For controlling movement of a cantilever of an offshore platform, displacements required for displacing an item to a target position including longitudinal skidding displacement and transverse skidding displacement of the cantilever of the cantilever are determined from current position data and target position data. From position dependent support load data support loads during the longitudinal skidding displacement are determined. If and until a sum of support loads or a highest support load decreases during the longitudinal skidding displacement towards the target position, the longitudinal skidding displacement precedes the transverse skidding displacement. If a sum of support loads or a highest support load increases during the longitudinal skidding displacement towards the target position, the transverse skidding displacement towards the target position precedes the longitudinal skidding displacement.

For controlling movement of a cantilever of an offshore platform, displacements required for displacing an item to a target position including longitudinal skidding displacement and transverse skidding displacement of the cantilever of the cantilever are determined from current position data and target position data. From position dependent support load data support loads during the longitudinal skidding displacement are determined. If and until a sum of support loads or a highest support load decreases during the longitudinal skidding displacement towards the target position, the longitudinal skidding displacement precedes the transverse skidding displacement. If a sum of support loads or a highest support load increases during the longitudinal skidding displacement towards the target position, the transverse skidding displacement towards the target position precedes the longitudinal skidding displacement.

An apparatus is configured for undersea use, such as for penetrating a seabed for forming a borehole therein, including with optional data acquisition and logging capabilities. A first or base module (12) of the apparatus is adapted for engaging the seabed. A first elevator (16) provides longitudinal movement of a second or upper module (14) relative to the base module (12) along a drilling axis. The relative movement of the upper and base modules may be used in the course of independently moving first (18) and second (20) rotary units along the drilling axis to cause a drill rod (R) and a drill casing (C) to penetrate the seabed such that the collapse of the borehole is avoided.

An apparatus is configured for undersea use, such as for penetrating a seabed for forming a borehole therein, including with optional data acquisition and logging capabilities. A first or base module (12) of the apparatus is adapted for engaging the seabed. A first elevator (16) provides longitudinal movement of a second or upper module (14) relative to the base module (12) along a drilling axis. The relative movement of the upper and base modules may be used in the course of independently moving first (18) and second (20) rotary units along the drilling axis to cause a drill rod (R) and a drill casing (C) to penetrate the seabed such that the collapse of the borehole is avoided.

A system for lifting loads from a mobile offshore platform includes a boom pivotally at one longitudinal end mounted to the platform. A boom extension line is coupled at one end to the boom to cause rotational movement thereof about the pivotally mounted end of the boom. Another end of the boom extension line is either (i) coupled to a movable subplatform on the platform or (ii) supported by a device coupled to the movable subplatform. Movement of the subplatform causes change in effective length of the boom extension line so as to move the boom between an extended position and a retracted position.

Drilling installation comprising a cantilever with a drilling floor for performing drilling operations; further comprising an independent operations handling system arranged for handling equipment underneath the drilling floor independent of the drilling operations on the drilling floor, wherein the independent operations handling system comprises a handling element for cooperation with the equipment to be handled, wherein the handling element is extendible underneath the cantilever.

Drilling installation comprising a cantilever with a drilling floor for performing drilling operations; further comprising an independent operations handling system arranged for handling equipment underneath the drilling floor independent of the drilling operations on the drilling floor, wherein the independent operations handling system comprises a handling element for cooperation with the equipment to be handled, wherein the handling element is extendible underneath the cantilever.

A method is for performing work in a well and on a vessel. A wellbore assembly such as a tool string is suspended on a first flexible elongate member from the vessel. The wellbore assembly is used to perform work in the well. The wellbore assembly such as a tool string is suspended on a second flexible elongate member from the vessel. The wellbore assembly on the first flexible elongate member is removed from the well, and after the removal, the wellbore assembly on the second flexible elongate member is inserted into the well. The inserted wellbore assembly in the well can then be used to perform further work. The wellbore assemblies may be deployed and retrieved on independently operable wirelines. A related vessel and apparatus is also described.

A method is for performing work in a well and on a vessel. A wellbore assembly such as a tool string is suspended on a first flexible elongate member from the vessel. The wellbore assembly is used to perform work in the well. The wellbore assembly such as a tool string is suspended on a second flexible elongate member from the vessel. The wellbore assembly on the first flexible elongate member is removed from the well, and after the removal, the wellbore assembly on the second flexible elongate member is inserted into the well. The inserted wellbore assembly in the well can then be used to perform further work. The wellbore assemblies may be deployed and retrieved on independently operable wirelines. A related vessel and apparatus is also described.

This invention relates generally to geotechnical rig systems and methods. In one embodiment, a cone penetration testing system includes, but is not limited to, a frame; at least one rotatable reel; at least one movable roller; and at least one sensor, wherein the at least one movable roller is configured to adjust a bend radius of at least one tube coiled about the at least one rotatable reel based at least partly on data received from the at least one sensor.