Abstract: An underwater robotic system includes a frame for deployment in a body of water and having a control panel with multiple controls. A first actuator on the frame selectively actuates a control from a front side of the panel. A second actuator on the frame selectively actuates a control from a back side of the panel. One or more controls on the panel is configured to regulate distribution of a fluid. The frame is configured to couple to a blowout preventer. A method for robotic fluid distribution in an underwater environment.

Abstract: A method for controlling pressure in a well includes pumping fluid into a riser extending between a drilling vessel and a wellhead, pumping fluid out of the riser to the drilling vessel by operating a first jet pump disposed in a conduit extending from the riser to the drilling vessel, wherein a rate of pumping power fluid into a power fluid inlet of the first jet pump is adjusted to maintain a liquid level in the drilling riser at a selected elevation.

Abstract: A blowout preventer includes a main body having a through bore and defining a passage transverse to the through bore. A seal is disposed in the main body and arranged to restrict fluid flow from the through bore to the passage. The seal comprises a seal body formed as a closed loop having an upper surface and a lower surface, wherein the seal body comprises an inner wall and an outer wall. The lower surface comprises at least one wing extending laterally from the outer surface to provide a lateral sealing surface. The upper surface comprises at least one raised portion to provide a sealing surface.

Abstract: An underwater robotic system includes a frame adapted to be deployed in a body of water and having guide rails and at least one movable rail movably coupled to the guide rails. An actuator module is movably coupled to the at least one movable rail. A control panel disposed proximate the frame and has a plurality of controls thereon. The plurality of controls is operable by an actuator on the actuator module. A position of each of the plurality of controls is known such that motion of the actuator module and the at least one movable rail is remotely controllable to actuate any chosen one of the plurality of controls.

Abstract: A kinetic ram for a blowout preventer includes a pressure chamber having a piston movably disposed therein. A gas generating charge disposed at one end of the pressure chamber. A ram is coupled to the piston on a side of the piston opposed to the gas generating charge. The ram is arranged to move across a through bore in a blowout preventer housing disposed at an opposed end of the pressure chamber. An initial volume in the pressure chamber between the one end and the piston is chosen to limit a maximum pressure caused by actuating the gas generating charge to a predetermined maximum pressure, and/or the pressure chamber comprises a pressure relief device arranged to vent pressure in the pressure chamber above the maximum pressure.

Abstract: An underwater robotic system includes a frame adapted to be deployed in a body of water and having guide rails and at least one movable rail movably coupled to the guide rails. An actuator module is movably coupled to the at least one movable rail. A control panel disposed proximate the frame and has a plurality of controls thereon. The plurality of controls is operable by an actuator on the actuator module. A position of each of the plurality of controls is known such that motion of the actuator module and the at least one movable rail is remotely controllable to actuate any chosen one of the plurality of controls.

Abstract: A seal includes a seal body formed as a closed loop. The seal body having an upper surface and a lower surface. The seal body comprises an inner wall and an outer wall. The lower surface comprises an inner wing and an outer wing extending laterally from the outer surface to provide lateral sealing. The upper surface of the seal is configured to provide a sealing contact when the seal is urged into engagement via a fluid pressure.

Abstract: A well pressure control device includes a housing having a through bore. A pressure chamber has a piston movably disposed therein. The pressure chamber is coupled at one end to the housing transversely to the through bore. The actuating piston defines a pressure source side and a through bore side of the pressure chamber. A fluid pressure source is coupled to the other end of the pressure chamber. A closure element is disposed in the pressure chamber on the through bore side. At least one locking element is coupled to the pressure chamber at an axial position along the pressure chamber on the through bore side.

Abstract: A well annular pressure control device includes a housing having a through bore and at least two iris valves within the housing. The iris valves comprise a plurality of vanes operable between an open position and a closed position to define an opening. At least one actuator is coupled to the plurality of vanes to move the plurality of vanes between the open position and the closed position.

Abstract: An underwater robotic system includes a frame adapted to be deployed in a body of water and having guide rails and at least one movable rail movably coupled to the guide rails. An actuator module is movably coupled to the at least one movable rail. A control panel disposed proximate the frame and has a plurality of controls thereon. The plurality of controls is operable by an actuator on the actuator module. A position of each of the plurality of controls is known such that motion of the actuator module and the at least one movable rail is remotely controllable to actuate any chosen one of the plurality of controls.

Abstract: An underwater robotic system includes a frame for deployment in a body of water and having a control panel with multiple controls. A first actuator on the frame selectively actuates a control from a front side of the panel. A second actuator on the frame selectively actuates a control from a back side of the panel. One or more controls on the panel is configured to regulate distribution of a fluid. The frame is configured to couple to a blowout preventer. A method for robotic fluid distribution in an underwater environment.

Abstract: A method for controlling pressure in a well includes pumping fluid into a riser extending between a drilling vessel and a wellhead, pumping fluid out of the riser to the drilling vessel by operating a first jet pump disposed in a conduit extending from the riser to the drilling vessel, wherein a rate of pumping power fluid into a power fluid inlet of the first jet pump is adjusted to maintain a liquid level in the drilling riser at a selected elevation.

Abstract: A coupling system includes a lower marine riser package having a connector at a bottom end and a blowout preventer having a connector at an upper end. Explosively frangible fasteners with explosively frangible nuts sealed off from the external environment are used to couple the connector on the lower marine riser package to the connector on the blowout preventer. A method for separating a lower marine riser package from a blowout preventer includes electronically triggering the detonation of a plurality of explosively frangible fasteners coupling the blowout preventer to the lower marine riser package.

Abstract: A well pressure control device includes a housing having a through bore. A pressure chamber has a piston movably disposed therein. The pressure chamber is coupled at one end to the housing transversely to the through bore. The actuating piston defines a pressure source side and a through bore side of the pressure chamber. A fluid pressure source is coupled to the other end of the pressure chamber. A closure element is disposed in the pressure chamber on the through bore side.

Abstract: A kinetic ram for a blowout preventer includes a pressure chamber having a piston movably disposed therein. A gas generating charge disposed at one end of the pressure chamber. A ram is coupled to the piston on a side of the piston opposed to the gas generating charge. The ram is arranged to move across a through bore in a blowout preventer housing disposed at an opposed end of the pressure chamber. An initial volume in the pressure chamber between the one end and the piston is chosen to limit a maximum pressure caused by actuating the gas generating charge to a predetermined maximum pressure, and/or the pressure chamber comprises a pressure relief device arranged to vent pressure in the pressure chamber above the maximum pressure.

Abstract: A well annular pressure control device includes a housing having a through bore and at least two iris valves within the housing. The iris valves comprise a plurality of vanes operable between an open position and a closed position to define an opening. At least one actuator is coupled to the plurality of vanes to move the plurality of vanes between the open position and the closed position.

Abstract: A coupling system includes a lower marine riser package having a connector at a bottom end and a blowout preventer having a connector at an upper end. Explosively frangible fasteners with explosively frangible nuts sealed off from the external environment are used to couple the connector on the lower marine riser package to the connector on the blowout preventer. A method for separating a lower marine riser package from a blowout preventer includes electronically triggering the detonation of a plurality of explosively frangible fasteners coupling the blowout preventer to the lower marine riser package.

Abstract: In some embodiments, a method for executing an emergency disconnect sequence in shallow water depth includes unlatching a lower marine riser package (LMRP) of a blowout preventer (BOP) from a lower stack of the BOP. The BOP defines a wellbore fluidically coupled to the subsea wellhead. A tubular is disposed within the wellbore. The method further includes shearing the tubular and sealing the wellbore. In response to an indication that a vessel operably coupled to the BOP has failed to keep station, an unlatch sequence and a shear and seal sequence are initiated, such that each sequence occurs at least partially simultaneously. The unlatch sequence includes disconnecting the LMRP from the lower stack, and the shear and seal sequence includes activating the lower stack to shear the tubular in less than about one second and seal the wellbore.

Abstract: A coupling system includes a lower marine riser package having a connector at a bottom end and at least one blowout preventer pressure control element coupled to a wellhead and having a connector at an upper end. Explosively frangible fasteners are used to couple the connector on the lower marine riser package to the connector on the at least one blowout preventer pressure control element. A method for separating a lower marine riser package from a blowout preventer coupled to a subsea wellhead includes closing a least one pressure control element in the blowout preventer. At least one explosively frangible fastener coupling the blowout preventer to the lower marine riser package is detonated. The lower marine riser package is then lifted from the blowout preventer.