Abstract: There is disclosed an apparatus (100) for mooring a structure and/or tensioning a mooring line. The apparatus (100) comprises: a guide portion (105) for guiding a portion of a first mooring line (110), and a lock arrangement (115), wherein the apparatus (100) provides a mooring line path (120), the lock arrangement (115) being provided on an opposite side of the mooring line path (120) from the guide portion (105), at least when the lock arrangement (115) is in an unlocked configuration. When in a locked configuration at least a portion of the lock arrangement (115) is provided in the mooring path (120).

Abstract: A disconnectable spread mooring and riser tower system for a vessel floating at a water surface. The system comprises a forward chain table assembly releasably connected to the vessel at the bow via a first connector assembly, and an aft chain table assembly releasably connected at the stem via a second connector assembly. Mooring legs are attached to the chain table assemblies and are capable of being anchored at spaced locations on a seafloor. The first and second connector assemblies are arranged and designed to unlock and release the forward and aft chain table assemblies from the vessel. A riser tower system fixed to the seafloor may be located near the moored vessel and flexible jumper hoses can be extended between the riser tower system and the vessel to transfer fluids, air, power and control signals.

Abstract: A mooring apparatus (50) comprising a guide portion (55) for guiding a portion of a first mooring line (60), an arrangement (65) for connecting or coupling the apparatus (50) to a second mooring line (70), and a lock (75) or lock means. The guide portion (55) is moveably connected to the arrangement, and the lock is connected to, attached to or provided on the arrangement. A system (250) for tensioning a mooring line, the system comprising the mooring apparatus (50) and the first mooring line (60) and/or the second mooring line (70). A method of tensioning a mooring line, wherein the method comprises providing the system for tensioning a mooring line, and the method further comprises applying a pulling force to a first portion of a first mooring line (60) in a direction away from the apparatus (50).

Abstract: This disclosure generally relates to a hammock strap. The hammock strap includes an elongated length of strap material that is separated into a first strap and a second strap. The first strap and the second strap are woven together at one or more separation points to form eyelets between the first strap and the second strap.

Abstract: A buoyant structure having a hull, a main deck, an upper cylindrical side section extending downwardly from the main deck, an upper frustoconical side section, a cylindrical neck, a lower ellipsoidal section that extends from the cylindrical neck, an ellipsoidal keel and a fin-shaped appendage secured to a lower and an outer portion of the exterior of the ellipsoid keel. The upper frustoconical side section located below the upper cylindrical side section and maintained to be above a water line for a transport depth and partially below the water line for an operational depth of the buoyant structure.

Abstract: A virtual reality/augmented reality (VR/AR) headset system (including the capability for one or both of virtual reality and augmented reality) includes a remote optical engine. The remote disposition of the optical engine removes many or all of the components of the VR/AR headset system that add weight, heat, and other characteristics that can add to user discomfort in using the system from the headset. An electronic image is received and/or generated remotely at the optical engine, and is transmitted optically from the remote location to the headset to be viewed by the user. One or more optical waveguides may be used to transmit the electronic image to one or more passive displays of the headset, from the remote optical engine.

Abstract: Mooring systems and methods are provided. One system may include at least one object partially or fully submerged in a body of water. The system may also include a semi-rigid outer ring that is adrift or moored to at least one sea anchor or to the sea floor by at least one mooring line. At least one object may be connected or tethered by bridle lines to the semi-rigid outer ring to form an array.

Abstract: The present invention relates to an evacuation system for positioning and maintaining a position of an inflatable floatable unit in relation to a maritime structure during evacuation of persons at sea, comprising a maritime structure from which persons are to be evacuated, an inflatable floatable unit configured to be deployed from the maritime structure, and a bowsing system comprising a first bowsing line extending from the maritime structure to the inflatable floatable unit, and a first bowsing winch configured to, by means of the first bowsing line, bowse and position the inflatable floatable unit in relation to the maritime structure after it has been deployed from the maritime structure into the water, wherein the bowsing system further comprises a first hydraulic cylinder having a piston with a first piston end extending outside the first hydraulic cylinder, and a first hydraulic accumulator which is in fluid communication with the first hydraulic cylinder, the first piston end being connected with the

Abstract: A floating connector of an offshore energy device and a method for connecting the floating connector is provided. The floating connector includes a buoy having a long spar like floater, where the buoy provides buoyancy to the floating connector. The floating connector further includes at least two cables for connecting to the offshore energy device. The floating connector also includes a joint box for coupling to the offshore energy device and for providing an electrical connection of the at least two cables to a switchgear of the offshore energy device. When the joint box is coupled to the offshore energy device, an electrical circuit with the at least two cables is completed through the offshore energy device via the switchgear.

Abstract: A flexible elongate element for installation in a body of water to extend between a seabed connection device and a unit arranged at the opposite end of the flexible elongate element. At least one lateral displacement device is connected to a portion of the flexible elongate element and configured to displace at least a portion of the flexible elongate element a lateral distance away from a first axis extending between the seabed connection device and the unit, the at least one lateral displacement device including a spring member. The flexible elongate element may be a flexible riser, umbilical, hose, or cable.

Abstract: A watercraft securement device including a boat attachment line configured for connection to a watercraft and a dock attachment line configured for connection to an anchoring structure. A tensioning apparatus is connected to the boat attachment line and the dock attachment line. The tensioning apparatus is configured to adjust the length of one of the boat attachment line or the dock attachment line. The tensioning apparatus further includes a pulley for engaging the adjustable length and a ratcheting mechanism. The ratcheting mechanism operates to permit rotation of the pulley in only one direction when engaged, and to permit free rotation of the pulley when released. The ratcheting mechanism maintains tension as the adjustable length is pulled through the pulley.

Abstract: A marine barrier has a line of buoyant column modules, and an impact net attached to and extending between the column modules. First and second lines of buoyant flotation modules are respectively disposed parallel to and on opposing sides of the line of column modules, and are connected to the column modules by legs such that each of the flotation modules is retained between two adjacent ones of the center column modules. When the barrier is floating in a body of water and a moving vessel impacts the impact net, the impact net deflects to transfer a force of the impact to one or more of the column modules and flotation modules, which in turn engage the water to transfer the force of the impact to the water, to arrest the motion of the vessel.

Abstract: A cord lock includes a first member having a first passage and a second passage for a cord; a second member combined with the first member to be capable of moving to rise and fall as a support point on the second passage side, and including a third passage positioned between the first passage and the second passage on a free end side of the rising and falling movement, and passing the cord; and an urging device urging the second member in a standing direction. The support point is formed by an engaging portion formed in one of the first member and the second member, and an engaged portion formed in the other, and engaged with the engaging portion, and the cord pulled out of the second passage is positioned on a free end side of the second member more than the support point.

Abstract: A support buoy for supporting subsea equipment, the buoy comprising: a hull; a generator unit contained within the hull; a utilities array contained within the hull; and an umbilical, wherein the umbilical is adapted to provide services from the generator unit and the utilities array to the subsea equipment.

Abstract: A shock absorber for a vehicle having a damper and a first and second springs mounted coaxially around the damper and a preload adjuster for partially compressing at least one of the springs independently of the compression stroke. In one embodiment the preload adjuster is remotely controllable. In another embodiment the shock absorber includes an additional mechanism for preloading at least one of the springs.

Abstract: A mooring method includes the steps of: transporting a mooring member having a mooring cable which can be connected to a float at one end and an accommodation member installed at the other end of the mooring cable and has an accommodation space therein to a mooring position of the float; accommodating a first heavy weight in at least a part of the accommodation space of the accommodation member at the mooring position; connecting the one end of the mooring cable to the float at the mooring position after the accommodation step; and accommodating a second heavy weight in the accommodation space of the accommodation member by adding the second heavy weight to the first heavy weight or exchanging at least part of the first heavy weight with the second heavy weight at the mooring position after the connection step.

Abstract: A method and apparatus are disclosed for supporting a flexible pipe. The method includes the steps of responsive to a change in at least one condition experienced by a flexible pipe, varying an amount of support provided at at least one location on the flexible pipe.

Abstract: A riser assembly for transporting fluids from a sub-sea location is disclosed. The riser assembly includes a riser having at least one segment of flexible pipe and a plurality of buoyancy compensating elements connected to the riser and connected together in an in-line configuration to form a mid-line buoyancy section. The riser assembly also includes at least one buoyancy aid connected to the riser at a position above and spaced apart from the mid-line buoyancy section. The at least one buoyancy aid forms a first distributed buoyancy section and is sufficiently buoyant to maintain a tension load on the riser between the first distributed buoyancy section and the mid-line line buoyancy section. The riser assembly further includes at least one further buoyancy compensating element connected to the riser at a position above and spaced apart from the first distributed buoyancy section to form a second distributed buoyancy section.

Abstract: The invention relates to an offshore top site system comprising a subsea facility, a floating unit arranged above the subsea facility and at least one transportation line extending between the subsea facility and the floating unit. The transportation line comprises a catenary riser section and comprises an uppermost end and a top site section with a lowermost end. The catenary riser section and the top site section are in flow connection with each other. The transportation line further comprises a connecting portion preferably arranged within a vertical floating unit zone and between the top site section and the uppermost end of the riser section. The connection portion is pivotally connected to the floating unit. The connection portion is preferably pivotally connected to the floating unit such that at least a major part of pulling force from the riser section is alleviated by the connection to the floating unit.

Abstract: In various embodiments, fluid conduits such as high pressure hoses deployed in-between two sea-fairing vessels may be released during an emergency by using a rapid release emergency disconnect system as described herein, where the rapid release emergency disconnect system may engage with a hanger such as an industry standard frac hanger and be used in-line with fluid conduits such as high-pressure lines. Various skid embodiments are described which can be configured to interface with one or more of the described rapid release emergency disconnect systems.

Abstract: Some embodiments provide release apparatuses comprising: a body comprising a first mating section and a second mating section connected to first and second tethers; and a plurality of movable locking shoes secured with the first mating section and movable between a first position configured to lock the first mating section and the second mating section together and a second position configured to allow the first mating section and the second mating section to disconnect; wherein each of the plurality of locking shoes comprises a locking surface configured to contact an engagement surface of the second mating section and maintain a position of the first mating section with the second mating section when the plurality of locking shoes are in the first position, and wherein the locking surface of each of the plurality of locking shoes is formed at a contact angle between about 18 degrees and 24 degrees.

Abstract: A mooring system, and connector assembly, which in a preferred embodiment is a vessel mooring and fluid transfer system. The connector assembly has a first portion (2A) configured to be coupled to one or more mooring lines (1), and a second portion (2B) configured to be coupled to a vessel. The first and second portions are rotatable with respect to one another to permit a vessel coupling on the second portion to swivel about the mooring coupling on the first portion. In a preferred embodiment, the connector assembly comprises a guide (2E) for a conduit, which may be a fluid transfer conduit such as flexible riser (6). The invention also provides methods of use of the mooring systems described.

Abstract: A flowing-water driveable turbine assembly (104) for location in river or sea areas with unidirectional and bidirectional water flows. The turbine assembly comprises a turbine support (106) with positive buoyancy in water. The turbine support (106) is arranged to be anchored by an anchoring system (108) to a water bed. The turbine assembly comprises at least one turbine (110). The positive buoyancy of the turbine assembly in water has an upward force to constrain the turbine support 106 and the at least one turbine (110) to a position of floating equilibrium against a downward force of the anchoring system (108). The turbine assembly may have variable buoyancy, a duct around each turbine for directing water through the turbine to generate power from water flow, and a winch or winches for submerging the turbine assembly or parts thereof.

Abstract: A cover for a mooring line having a terminal eyelet, the cover having a sheath, with a pair of hook and loop strips positioned on opposite surfaces of the sheath. The cover is a single piece configured to enclose both a terminal eyelet and linear line section of a mooring line and also has a strap attached to the sheath proximate the linear line section to retain the sheath in position on the linear line section. A method for using the cover to protect mooring lines is also provided.

Abstract: A mooring system for a marine vessel utilizing an extension system. The mooring system comprises at least one mooring line having a first line section and a second line section. An extension device is associated with the at least one mooring line. The extension device has a first component and a second component. The first and second component each has a shear pin hole. A shear pin is positioned within the shear pin holes thereby connecting the first component and the second component. The mooring system also comprises an extension line having a first end connected to the first component and a second end connected to the second component.

Abstract: A fabric shielding tube protects an elastic end portion of a stretchable segment of a mooring rode from abrasion, water, and marine life, without inhibiting extension of the stretchable segment. The ends of the tube are attached to the rode at the ends of the elastic end portion, with the tube extending beyond the elastic portion and folding back on itself in a rolling wall configuration. The tube thereby adapts to extension of the rode by partially unrolling the rolling wall. At its distal end, the tube is attached only to an outer braid of the rode by a means that does not inhibit extension of the braid or of an elastomeric core within the braid. The distal end attachment can be by sewing, or by interweaving of a strap such as a cable tie through the shield and the braid. The fabric shield can include nylon.

Abstract: A split ring vessel mooring arrangement having floats thereon which may be installed on a post or piling over the top thereof or, in the case of the top being covered by a deck or other structure making access thereto impossible may be pivotally opened and wrapped around the post or piling and then re-secured together.

Abstract: A system and method for offshore loading of large cargo vessels, or motherships. The system includes a plurality of mooring stations, which may be mooring buoys, positioned in an offshore mooring field proximal an onshore cargo loading facility. A mothership is positioned within the mooring field and moored via bow and stern lines to two or more different mooring stations. Environmental data, including wind, wave, and current data, as well data regarding the physical characteristics of the mothership and movement (roll/pitch/heave) of the mothership are collected by remote transmitting and sensing devices. This data is processed by numerical analysis in a digital processor, namely a computer, to determine optimum mooring line length and tension, and mooring station locations, in order to minimize mother ship movement and create an optimum “lee” loading area adjacent the mothership. Cargo is transferred to the mothership by a trans-shipper moored to the mothership.

Abstract: A system adapted to position a floating object having a slide assembly with a contact surface, the floating object selectively engaging the contact surface, a track operatively connected to the slide assembly, and a locking mechanism secured to the slide assembly, the locking mechanism having a plug at one end.

Abstract: The present invention relates to a tether for connecting a moving device submerged in liquid to a support structure, e.g. a submersible power plant comprising a stream-driven vehicle provided with at least one turbine for generation of electrical energy. The tether extends in a main direction, and at least a tether portion of the tether comprises a tensile force bearing portion extending in the main direction of the tether, wherein the tether portion is arranged to strive to self-align in relation to a relative flow direction of the liquid during use.

Abstract: Apparatus for connecting a power cable to a marine vessel which is subject to pitch, heave, roll and yaw motion includes a ball and socket device for decreasing the twisting and bending of the power cable. The socket is attached to the vessel and the ball can rotate freely Within the socket but its up down motion is restricted. The power cable's outer protective sheath is attached to the ball while its conductors pass through the ball and are connected to an internal connector. A flexible cable (wire) is connected between the internal connector and electrical equipment internal to the marine vessel.

Abstract: A traction method for an operating line, in particular a mooring line, of a floating production unit includes the steps of: attaching an end chain portion of the operating line to a socket of a main cable running through a sheave at a work station; reeling in the main cable, using a winch, to bring the socket of the main cable up to the sheave; locking the operating line with a chain stopper; slackening the main cable and moving the sheave closer to the chain stopper to reduce pull on the main cable; reeling in the main cable to run the socket of the main cable through the sheave; once the socket of the main cable has run through the sheave, releasing the operating line from the chain stopper, and reeling in, by means of the winch, the main cable and the operating line connected to it, to set the operating line to a given tension.

Abstract: A plurality of technologies for aiding line handling are disclosed. The technologies enable a marine vessel occupant to use a line, which has a fixed end secured to a dock and a free end extending over a body of water, for docking.

Abstract: The disclosure provides a method and system of coupling end-to-end at least two existing mooring lines (12A, 12B) that are already deployed from the floating platform (56) to the seabed or other connecting structure to create a single shared line from the two lines. The shared lines then form a single looped line with both ends deployed to the subsea connections. The shared length provides enough payout of line to loosen one line sufficiently, while the other line becomes correspondingly tighter using the catenary length of the tight line. In part, the line can be loosened while the other is tightened because the lines are generally in the same overall direction to the seabed, such as in a same quadrant around the platform. Thus, the lines share their available lengths to provide the necessary payout for the repairs.

Abstract: An offshore structure having a hull, an upper vertical wall, an upper inwardly-tapered wall disposed below the upper vertical wall, a lower outwardly-tapered wall disposed below the upper sloped wall, and a lower vertical wall disposed below the lower sloped wall. The upper and lower sloped walls produce significant heave damping in response to heavy wave action. A heavy slurry of hematite and water ballast is added to the lower and outermost portions of the hull to lower the center of gravity below the center of buoyancy. The offshore structure provides one or more movable hawser connections that allow a tanker vessel to moor directly to the offshore structure during offloading rather than mooring to a separate buoy at some distance from the offshore storage structure. The movable hawser connection includes an arcuate rail with a movable trolley that provides a hawser connection point that allows vessel weathervaning.

Abstract: Disclosed is a boat docking assistance device including a cable locking device/carriage assembly which slides along a cable/rope attached either to a boat or dock. According to one exemplary embodiment, the carriage is pulled from the helm area of the boat towards the stern as the boat is docking with a resistance provided by a locking cam arrangement. The carriage is attached to a dock pile using a hoop type arrangement fastened to the sliding carriage by a rope, which is placed on the pile by a boat operator as the boat approaches the dock associated with the pile.

Abstract: Apparatus and system are disclosed for anchoring the kayak to the bottom of a body of shallow water. The apparatus includes a receiver tube attached to the kayak into which a guide sleeve and stake are held vertically. A tether line is attached to the stake at one end and to the kayak at the other locking it in the up position for paddling. The stake drops to anchor the kayak by releasing the tether line using an attachment device at a contact point proximate the seat. Pulling the tether line and re-attaching the attachment device retrieves the anchor and returns it to the locked up position for resuming paddling.

Abstract: A segmented flotation device available in a plurality of colors, sizes, and configurations is disclosed. Each flotation device includes one or more buoyant members strung together with an elastic band. A recessed cup at each end of the device stores a coupler which is in turn secured to the elastic band. The coupler is configured with couplers for interconnecting flotation devices to create a variety of shapes and structures such as grids, float mats, and long float lines. A cord lock may be provided on the elastic band for adjusting the preloaded tension. A plurality of flotation devices can be packaged with other accessories connectable to the devices for creating a seat, mat, island or other structure, for holding beverages, or for providing awning structure.

Abstract: A vessel has a hull, a contact area at the hull near keel level for attaching to a structure, a lifting device and a lifting cable attached thereto and extending along a heave compensating member. The lifting cable extends along a substantially vertical lifting trajectory to a connect position below keel level. The heave compensating member includes a guide element for guiding the lifting cable and which is connected to a displacement device. The heave compensating member includes a compensator arm with a pivot end pivotally connected to a pivot point on the vessel at a predetermined transverse distance from the lifting trajectory, the cable guide element being attached to a free end of the compensator arm at or near the lifting trajectory, guiding the lifting cable in the direction of the pivot point, the arm being at or near the free end connected to the displacement device.

Abstract: Exemplary embodiments of a manufacture of an aquatic stabilizing locus inhibiting roving, comprising: a buoyant main body comprising; a top, sky-side, surface, a bottom, water-side, surface, at least one attachment loop secured to at least one attachment loop base; at least one water-side attachment loop, secured to at least one water-side attachment loop base; and at least one stabilizing line, wherein each end of the stabilizing line forms into fixed loops enabled to concatenate with at least one concatenation element, and wherein the stabilizing line is concatenated to the water-side attachment loop. Exemplary embodiments of means for inhibiting roving, of at least one object floating in an aquatic medium, by means of a stabilizing locus comprising: a means for providing buoyancy to the locus; a means for concatenating at least one device to the locus; a means for concatenating the locus to an object that inhibits locus aquatic roving.

Abstract: This installation comprises a transport conduit which is at least partially submerged in a body of water, a device for conveying fluid between the vessel and the conduit, and a floating platform for securing the vessel. The platform comprises a carrier structure which is partially submerged in the body of water. The carrier structure comprises an open-work trellis which delimits internal spaces which are for circulation of water and which open in the body of water. The floating platform further comprises flexible lines for anchoring the carrier structure to the bottom of the body of water. The ratio of the volume of the internal spaces to the total of the volume of the open-work trellis and the volume of the internal spaces is greater than 0.9.

Abstract: A mooring system for a floating vessel such as a drilling unit is provided. The floating vessel has a platform for providing drilling, production or other operations in a marine environment, and a tower for providing ballast and stability below a water line in the marine environment. The mooring system generally includes a plurality of anchors disposed radially around the tower along a seabed, and a plurality of mooring lines. Each mooring line has a first end operatively connected to the tower, and a second end operatively connected to a respective anchor. Each mooring line further comprises at least two substantially rigid links joined together using linkages. Each joint is at least five meters in length. The mooring system is capable of maintaining station-keeping for the vessel greater than about 100 Mega-Newtons such that operations may be conducted when the marine environment is substantially iced over.

Abstract: A boat docking device, for use with a boat, a dock adjacent to a body of water, and dock lines each having a fixed end secured to the dock, and a free end. The docking device has a mast that is secured to the dock, and an arm that is secured to the mast and is selectively pivotable between an extended position substantially perpendicular to the dock, and a retracted position substantially parallel to the dock. The arm has a lower surface having a plurality of clips for holding the dock lines as they extend substantially parallel to the arm along the lower surface with the free end of dock lines available at the distal end so when the arm is extended perpendicular to the dock and over the body of water, the boater can grab the free end before the boat reaches the dock.

Abstract: The present invention relates to a unit adapted to float in a body of water with a sea bed. The unit comprises a station-keeping system comprising a mooring line, the mooring line comprising a connection portion and a tail portion and when the unit is floating. The body of water reaches a still water line of the unit and the connection portion extends from the sea bed to a mooring line handling arrangement of the unit. The arrangement is adapted to actively alter the length of the connection portion. When the mooring line is in a permanent mooring position, at least a portion of the tail portion is located in the body of water.

Abstract: A hawser system between a tension leg platform (TLP) and another vessel employs two lines, oriented in a V-shape, to restrict the vertical motion of a hawser near the bow of the other vessel which may be a semi-submersible tender assisted drilling vessel (TAD). Drilling operations may be performed from the TLP while the semi-submersible provides the supporting services for the drilling operation, e.g. drilling fluid and drill pipe storage. The restricted vertical motion of the hawsers significantly reduces the possibility of the hawsers contacting each other. A hawser system according to the invention couples the semi-submersible TAD vessel to the TLP and may be implemented without passing the hawsers through sheaves.

Abstract: An elastic anchor rope has an elastomeric core over most of its length. The core stretches during mooring to permit discharge of persons and items such as on a beach with subsequent retraction of the craft to an offshore location. A bow line permits retraction of the craft to the beach for loading purposes. Tensile loads are transferred from the elastomeric core to an intermediate cord and from the cord to end portions of the rope that do not have the core.

Abstract: A tethering device for a boat may be mounted to a dock so that the top surface of the tethering device is flush with the top of the dock. Inside the housing is a retraction reel storing a sufficient length of line to provide tethering of the boat to the dock while retracting excess line back for out-of-sight storage but leaving the pre-selected length of line extending from the tethering device. The housing also has a line locking mechanism to hold the line at the pre-selected length so as to prevent the boat from drifting away taking line with it.

Abstract: Marine or underwater vehicle designed to be secured to a recovery cable includes contactless elements (6) for detecting the recovery cable (2), the element being capable of guiding the vehicle (1) towards the cable (2) and elements (7) situated at one end (3b) of the vehicle (1) for coupling the cable (2).

Abstract: An offshore structure having a vertically symmetric hull, an upper vertical wall, an upper inwardly-tapered wall disposed below the upper vertical wall, a lower outwardly-tapered wall disposed below the upper sloped wall, and a lower vertical wall disposed below the lower sloped wall. The upper and lower sloped walls produce significant heave damping in response to heavy wave action. A heavy slurry of hematite and water ballast is added to the lower and outermost portions of the hull to lower the center of gravity below the center of buoyancy. The offshore structure provides one or more movable hawser connections that allow a tanker vessel to moor directly to the offshore structure during offloading rather than mooring to a separate buoy at some distance from the offshore storage structure. The movable hawser connection includes an arcuate rail with a movable trolley that provides a hawser connection point that allows vessel weathervaning.

Abstract: A mooring system may comprise a station keeping apparatus having a turntable rotatably mounted thereon. The station keeping apparatus is operable to movably couple to a first vessel and to a second vessel in a side-by-side configuration. The turntable is operable to freely rotate both the first and the second vessel about the station keeping apparatus. The station keeping apparatus is securable to the second vessel using a head mooring line having a length which is adjustable for aligning a heading of both the first and the second vessel with a prevailing weather direction. Further, the mooring system may comprise a rigid yoke or a soft yoke movably coupling the turntable to the first vessel for angular adjustment between the station keeping apparatus and a longitudinal center line of the first vessel.