Abstract: An unmanned underwater vehicle (UUV) with a hydraulic system (100) for use in cold surroundings and method of controlling such hydraulic system. The hydraulic system (100) comprises a hydraulic circuit (10). One or more tools (21,22) may be hydraulically operable via the hydraulic circuit (10). A pump (32) is configured to pressurize a flow of hydraulic fluid (F) via the hydraulic circuit (10) e.g. for actuating the tools (21,22). A valve system (40) comprises control valves (41,42,43) disposed in the hydraulic circuit (10) for controlling the flow of hydraulic fluid (F) through the hydraulic circuit (10). A controller (50) is configured to control one or more of the control valves (43) as a function of a temperature (T) of the hydraulic fluid (F).

Abstract: Apparatuses, systems, and methods for the docking of an underwater vehicle (such as a ROV) to a subsea structure (such as a basket or cage) for the transfer of payload devices, such as ocean bottom seismic nodes. The ROV may have a docking probe that is rotatable between an extended and retracted position by a rotatory actuator. The subsea structure may have a docking receptacle that receives the docking probe while the probe is in an extended position. The docking probe and receptacle can latch and/or be secured together by a variety of mechanisms. Once secured, the docking probe can rotate thereby changing the relative positions (horizontal and/or vertical) of the ROV and the subsea structure. The underwater vehicle may have an elevator mechanism that may move vertically and/or horizontally and that is coupled to a handler or grabber for handling and/or transfer of the payload devices.

Abstract: A system, apparatus, and method for transferring a subsea payload (such as seismic nodes) at a subsea position by using an elevator system located on a subsea basket. A plurality of seismic nodes may be located on a plurality of support slides, trays, or other node holders at different levels within the basket. The elevator system is configured to move the seismic nodes between different heights within the basket for external transfer from one or more vertical positions. During transfer operations between a subsea basket and an underwater vehicle (e.g., ROV), the desired level of seismic nodes may be positioned to the desired vertical position within the basket and transferred to the ROV by various transfer mechanisms, such as an extendable stinger or chain drive. Multiple levels of seismic nodes (or node holders) may be transferred between the basket and ROV during a single subsea docking.

Abstract: An unmanned underwater vehicle (UUV) with a hydraulic system (100) for use in cold surroundings and method of controlling such hydraulic system. The hydraulic system (100) comprises a hydraulic circuit (10). One or more tools (21,22) may be hydraulically operable via the hydraulic circuit (10). A pump (32) is configured to pressurize a flow of hydraulic fluid (F) via the hydraulic circuit (10) e.g. for actuating the tools (21,22). A valve system (40) comprises control valves (41,42,43) disposed in the hydraulic circuit (10) for controlling the flow of hydraulic fluid (F) through the hydraulic circuit (10). A controller (50) is configured to control one or more of the control valves (43) as a function of a temperature (T) of the hydraulic fluid (F).

Abstract: A system, apparatus, and method for transferring a subsea payload (such as seismic nodes) at a subsea position by using an elevator system located on a subsea basket. A plurality of seismic nodes may be located on a plurality of support slides, trays, or other node holders at different levels within the basket. The elevator system is configured to move the seismic nodes between different heights within the basket for external transfer from one or more vertical positions. During transfer operations between a subsea basket and an underwater vehicle (e.g., ROV), the desired level of seismic nodes may be positioned to the desired vertical position within the basket and transferred to the ROV by various transfer mechanisms, such as an extendable stinger or chain drive. Multiple levels of seismic nodes (or node holders) may be transferred between the basket and ROV during a single subsea docking.

Abstract: Apparatuses, systems, and methods for the docking of an underwater vehicle (such as a ROV) to a subsea structure (such as a basket or cage) for the transfer of payload devices, such as ocean bottom seismic nodes. The ROV may have a docking probe that is rotatable between an extended and retracted position by a rotatory actuator. The subsea structure may have a docking receptacle that receives the docking probe while the probe is in an extended position. The docking probe and receptacle can latch and/or be secured together by a variety of mechanisms. Once secured, the docking probe can rotate thereby changing the relative positions (horizontal and/or vertical) of the ROV and the subsea structure. The underwater vehicle may have an elevator mechanism that may move vertically and/or horizontally and that is coupled to a handler or grabber for handling and/or transfer of the payload devices.