Abstract: Self-contained, waterproof, water-submersible, remote-controlled apparatus is provided for manipulating a device, such as an ultrasonic transducer for measuring crack propagation on an underwater specimen undergoing shock testing. The subject manipulator includes metal bellows for transmittal of angular motions without the use of rotating shaft seals or O-rings. Inside the manipulator, a first stepper motor controls angular movement. In the preferred embodiment, the bellows permit the first stepper motor to move an ultrasonic transducer .+-.45 degrees in a first plane and a second bellows permit a second stepper motor to move the transducer .+-.10 degrees in a second plane orthogonal to the first. In addition, an XY motor-driven table provides XY motion.

Abstract: A method and apparatus for repairing leaks in subsea pipelines which comprises two split clamp halves with redundant seal means which are installed around the subsea pipeline in a programmed fashion to allow low clearances below the pipeline.

Abstract: Improved methods and apparatus are provided for landing and securing a payload to a subsea assembly, such as a hydrocarbon recovery assembly, utilizing a surface vessel and a subsea ROV. The payload is suspended from a submersible payload package, and the package and payload are lowered subsea by a vessel cable. Guide cables extending from the package may be secured to the subsea assembly, and a floatation device thereafter activated to render the package positively buoyant, thereby making the guide cables taunt and relaxing the vessel cable to de-couple the package and payload from the surface vessel. The guide cables are then used to lower the payload from the package onto the assembly, and the payload secured to the assembly with the ROV. The floatation device is subsequently deactivated such that the pacakage is no longer positively buoyant, thereby re-coupling the package to the surface vessel.

Abstract: An approximately neutrally buoyant system for operations in a subsea environment having a buoyant upper module, a heavy lower module, and multiple connecting members which allows trim stability and extended lifting capacity for the buoyant upper module when the heavy lower module is landed on the ocean floor or available structures.

Abstract: A riser system includes inflatable buoyancy bladders and a near surface disconnect so that a drilling vessel can rapidly disconnect from the riser leaving the riser in a freestanding buoyant position.

Abstract: An undersea operation system comprising an undersea operation machine for conducting undersea operations such as undersea construction and the collection of stones and rocks, and a backup ship operatively connected to this undersea operation machine. The undersea operation machine includes a vehicle, arms which are connected to this vehicle, etc. The vehicle and the arms are operated by hydraulic pressure which is supplied through a cable connecting the undersea operation machine to the backup ship, whereby smooth operation of the undersea operation machine is ensured even in a deep sea region.

Abstract: A six degree of freedom grabbing apparatus (20) allows normally open jaws (22) to be positioned in a desired location and orientation relative to a work platform (19), whereupon a single control locks the grabbing apparatus is the desired location and orientation. The jaws (22) are secured to the end of an arm (24). The arm (24) is attached to a shoulder joint (26). The shoulder joint allows the arm to rotate (37) and pitch (38). The shoulder joint is secured to a base unit (28), which base unit is slidably and pivotally connected to the work platform (19, 80), allowing the base unit (and hence the shoulder joint and arm) to move in the same plane, e.g., the x and y directions, as the work platform, and further allowing the base unit, shoulder joint and arm to yaw (39) relative to a given position on the platform. Six degrees of freedom are provided by the apparatus; jaw closing/opening; pitching, rotating, yawing, moving in the x direction, and moving in the y direction.

Abstract: Device for the precision-positioning of bodies on fixed structures on the sea bottom in high-depth waters. The device comprises a fixed structure and an articulated structure. One end of the articulated structure is fastened to the body to be positioned, and the other end is engaged inside a reference seat of the fixed structure on the sea bottom. The precision-positioning of the body is carried out by linearly and/or angularly displacing the articulated structure with respect to the fixed structure.

Abstract: A projecting actuation point and a hollow ROV-operable tool for subsea equipment both have a larger diameter surface and a smaller diameter surface, the former being nearest to the subsea equipment. The smaller diameter surface of the actuation point provides a coarse guidance and early alignment of the tool over the actuation point and the larger and smaller surfaces, which fit closely, provide in combination two sets of interfaces for final alignment.The principle can be applied to a wide variety of subsea parts. The actuation point can be a spigot for a valve or choke, a point for hydraulic or electrical connection, a point for both fluid injection and valve isolation or a coupling to link a subsea component with a subsea module or to a remote power source.

Abstract: A mono-atmospheric chamber module for placing on the top of a Christmas tree (1) in a well-head, to keep equipment and personnel at surface conditions during the execution of varied well operations. The chamber module comprises a mainly oblong cylindrical mantle (4) with associated base-ends. An opening (7) for tight engagement with the top of the Christmas tree (1) is arranged in the lower base-end (5). The upper base-end (6) is detachable. Inside the module, a pressure resistant personnel chamber (14) is arranged with direct connection to an access opening (19) placed in the cylinder mantle (4).

Abstract: A subsea landing base including a plurality of guide posts interconnected to a housing support structure including an upper annular plate, a lower annular plate, an annular control plate supported on the upper annular plate and rotatable thereon, a connection between the control plate to a landing ring to actuate the landing ring between housing supporting position and expanded position, rotation of the control plate to one of its positions of running, released and landed and locked, and a tool for rotation of the control plate and for retrieval of the landing base.

Abstract: An apparatus having improved safety and performance characteristics for the removal of a coating from a tubular member, and particularly adapted for the removal of a concrete weight coat from submerged oil pipelines, comprising a generally C-shaped rigid frame member which is maintained in proper alignment by contact with the upper coated surface, is provided with a plurality of opposed, inwardly directed driven crusher blades located proximate the ends of the frame member and controlled driving means which are adapted to move the crusher blades. The method comprises positioning the apparatus on the coated pipeline, crushing the coating, raising the entire apparatus to free the fractured coating from the pipeline, retracting the crusher blades, and moving the apparatus to a new position on the pipeline.

Abstract: A working chamber is placed in a lined pond containing a body of contaminated water and filled with clean water to safely isolate divers while they repair damaged areas of the liner. The chamber is an open ended housing having a side wall of water impervious material configured to surround the area of liner damage and a height greater than the depth of the body of water at the repair site. Buoyancy tanks float the housing in a stable upright position above the repair site and are filled with clean water to sink the housing to rest its bottom end on the liner at the bottom of the body of water. A deformable seal on the bottom end of the housing engages the liner surface surrounding the area of liner damage and is filled with water to forming a substantial water sealing relation therewith but with controlled leakage. Clean water is conducted into the chamber interior at a predetermined rate to displace contaminated water inside the chamber.

Abstract: Method and apparatus for retrieving a running tool/guideframe assembly without the use of winch wires. A portion or each guidepost assembly can be unlatched from the seafloor-mounted template to permit that portion to be retrieved using the guidewires. The unlatchable portion of the guidepost system is formed with a load support that engages and supports the running tool/guideframe assembly so that the assembly is retrieved concurrently with the unlatchable portions of the guidepost assemblies.

Abstract: A hydraulic stab sub with multiple seals especially for use in remote and harsh environments with the ability to move the seals radially inward to a retracted position in which the hydraulic stab sub can be easily inserted into a mating receptacle and alternately to move the seals radially outward to perform useful functions such as sealing or locking into the receptacle.

Abstract: A docking mechanism for the docking of a space vehicle 11 to a space station 12 comprising a flexible tunnel frame structure which is deployable from the space station. The tunnel structure comprises a plurality of series connected frame sections 21, one end section of which is attached to the space station and the other end attached to a docking module 15 of a configuration adapted for docking in the payload bay of the space vehicle 11. The docking module is provided with trunnions 41, 42 adapted for latching engagement with latches 17 installed in the vehicle payload bay and with hatch means 44 connectable to a hatch of the crew cabin of the space vehicle. Each frame section 21 comprises a pair of spaced ring members 31a, 31b interconnected by actuator-attenuator devices 33 which are individually controllable by an automatic control means to impart relative movement of one ring member to the other in six degrees of freedom of motion.

Abstract: A system for docking a space vehicle 11 to a space station 12 where a connecting tunnel for in-flight transfer of personnel is required. Cooperable coupling mechanisms 51, 52 include docking rings 56, 61 on the space vehicle 11 and space station 12, respectively. The space station is provided with a tunnel structure 15, a retraction mechanism 30, and a docking ring 56 attached thereto. The vehicle coupling mechanism 52 is designed to capture the station coupling mechanism 51, arrest relative spacecraft motions while limiting loads to acceptable levels, and then realign the spacecraft for final docking and tunnel interconnection. The docking ring 61 of the space vehicle coupling mechanism is supported by linear attenuator actuator devices 63 each of which is controlled by a control system (FIG.

Abstract: A submerged object, such as a barge, is cut into pieces by a cutting apparatus suspended from a floating vessel. The apparatus comprises a blade carrier which forms channels in which a cutting blade is mounted for vertical movement. In practice, the blade carrier includes a pair of pointed anchor studs at the lower end thereof. The blade carrier is suspended above the submerged barge and is dropped thereon so that the anchor studs are impaled in the barge to hold the carrier in positionally constrained relationship therewith. Thereafter, the cutting blade is dropped onto the barge while the carrier is positionally constrained relative to the barge by the anchor studs. By repeated performance of those steps, a series of aligned cuts can be made through the object in order to divide the object into separately raisable pieces.

Abstract: An underwater fuel transfer system for the transfer of liquid fuels such as crude oil from an off-shore underwater mooring to a submerged submarine oil tanker. There is provided a berthing guidance and control system including permanently moored acostic transponders interrogated by the tanker sonar equipment to provide input commands for azmith control along the on-tack position in conjunction with speed controls. The system also includes an arrestor mooring apparatus for decelerating the tanker as the tanker approaches the underwater station. This underwater station has the dual function use of providing mooring for the tanker and also reception of the tanker oil transfer device.

Abstract: The present invention relates to a method for replacing an insert unit included in an insert valve assembly belonging to a subsea production system for gas and oil. In carrying out the method, a manipulator (1) is brought by means of a sheave (2), a hoisting cable (3) and guide wires (4, 5) down to a predetermined location on the bottom of the sea. The manipulator comprises a telescopic arm (15, 16) which is then moved towards and fixed by means of a hook (20) and a lug (21) to a valve tree (17) which supports a valve (22), the insert unit (26) of which is to be unscrewed from the respective valve housing and be replaced. A carriage (18) located in the manipulator and comprising retracting, aligning and fixing devices (32, 33, 34) is brought with the aid of the telescopic arm and a rail, located on the top side of the carriage, towards the valve tree and is fixed to retraction cones (35, 36, 37) mounted on the valve tree.

Abstract: A one-atmosphere underwater modular system is provided. The modular system comprises components which can be manipulated and attached to one another through use of a submarine or the like. A variety of components are provided including: a maneuvarable submarine component; a bottom frame; a two-connection module; a one-connection module; and christmas tree modules. A variety of means and methods for connection in various orientations is disclosed. The system is specifically adapted for use in the recovery of natural resources, such as for oil and gas recovery.

Abstract: An apparatus is disclosed for inspecting, cleaning and/or performing other tasks in connection with a welded joint between intersecting tubular members of an offshore platform a substantial distance beneath the water surface. The apparatus includes a support body adapted to be moved onto and removed from one of the tubular members, and a carrier rotatable about the body, when clasped about the one tubular member, and having the task performing devices thereon for traversing the joint as the carrier is so rotated.

Abstract: A method of providing a habitable dry work chamber for conducting work on an underwater work surface when the nature of the work is such that dangerous fumes and gases are produced. An underwater gas pocket work unit is attached to the underwater work surface to define a work chamber that may be entered from beneath through the water. The work unit includes a structure consisting of walls defining a work opening, which, when positioned with the work opening at the work surface, defines a work chamber that is accessible only from beneath. The structure is sealed at the work opening to the work surface to define the work chamber, wherein the work chamber is defined solely by the structure and the work surface. A habitable gas that is heavier than the dangerous fumes and gases is caused to flow continuously into the work chamber through a valve in the structure to provide a gaseous pocket in the upper portion of the work chamber when the structure is sealed to the underwater work surface.

Abstract: A method and apparatus are described for the installation and removal of a ring gasket from a ring gasket retainer assembly which forms a part of an underwater wellhead connection. A buoyant ring gasket installation tool, tethered to an underwater vehicle, carries the gasket to the wellhead connection. Due to the buoyancy of the installation tool it floats above the underwater vehicle. By proper placement of the tool beneath an opening defined upwardly through the wellhead connection the tool may float the ring gasket upwardly through the opening and position the ring gasket properly with respect to the ring gasket retainer assembly, which may then be actuated to retain the gasket within the underwater wellhead connection.

Abstract: An apparatus and a method for removing a component from, or placing a component on, an underwater valve comprises a base attachable to the flowline that carries the valve, and a two part assembly having a gantry that is aligned and mounted on the base and a sliding frame placed in sliding engagement with the gantry. The sliding frame guides the component towards or away from the underwater valve, after the gantry is properly aligned with respect to the valve by its connection to the base.

Abstract: A lipped mouth structure with lips engaging the side of a ship such as an oil tanker around an area of puncture or rupture with a flexible diaper container fastened to the lips and extended outward therefrom. The lip structure has transverse cross brace bars retained in molded pockets of the lip structure with the lips in the form of inflatable rings of rubber (synthetic rubber or rubber like plastic) having a soft pliable surface engaging the side of a ship. Vertically oriented straps with "D" rings at their opposite ends are provided for tying the straps and the lip structure in place on the side of a damaged ship with cables attached to the "D" rings. The flexible diaper container is supported by floats spaced strategically along the length thereof to support the diaper container in its extension along the surface of the water while flexing with wave action of the sea.

Abstract: A system and a method for controlling and/or capping undersea oil or gas well blowouts are disclosed. The system includes a mound and a road bed prepared about and leading to an undersea well head, a base plate having an anchoring track and secured onto the mound and about the well head, a collar member secured to the base plate above the well head by being connected to the anchoring track thereof, a structure also erected on the base plate adjacent the well head, a capping member secured to the structure, a bag floating on the sea surface above the well head and a flexible hose connected between the collar member and the bag. Preferably, at least portions of the mound and the road bed are formed on shore of a plurality of preformed segments, then transported to and assembled in situ on the sea floor about the well head. Preferably, a remotely controlled device is provided designed to do work about the well head and accomodated on the road bed leading to the well head.

Abstract: A subsea well completion system, and components of such a system, are disclosed for handling marine well fluids from multiple subsea wells.

Abstract: A process for tapping a region of a pipe placed on a sea bed utilizes a working platform which is installed vertically above the region of the pipe to be tapped, the platform being adapted to receive a support girder which can be lowered from the surface of the sea onto the working platform and be engaged therewith and then lifted off the platform. The platform is adapted to receive successively a plurality of modular tool-carriers provided with tools for carrying out a variety of operations on the pipe, the operations including concrete stripping, removal of anti-corrosion covering, transverse cutting, internal brushing, and making the longitudinal weld flush.

Abstract: An apparatus for releasably supporting a guide post to an underwater well installation and a method for recovering such a guide post by remote operation from the surface. The apparatus comprises a support sleeve coupled to the well installation and receiving a lower end portion of the guide post therein, an outer actuating sleeve movably supported on the support sleeve, and a plurality of locking elements coupled to the support sleeve and moved radially inwardly into engagement with the guide post by means of the actuating sleeve. The locking elements have ring segments engageable by the actuating sleeve and radially inwardly directed pins which pass through bores in the support sleeve and are received in a locking groove in the guide post lower end portion.

Abstract: Apparatus for providing a substantially liquid free working environment on a submerged surface, such as the hull of a ship. The apparatus includes a liquid tight enclosure, a sealing edge located on the liquid tight enclosure for forming a liquid proof seal between the enclosure and a submerged surface, a device for altering the shape of the apparatus so that the sealing edge can form a seal with submerged surfaces of different shape, and a device for enabling manipulation of objects within the enclosure by a person located outside of the enclosure, which, in a preferred embodiment, includes a pair of gloves that extend into the enclosure. Such an apparatus can be used by securely placing it against a submerged surface, such as the hull of a ship, altering the shape of the apparatus until its sealing edge conforms with the submerged surface so as to make a liquid tight seal with it, and then filling the enclosure full of gas, such as air, until substantially all of the water has been removed from it.

Abstract: In order to transfer a fluid from a station on the sea bed for a vessel or vice versa, a discharging/loading buoy comprising coupling apparatus for fluid flow is placed in a submerged state and fixed in this state with anchoring apparatus. A vessel is brought and held in position above the buoy by means of dynamic positioning. Then the coupling apparatus for the fluid flow is connected to a coupling section on the vessel.

Abstract: An ocean thermal energy conversion facility includes a long pipe assembly which is supported at its upper end by the hull of the floating facility. Cold water flows to the facility from deep in the ocean. The pipe assembly comprises an elongate pipe construction and a weight connected to the lower end of the construction by a line of selected length. A floatation collar is connected to the construction at its upper end to cause the construction to have positive buoyancy and a center of buoyancy closer to the upper end of the construction than its center of mass. The weight renders the entire pipe assembly negatively buoyant. In the event that support of the pipe assembly should be lost, as by release of the assembly from the facility hull in an emergency, the assembly sinks to the ocean floor where it is moored by the weight. The pipe construction floats submerged above the ocean floor in a substantially vertical attitude which facilitates recovery of the assembly.

Abstract: An underwater air pocket work unit has a work chamber contained within a double walled flotation chamber, the upper end of which has a resilient gasket to seal against the hull of a vessel, or other submerged structure. The work chamber is open completely through the structure to provide unobstructed access at both ends and the flotation chamber is open at the lower end. Valves are provided for admitting pressurized air to the flotation chamber to control the buoyancy for holding the structure in place, and for admitting air to the work chamber as necessary for working space. Both chambers have dump valves for releasing the air and the work chamber has window ports for holding work lights.

Abstract: This invention relates to an apparatus for supporting pipes suspended over depressions in the sea bed, including those situated at great depth, and to the method for installing it on the sea bed. The apparatus according to the invention consists of a completely recoverable service module and a support mobile which serves to support the pipe and remains fixed on the sea bed, said modules being connected together in such a manner that they can be separated by simple controls from the depot ship. The method according to the invention comprises in turn a number of operating steps, through which the entire apparatus is initially lowered and positioned on the sea bed and the service module is then recovered by the depot ship.

Abstract: The invention relates to a method for the alignment of two submerged pipe sections and to an apparatus for performing this method.The invention comprises the use of two lifters for lifting the pipe sections to be joined together until their ends are substantially parallel. A liner is lowered with slightly negative buoyancy up to the pipe sections and above their ends which are to be joined together. It is fixed to said section by its clamping means and is made to bear freely on the sea bed via retractable feet permitting the lateral sliding of the liner. The final alignment phase of the pipe section is obtained by the clamping means of the liner and from inside the welding chamber in which are located the ends of said pipe sections.

Abstract: An apparatus according to the invention for suspending a submarine on a submerged structure and comprising a preshaped semi-rigid strap wound onto a drum disposed in a casing fixed to said submarine, whereby the strap when unwound adopts the shape of a generally circular loop so as to pass round one of the cross-members of the submerged structure and has at its free end means for cooperating with a locking device disposed on the path adopted by the strap with respect to the casing, whereby the locking device comprises safety means for bringing about the release thereof in the case of a defect to the locking system.

Abstract: An ocean thermal energy conversion facility includes a long pipe assembly which is supported at its upper end by the hull of the floating facility. Cold water flows to the facility from deep in the ocean. The pipe assembly comprises an elongate pipe construction and a weight connected to the lower end of the construction by a line of selected length. A floatation collar is connected to the construction at its upper end to cause the construction to have positive buoyancy and a center of buoyancy closer to the upper end of the construction than its center of mass. The weight renders the entire pipe assembly negatively buoyant. In the event that support of the pipe assembly should be lost, as by release of the assembly from the facility hull in an emergency, the assembly sinks to the ocean floor where it is moored by the weight. The pipe construction floats submerged above the ocean floor in a substantially vertical attitude which facilitates recovery of the assembly.

Abstract: A subsea production chamber including a vessel having a cylindrical shell with a head secured to each end of said shell, a plurality of tubular members secured vertically through said shell with each end of each of said members being open on the exterior of the shell and positioned to receive subsea guide posts, a flange secured to said shell, a spool for connecting to a production well, said flange being secured to said spool for connecting said production well into said vessel, a hatch opening into said vessel, and a connector extending through said vessel to conduct production flow to external production flow lines.

Abstract: A linear milling machine adapted to be carried and controlled by a diver nts a hog mill cutter on a frame which itself is secured to the work preferably by a hold-down suction cup arrangement. A driven feed-screw advances the cutter relative to the work. Hydraulic motors drive the cutter and the feed screw as well as a pump used to establish the hold-down power. The suction motor and pump are mounted in a separate oil-filled and pressure-compensated casing. Another small and portable casing provides diver-controlled hydraulic flow regulation for the cutter motor, the feed screw drive and the suction pump motor. By controlling the drive speeds, cuts can be made utilizing only the suction grippers to firmly hold the frame to the work. At the end of each cut, the cutter is manually returned and the suction released to permit the frame to be quickly repositioned and secured for another continuation cut.

Abstract: In the automatic positioning of one submerged unit relative to another submerged unit without the use of guide lines, guiding structures associated with the units are brought into contact and the units are relatively orientated before the units are brought into contact.

Abstract: A cage construction for protection of well equipment at a subsea wellhead and during descent to or ascent from a subsea well, said cage construction comprising an open frame cage body means defining a longitudinal axis, an intermediate cage portion of selected lateral and vertical dimension to encompass well equipment supported from a wellhead at the sea floor, and end cage portions extending upwardly and downwardly from said intermediate cage portion serving as guidance means, each cage end portion including coaxial receptor members, the receptor member at the lower end portion being adapted to receive and to be supported from a wellhead part, and the receptor member at the upper cage end portion being adapted to align, receive and pass therethrough the lower end of a pipe string into said cage body means.

Abstract: A device for and method of supporting a section of submerged pipeline over depressed portions of the sea bed such as ditches, fissures and the like, comprising an assembly of a pipe-clamping mechanism and two or more posts associated therewith, which are drivable into the sea bottom.Hydraulically powered means also provided for manipulating the clamping mechanism and means are further provided for lowering and raising the assembly. A cheap, safe and reliable device and method are provided which is an improvement over conventional techniques which generally provide sand bags under the pipe section suspended over a depression in the sea bottom.

Abstract: A capsule for enclosing a sub-sea installation part is intended to be left water-filled and thus means for sensing oil or gas leaks from the part is disposed in the upper part of the capsule to where such leakage will float.

Abstract: A vessel for working under water comprising a substantially spherical residence chamber with an atmospheric pressure therein and accommodating necessary monitoring apparatus for controlling working tools and devices arranged on the outside of the residence chamber. The working tools and devices are mounted on a service section to which the residence chamber is detachably affixed by a coupling apparatus actuated from the residence chamber. In case the service section with its working tools and devices gets hooked or wedged during the underwater operation the residence chamber can be released from the service section and allowed to rise to the surface separated from the service section. The working tools and devices of the service section are so designed that in any working positions they do not render the escape path of the residence chamber blocked.