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.

Abstract: The guide apparatus for tubular members prevents buckling, when a snubbing unit inserts the tubular member into a well. The guide apparatus includes a lower slotted cylinder having a plurality of rib extensions projecting upward so as to form lower slots, and an upper slotted cylinder a plurality of complementary rib extensions projecting downward so as to form upper slots. The lower slotted cylinder engages the upper slotted cylinder by sliding the rib extensions into the upper slots and the complementary rib extensions into the lower slots. The guide apparatus coordinates the slotted cylinders with traveling slip bowls and stationary slip bowls of a snubbing unit so that relative movement of the slotted cylinders corresponds to movement of the slip bowls. The rib extensions, the complementary rib extensions, or both support the entire length of tubular member between the slip bowls, when being snubbed.

Abstract: A ride control system uses logic to define and track a virtual space, or bubble, in real time around a plurality of ride vehicle deployed along a predefined vehicle path to operate each independently of, and safely with respect to, the other ride vehicle deployed along the same predefined vehicle path at substantially the same time.

Abstract: A large bore hot stab connection is configured to minimize hydraulic fluid loss and to connect two fluid conduits by a substantially straight push, locking the connection into place with a relatively simple turn. In general, installation of a large bore hot stab connection is performed by inserting a hot stab into a receptacle and, if present, rotating a handle to lock the hot stab into the receptacle. As both the receptacle and hot stab comprise bodies comprising an in-line check valve cartridge valve, when inserted and coupled with the receptacle the hot stab completes a low leak hydraulic subsea connection.

Abstract: For remotely operated vehicles (ROV) deployed subsea, communications between an ROV and a system remote from the ROV may use a remotely operated vehicle control communication system to achieve simultaneous and/or discrete data communications at two differing data transmission speeds using two differing data protocols over a common signal transmission pathway configured for use subsea at the first data transmission speed and the second data transmission speed, either separately or concurrently.

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: A diamond wire cutter, using an adjustable length pulley system, a diamond wire saw, and a movable pulley cart, can perform a through-cut of complete sections of a structure such as a tubular subsea by fitting a chain about an outer surface of the structure, securing the chain to the movable pulley cart and using the chain to move or otherwise guide the movable pulley cart about the outer circumference of the structure to cut while using a diamond wire to effect a cut between the movable pulley cart and the diamond wire saw.

Abstract: A seabed plow capable of over-the-stern release and retrieval is usable in any of boulder clearing, trench cutting and backfill modes. In its boulder clearing mode, the plow uses its skid in torquing configuration followed by moldboards to push boulders out of the path to be trenched. In the trench cutting mode, the plow uses the skid in the same configuration with its share and moldboards for initial trench depth and the same share and moldboards with moldboard extensions for increasing trench depth in subsequent passes. In the backfill mode, the plow uses its skid in trench-straddling configuration following a blade with a passage designed to discharge fragmented spoil directly onto the pipe being covered. Thus, a single plow can be reconfigured for all modes for release and retrieval to and from a relatively small vessel without use of heavy lifting equipment.

Abstract: Multiple systems and methods for providing supervised control of subsea vehicles for offshore asset management as well as supplemental autonomous control behaviors are described herein. These systems and methods provide offshore support and alternative supervised control of one or more vehicle generally irrespective of where the vehicle resides in an oil and gas offshore field.

Abstract: A tool system comprises a crawler, one or more tool interfaces, one or more tools operatively in communication with at least one the tool interface and adapted to perform a predetermined function in an interior of a predefined space, and a power interface. The tool system is deployed within the interior of the predefined space, e.g. a drilling riser, typically after operatively attaching a tool to a tool interface. Power is to the tool system which is moved to a position within the interior of where a predetermined function is to occur and the tool used to perform the predetermined function at the position within the interior of the predefined space where the predetermined function is to occur. In an embodiment, tool system comprises a first tool adapted to perform a first predefined function, e.g. a cleaning function, and second tool adapted to perform a second predefined function, e.g. an inspection function, where the two functions may be performed in a single pass of the tool system in the interior.

Abstract: A system for controlling a subsea device comprises a complimentary set of data communication interfaces operatively coupled to an electronically interrogatable component of a subsea device and a remotely disposed device controller via a power conductor which defined data pathway between the subsea device and the remotely disposed device controller. A data transceiver is operatively coupled to the electronically interrogatable component and the remotely disposed device controller via the complimentary set of data communication interfaces over the power conductor. In configurations, control and/or telemetry or other data may be unidirectionally and/or bidirectionally transmitted between the electronically interrogatable component of a subsea device and a remotely disposed device controller.

Abstract: A rigidizing latch assembly comprises a robotically compatible aerospace attachment mechanism which comprises a male latch and a receptacle configured to cooperatively couple. The male latch comprises a male latch housing and a latch assembly movably disposed within the male latch housing; a driver operatively in communication with a latch support; a male latch core; a driver interface access port; and one or more extraction feet operatively in communication with the driver. The receptacle comprises a receptacle housing sized to receive a lower portion of the male latch housing; a positioning target adapted to provide a visual positioning targeting cue; and one or more latch interfaces dimensioned to releasably mate with a corresponding lead-in guide of the plurality of lead-in guides.

Abstract: In embodiments, a subsea manipulator tool changer comprises an ROV attachable standardized tool receiver and a tool, the subsea manipulator tool changer comprising a standardized tool latch and a standardized tool latch receiver whereby tools can be attached and detached subsea. In other embodiments, a system for changing tools while subsea comprises an ROV, a subsea manipulator tool changer, and a tool caddy configured to accept and release a tool where the tool comprises the standardized tool latch receiver.

Abstract: Clean condensate production may be produced from humidity in unfiltered air for an extended period of time using a membrane microgravity air conditioner which comprises an air box, comprising an inlet air flow path from a side face through an open top, and a filtering system disposed within the air box. The filtering system comprises one or more trash screens disposed in the inlet air flow path, one or more latent heat exchangers (LHX) disposed in the inlet air flow path, one or more particulate filters disposed in the inlet air flow path intermediate the trash screen and the LHX, one or more thermal control system (TCS) medium temperature loops, and one or more sensible heat exchangers (SHX) disposed in the inlet air flow path intermediate the particulate filter and the LHX.

Abstract: A robotic tank system may be used for performing functions related to a structure such as a tank or a hull structure, either which may be used for storage or ballast, comprises a robotic system comprising a base, a crane connected to the base, an end effector operatively connected to the crane, a control unit operatively in communication with the crane and the end effector, and a power unit operatively in communication with the crane, the end effector, and the control unit; a console operatively in communication with the control unit and with the power unit; and a tool selectively attached to the end effector, the tool operatively in communication with the control unit, the console, and the power unit.

Abstract: An inspection system may be deployed as part of a routine crew transfer diving (“CTV”) or service operation vessel (SOV) deployment to perform inspections for analyses which can be conducted while carrying out other inspection tasks. A marinized digital detector array and betatron source may be maneuvered proximate a first detector plate, which can be of a plurality of detector plates and a first exposure generated at the first detector plate which is then used to aid in generating one or more images comprising each such exposure. The images are then reconstructed to identify defects in the grout.

Abstract: A system for subsea inspection of grout in a subsea jacket such as jacket pin piles on offshore wind turbines comprises a subsea vehicle subsea which can be deployed in a cage style TMS which may comprise a radiographic assembly and a marinized digital detector array and betatron source which comprises an X-Ray source and an X-Ray detector plate. The subsea vehicle exits the cage style TMS and docks to the marinized digital detector array and betatron source, then is flown to a subsea structure to be inspected where the marinized digital detector array and betatron source is used to bombard the subsea structure to be inspected with x-rays, a portion of which are reflected and detecting, allowing an image to be generated of the structure to be inspected.

Abstract: A remotely operated vehicle (ROV) compatible photovoltaic powered cathodic protection (CP) probe can measure voltage potential of subsea structures. In an embodiment, the CP's meter is integrated and able to send CP data topside. The CP meter's compact display module also houses the telemetry board to send CP readings, via an ROV serial, topside. The CP probe does not require a battery and can be used standalone or connected through an ROV to topside logging and display. Further, the CP probe can monitor a plurality of CP voltages and other conditions such as an electrical field gradient.

Abstract: In its various embodiments the claimed water current shield may be used to improve safety for a diver and/or a remotely operated vehicle (ROV) by lowering the water current shield with a crane with the louvers initially in a first position to allow water current to flow through the louvers, positioning the water current shield with hold-back rigging from an up-current side of the subsea work site, adjusting an open or closed characteristic of the louvers if drag from the water current needs to be reduced around the subsea work site, and closing the louvers to protect an object proximate the water current shield from the water current, thereby shielding divers and/or ROVs from water currents at an underwater work site. The water current shield generally comprises a frame; a predetermined set of louver assemblies operatively connected to the frame, where each louver assembly comprises one or more selectably movable louvers; and a louver mover operatively connected to each selectably movable louver.

Abstract: A seabed plow capable of over-the-stern release and retrieval is usable in any of boulder clearing, trench cutting and backfill modes. In its boulder clearing mode, the plow uses its skid in torquing configuration followed by moldboards to push boulders out of the path to be trenched. In the trench cutting mode, the plow uses the skid in the same configuration with its share and moldboards for initial trench depth and the same share and moldboards with moldboard extensions for increasing trench depth in subsequent passes. In the backfill mode, the plow uses its skid in trench-straddling configuration following a blade with a passage designed to discharge fragmented spoil directly onto the pipe being covered. Thus, a single plow can be reconfigured for all modes for release and retrieval to and from a relatively small vessel without use of heavy lifting equipment.