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: Hydrostatic test tool 100 comprises frame 161; pressurizer 120; connection system 110; control system 130; data communicator 140; power supply 150; device handler 162; and buoyancy unit 163. Hydrostatic test tool 100 can be used to perform an in situ seal test of subsea equipment connectors with limited support from external systems, allowing optimization of subsea operations by not requiring constant support from underwater vehicle 5, which could be used to perform other tasks while the test is being carried out, optimizing the total time of support vessel 6 and reducing operational cost. Hydrostatic test tool 100 typically requires interfacing with underwater vehicle 5, e.g., an ROV or AUV, only for deployment/installation and data communication, if at all.

Abstract: The invention relates to the field of special purpose robotic systems to conduct external functions such as cleaning, monitoring and inspection of structures such as tubular assets in a splash zone. The splash zone is defined as the section of a marine structure that is periodically in and out of water due to the action of waves or tides, usually falling within (+)10m to (?)20m water depth. In embodiments, splash zone inspection robot system 1 comprises station 300, submersible saddle 350, submersible robot 400, and subsea robot controller 308. A predetermined set of controllable clamps selectively secure submersible robot 400 to submersible saddle 350 or structure 2 and allow incremental traversal along submersible saddle 350 or structure 2.

Abstract: Seal assembly 100, useful for repairing an uncontrolled surface such as pipeline 110, comprises seal 102 which is subjected to pressure and temperature and remains operable under, e.g., subsea conditions. Seal assembly 100 is capable of sealing pipelines of diameters up to 48 inches. Seal assembly 100 is actuated/energized by axially compressing/loading seal assembly 100 between one or more controlled surfaces and an uncontrolled surface and can be used for repairing and providing sealing in flowline or pipelines of either subsea or other petrochemical industries where the pipelines. Spool assembly 700 comprising seal assembly 100 may be used to repair a damaged pipeline section after the damaged section is removed to provide a sealed replacement fluid path for the pipeline.

Abstract: Seal assembly 100, useful for repairing an uncontrolled surface such as pipeline 110, comprises seal 102 which is subjected to pressure and temperature and remains operable under, e.g., subsea conditions. Seal assembly 100 is capable of sealing pipelines of diameters up to 48 inches. Seal assembly 100 is actuated/energized by axially compressing/loading seal assembly 100 between one or more controlled surfaces and an uncontrolled surface and can be used for repairing and providing sealing in flowline or pipelines of either subsea or other petrochemical industries where the pipelines. Spool assembly 700 comprising seal assembly 100 may be used to repair a damaged pipeline section after the damaged section is removed to provide a sealed replacement fluid path for the pipeline.

Abstract: In embodiments, a hot tap clamping system comprises a clamp which fits over and secures against a pipe, an actuator interface, an actuator operatively in communication with clamp, and a hot tap assembly. In a further embodiment, a system for sealing a flowline with a metal seal after hot tapping comprises a sealer, a hot tap drill/plug running tool, and a metal seal plug which is typically configured for use in sealing a flowline, e.g. a pipe, with a metal seal after hot tapping where the metal plug seal is inserted into the pipe and engages with and seals as a hot tap.

Abstract: Dynamic/static sealing of coiled tubing subsea for pipeline and well access with hydrostatic conditions up to 10,000 feet water depth while maintaining wellbore or pipeline pressures up to 10,000 psi may be achieved using a system comprising a subsea fluid source which utilizes a riserless open water coiled tubing system and an open water coiled tubing sealer to control hydrostatic pressure and fluid container pressures.

Abstract: Regeneration of a fluid medium can be accomplished using a continuously regenerable scrubber, which, in its various embodiments, combines valve functions and sorbent material, such as amine beds, into one component, dramatically reducing size and mass of scrubber. Sorbent material beds rotate continuously past breathing gas vent loop ports for scrubbing CO2/H2O and then past vacuum ports for regenerating the sorbent material. Typically, a first fluid output is connected to a lower header fluid output and a second, sweeping fluid source connected to a lower header fluid input. A motor spins the substantially circular bed assembly at a predetermined speed which allows adsorption or absorption as well as desorption of materials flowing through the sorbent material.

Abstract: A versatile flying lead (VHL) termination head system comprises an underwater vehicle interface, an interface plate, a termination frame, and an adjuster, disposed proximate the termination frame's connection end, which is configured to provide a configurable declination angle which sets a hang-off angle of a device connected to the interface plate with respect to the underwater vehicle interface. A subsea termination head may be manufactured and assembled by obtaining a predetermined set of standardized structural building blocks that fit together to form a complete termination frame which is as described herein, using the predetermined set of standardized structural building blocks to construct a subsea termination head from the predetermined set of standardized structural building blocks substantially in parallel and connecting the underwater vehicle interface to the frame at a predetermined angle using the adjuster.

Abstract: A storage system comprises one or more automated guided vehicles, one or more centralized supervisory systems, one or more parts container storage spaces disposed within a defined two dimensional space comprising one or more addressable parts container spaces and parts bins which comprise a part identifier and which are configured to fit at least partially within the parts container storage space. The automated guided vehicles comprise a controllable autonomous parts container base and one or more position sensors operatively in communication with a controller and operative to determine a coordinate location of the automated guided vehicle within a defined two dimensional space in real time without relying on a map stored in the controller.

Abstract: Electro oxidation membrane evaporator 1 comprises sweep air handler 60; fluid tank 20 defining a fluid container; fluid contactor/separator 30; oxidation cell 40; and scrubber 80. Electro oxidation membrane evaporator 1 may allow higher percent water recovery from wastewater prior to delivering brine to a brine water recovery system and can allow O2 from air such as cabin air to continuously diffuse into the wastewater as O2 is consumed to generate oxidants, helping to eliminate the low oxidant environment at the end of the cycle that causes pH to remain high, and low pH prevents precipitates from forming for longer so more water can be evaporated from the wastewater.

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: A system for supporting timely, informed decision making with respect to commencing and terminating offshore construction operations within a predetermined zone using a situational awareness tool not compromised by weather, poor-visibility, or a simple protected species observer (PSO) conundrum of not being able to see all things at all times, and for identification of marine mammalian species present at an offshore construction site that is sensor and platform agnostic comprises a plurality of sensors, a predetermined subset of the plurality of sensors operational without requiring daylight, the sensors operative to deliver data from which targets are determined and from which their position information can be derived; a data communicator operative to allow provide real-time data to a data viewer; a data processor operatively in communication with the plurality of sensors and the data communicator; and a display operatively in communication with the data communicator and operative to display a representation

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: Regeneration of a fluid medium can be accomplished using a continuously regenerable scrubber, which, in its various embodiments, combines valve functions and sorbent material, such as amine beds, into one component, dramatically reducing size and mass of scrubber. Sorbent material beds rotate continuously past breathing gas vent loop ports for scrubbing CO2/H2O and then past vacuum ports for regenerating the sorbent material. Typically, a first fluid output is connected to a lower header fluid output and a second, sweeping fluid source connected to a lower header fluid input. A motor spins the substantially circular bed assembly at a predetermined speed which allows adsorption or absorption as well as desorption of materials flowing through the sorbent material.

Abstract: A storage system comprises one or more automated guided vehicles, one or more centralized supervisory systems, one or more parts container storage spaces disposed within a defined two dimensional space comprising one or more addressable parts container spaces and parts bins which comprise a part identifier and which are configured to fit at least partially within the parts container storage space. The automated guided vehicles comprise a controllable autonomous parts container base and one or more position sensors operatively in communication with a controller and operative to determine a coordinate location of the automated guided vehicle within a defined two dimensional space in real time without relying on a map stored in the controller.

Abstract: Ring disc nozzle check valve 100 allows fluid flow in one direction and can act as a relief valve and comprises valve body 1 which defines valve body fluid passageways 20,22 therethrough; primary seat 2 disposed in valve body fluid passageways 20,22 proximate fluid inlet 30; primary disc 4 disposed in valve body fluid passageways 20,22 proximate fluid inlet 30 and in communication with primary seat 2; secondary disc 5 nested within valve body fluid passageways 20,22, where secondary disc 5 defines secondary seat 3 at a peripheral edge of primary disc 4; diffuser 8 disposed in the valve body fluid passageway 20 proximate fluid outlets 32a,32b; primary spring 10 disposed in valve body fluid passageways 20,22 and in communication with diffuser 8 and primary disc 4, where primary spring 10 is adapted to urge primary disc 4 to a closed position; primary shaft 6 disposed within valve body fluid passageway 22 intermediate diffuser 8 and secondary disc 5, where primary shaft 6 is in communication with diffuser 8 and

Abstract: In embodiments, motion may be arrested and/or dampened using a motion arresting and dampening device comprising a lifting spreader bar, one or more bar mounted winches, deployment wire, a restorative inflation device, restraining wires and winches, hoses and controller, mechanical connection release system circuitry. Multiple restraints from winches mounted strategically on a vessel crane's boom may be applied to the spreader bar to restrain the bar during the lifting operation. The forces induced into the lifted object by the movement of the crane as it deploys the object into installation position are attenuated by the physical restrain of the adjustable wires. These adjustable wires may also be used to provide rotation of the object during final alignment of the object during installation.

Abstract: A subsea assist snubbing jack comprises bi-directional slip bowls and can hold light or heavy pipe loads, create clamping load internally without relying on pipe weight or the force of the subsea assist snubbing jack to develop clamping force; do not require pipe motion to unseat the clamp on the pipe; utilize smooth faced inserts that do not mark the pipe; and are suitable for subsea control by wire operation. In embodiments, it is also instrumented to directly measure the pipe weight being held by one or both slip bowls.

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.