Pliable-wall air ducts with internal expanding structures are disclosed. An example air duct system includes a shaft to be disposed within an air duct, to extend in a longitudinal direction, and to be in longitudinal compression. The air duct system also includes a plurality of ribs to be coupled to the shaft and to engage an inner surface of the air duct and a spring to be disposed within the air duct, the spring to be coupled to the shaft. The spring under stress being a contributing factor in both the shaft being in longitudinal compression and the air duct being in longitudinal tension.

A coded cartridge holder for use with a drug delivery device is provided. The cartridge holder includes a fastener that becomes operative based in part on a length of a cartridge or a diameter of the cartridge. In one embodiment, the cartridge holder is coupled to the drug delivery device. The cartridge holder comprises a first blocking feature. The drug delivery device includes a cartridge detector comprising a second blocking feature. This feature may be a pin, for engagement with the first blocking feature of the cartridge holder when the cartridge acts on the cartridge detector. The cartridge holder may further include a fastening mechanism configured to fasten the cartridge holder to the drug delivery device only when the second blocking feature engages the first blocking feature.

A coded cartridge holder for use with a drug delivery device is provided. The cartridge holder includes a fastener that becomes operative based in part on a length of a cartridge or a diameter of the cartridge. In one embodiment, the cartridge holder is coupled to the drug delivery device. The cartridge holder comprises a first blocking feature. The drug delivery device includes a cartridge detector comprising a second blocking feature. This feature may be a pin, for engagement with the first blocking feature of the cartridge holder when the cartridge acts on the cartridge detector. The cartridge holder may further include a fastening mechanism configured to fasten the cartridge holder to the drug delivery device only when the second blocking feature engages the first blocking feature.

A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.

A two-part, selectively dockable robotic system having counterbalanced stabilization during performance of an operation on an underwater target structure is provided. The robotic system includes a first underwater robotic vehicle that is sized and shaped to at least partially surround the underwater target structure. A second underwater robotic vehicle is sized and shaped to at least partially surround the underwater target structure and selectively dock with the first underwater robotic vehicle. The first and second robotic vehicles include complimentary docking mechanisms that permit the vehicles to selectively couple to each other with the underwater target structure disposed at least partially therebetween. One robot includes a tool that can act upon the target structure and the other robot includes a stabilization module that can act upon the target structure in an opposite manner in order to counterbalance the force of the tool.

Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.

A water environment robotic system and method has a buoyancy configuration which can be selectively altered. The system includes an underwater robotic vehicle and a buoyancy module that is configured to be selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the buoyancy module and a motor is operatively connected to the tether and is configured to extend and retract the tether and buoyancy module. The tether can be extended and retracted to extend and retract the buoyancy module. Extending and retracting the buoyancy module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the arrangement of the system. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered.

A system for underwater inspection including an inspection crawler are provided. The inspection crawler includes a housing having first and second sides, a power source, a controller, an inspection tool, at least two driving wheels, and a moveable center of gravity. A method for traversing a weld joint with the inspection crawler having a moving mass is also provided. In the method, the crawler is parked proximate to the joint, and the mass is slid along a slide rail to the second end of the crawler distal to the joint. The first end of the crawler is then propelled over the joint and the mass is slid to the center of the crawler. A center portion of the crawler is then propelled over the joint and the mass is slid to the first end of the crawler. The second end of the crawler is then propelled over the joint.

An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.

A restraint system for use in securing temporary flow lines that include multiple pipe sections, each pair of pipe sections connected together with a fitting or coupling such as a hammer joint coupling. The system includes multiple pluralities of endless loop slings connected end to end with a cow hitch or girth hitch knot. Disconnectable fittings (e.g., shackles) are placed every three or more slings so that easy disassembly is afforded in case of leakage or other failure.