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: 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: 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 scanning carriage, useful to perform simultaneous or concurrent subsea Time of Flight Diffraction (ToFD) and Phased Array Ultrasonic Testing (PAUT) of a subsea structure, comprises a housing machined to provide an incident angle for producing a predetermined set of desired refraction angles to help provide volumetric coverage of a weld in a one pass inspection; a Time of Flight Diffraction (ToFD) tool disposed proximate the housing and comprising a ToFD probe; a phased array ultrasonic testing tool, disposed proximate the ToFD tool, comprising a phased array ultrasonic probe and configured to produce multiple refracted angles with one probe placement; and a data communication link configured to interface with a data collection tool and operatively connected to the ToFD tool and the phased array ultrasonic testing tool.