; one or more conductive layers 20 configured to uniformly distribute heat over an exterior of subsea flowline 100; one or more insulating layers 30 adapted to shield subsea flowline 100, the predetermined set of heaters 10, and conductive layers 20 from ambient seawater temperature; an anchor; and a strength member. The predetermined set of heaters 10 may comprise one or more mineral insulated cables capable of reaching very high temperatures with very little power and minimal controls.

Abstract: An underwater steel catenary pipeline riser (SCR) lifting frame comprises a lift frame foundation and an SCR lifting frame comprising a lift frame interface adapted to be connected to the lift frame foundation; a foundation interface; a lift guide configured to accept the lift frame foundation; and a lift slidably disposed about the lift guide, the lift comprising an SCR pull head interface configured to be connected to an SCR pull head. The underwater steel catenary pipeline riser (SCR) lifting frame and systems using it allow for flex joint repair/replacement subsea which do not require large winches, deck re-enforcements, steering winches, and heavy crane lifts required by facility mounted winches above water and also reduces required heavy lifting and overall complexity of flex joint replacement.

Abstract: The invention relates to an apparatus and related method for cleaning vessel hulls and other subsea structures at sea. In an embodiment, a hull cleaning system comprises a housing defining an interior void; a multifunction bar; a propulsion system; a power system; a positioning system; a water pump operatively connected to the power system; a high flow manifold operatively in fluid communication with the water pump; a hull cleaner; and a suction device configured to selectively adhere the hull cleaning system to a hull.

Abstract: A seabed trenching plow has a chassis, a sled and a towing assembly. The towing assembly has a pair of wings extending laterally from each side of the chassis. The wings are aligned on an axis transverse to the chassis and adapted for connection to a towing line. The transverse axis is forward of the center of gravity of the plow and rearward of the sled, affording an over the stern releasable and retrievable trenching plow of sufficient weight and strength to excavate a three meter trench in a single pass. To assess the protective capabilities of the trench, a threshold signal indicative of a desired composition of seabed-trench soil is compared with a real-time data signal indicative of the actual to produce an alarm signal when the real-time data signal is not protective-capability compliant with the threshold signal.

Abstract: A subsea vehicle capable of supporting inspection of underwater objects while underway includes a body that provides a capability to allow the subsea vehicle to submerge underwater and follow or position near an object while maintaining an orientation to the object appropriate for inspection of, and safety requirements for, the object. The vehicle includes a set of deployable, semi-rigid arms to support the movement of inspection sensor probes near or lightly touching the inspection target with the probes. A controller helps tracks the intended inspection object using various sensor inputs along with a priori knowledge of the object to drive and position the subsea vehicle such that the appropriate orientation to the inspection target is maintained.

Abstract: Fluid charging system can provide a higher inlet pressure than the ambient pressure for pumps intended to operated and comprises one or more subsea fluid reservoirs; one or more charge pumps configured to provide an output pressure higher than ambient pressure; various fluid conduits in fluid communication with the subsea fluid reservoirs and charge pumps; and various valves. Fluid is provided to a bladder at a first fluid pressure and fluid charging system used to provide protection for the subsea fluid reservoir and inlet conditions of the subsea pump. A second valve is used to protect the subsea fluid reservoir from pressure leaking back and a feedback loop used to protect inlet conditions of the subsea pump by setting the feedback loop valve to open near the maximum inlet condition.

Abstract: A diagnostic system may utilize telemetry from a monitored system to infer information about the operation of various components systems within the monitored system. In embodiments, inferences may be drawn from a comparison of various component systems using a system of implication and exoneration. Exoneration is utilized to isolate faulty components from functioning components by comparing information between the systems, which may run in parallel. A dynamic grouping algorithm may eventually isolate faulty components and suggest the root cause as well as multiple distinct faults.

Abstract: Material loss may be estimated from 2D digital radiographs using double wall single imaging (DWSI) technique using a system for estimation of material loss from 2D digital radiographs comprising one or more calibration samples, each with one or more known defects; one or more radiofrequency emissions sources; one or more radiofrequency emissions detectors; one or more radiofrequency emissions processors operatively in communication with at least one radiofrequency emissions detector; and software which is used to process a background image representative of a background proximate a structure which is obtained and radiofrequency emissions emitted the structure at a predetermined location.

Abstract: A subsea fluid storage system comprising a soft bladder disposed within a pressure balanced reservoir, a rotatable piston, and a piston rotator which rotates and twists the rotatable piston as it travels along a predetermined axis within the pressure balanced reservoir, predictably and repeatabley collapses the soft bladder when the rotating piston cooperatively travels about the piston rotator, twisting the soft bladder as the rotating piston moves along the predetermined axis, collapsing the bladder inward and thereby emptying the bladder of fluid within the bladder. The piston's rotation pulls the soft bladder away from the pressure balanced reservoir's interior, thereby preventing the bladder's binding or pinching the pressure balanced reservoir's interior. In configurations, fluid is allowed to enter the pressure balanced reservoir via a valve until a balance is achieved between an interior and an exterior of the pressure balanced reservoir.

Abstract: An adaptive tooling interface comprises a plurality of motors, disposed at least partially within a housing, which are operatively in communication with a controller and where a first power output is operatively in communication with a first motor of the plurality of motors and a second power output operatively in communication with a second motor of the plurality of motors. A drive interface, comprising a tooling adapter, is operatively in communication with the plurality of motors and configured to mate with and provide power to one or more tools, which comprise a matching subsea tool tooling interface, via the first power output and the second power output. The adaptive tooling interface may be connected to or otherwise integrated into a subsea vehicle system comprising a subsea vehicle.