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 method for non-destructive inspection of a weld seam. An array of ultrasonic transducers is positioned such that the array of transducers extends over at least part of the width of the weld seam. Each transducer element in the array of transducer elements is excited so that each transducer emits an ultrasonic signal. A plurality of reflected ultrasonic signals are received at the array of transducer elements and the reflected ultrasonic signals are converted to electrical signals. The electrical signals are analyzed to identify a defect, or a plurality of defects.

A method of inspecting a connection joint including a first side coupled to an opposite second side along a bond, extending along an edge. The method includes generating at least one first sound wave at a first location on the first side, wherein the first location is at a first distance from the edge. The method also includes receiving the at least one first sound wave at a plurality of sensors coupled to the second side and determining that the bond is present at the first location. The method further includes generating at least one second sound wave at a second location on the first side, wherein the second location is offset a predetermined distance from the first location. The method also includes receiving the at least one second sound wave at the plurality of sensors and determining a width of the bond.

An apparatus for laser processing a workpiece includes a laser processing head that directs a laser beam to the workpiece and focuses the laser beam, and a collection of three or more acoustic sensors attached to the laser processing head. The acoustic sensors are distributed about an optical axis of the laser beam as incident on the workpiece. Mounting of the acoustic sensors to the laser processing head is advantageous for serial processing of multiple workpieces and of multiple different portions of a workpiece. Alignment between the acoustic sensors and the laser beam is maintained during movement of the laser processing head. Electrical signals produced by each acoustic sensor in response to acoustic signals incident thereon may be amplified and/or spectrally filtered. Both amplification and spectral filtering may be independently adjustable for each acoustic sensor. The acoustic sensors may be sensitive to acoustic frequencies higher than 20 kilohertz.

A system for inspecting a weld on a component where the weld has a plurality of cross-sections includes a camera disposed above the weld that optically senses a weld position. A projector disposed above the weld projects on to the component along a length of the weld position a primary scan path with a primary scan path start point and a primary scan path end point. An imaging probe scans the weld as the imaging probe moves from the primary scan path start point to the primary scan path end point to generate a plurality of 2D cross-sectional images of the weld corresponding to the cross-sections of the weld, the imaging probe having a position and skew angle that vary as the imaging probe moves. Each 2D cross-sectional image of the weld is optically encoded with a respective imaging probe position and a respective imaging probe skew angle.

An ultrasonic flaw detection apparatus includes: a seam detection unit that captures a thermal image of a welded seam portion of an electric resistance welded pipe; an ultrasonic flaw detection sensor head that includes an ultrasonic probe that performs ultrasonic flaw detection on the welded seam portion; a seam position calculation unit that calculates a seam position and a bead cutting position of the electric resistance welded pipe; a bead cutting band detection unit that detects a bead cutting band of the electric resistance welded pipe; a bead cutting position calculation unit that calculates a bead cutting position of the electric resistance welded pipe; a tracking movement amount calculation unit that calculates a tracking movement amount of the ultrasonic flaw detection sensor head; and a sensor head driving unit that moves the ultrasonic flaw detection sensor head to track the welded seam portion according to the tracking movement amount.

An ultrasonic measurement method includes: a measuring point setting step of setting an arbitrary measuring point near a weld portion inside of steel material and assuming a virtual reflecting surface that includes the measuring point and is parallel to a weld line direction; a focused beam setting step of transmitting ultrasonic waves of a shear wave mode and focusing onto the measuring point via a coupling medium at a predetermined incident angle with respect to the virtual reflecting surface; a detecting step of detecting reflected waves of the transmitted ultrasonic waves at a boundary between a base metal portion and the weld portion; and an evaluating step of evaluating a shape of the weld portion based on the reflected waves.