A mooring system for mooring a vessel floating on a surface of a body of water. The system can include a base structure, a mooring leg, a column, and a turntable. The mooring leg can include a first end configured to be attached to a seabed and a second end configured to be attached to the base structure. The column can include a first end attached to the base structure. The turntable can include a rotating part and a fixed part. A second end of the column can be configured to be connected to the fixed part of the turntable via a dual axis joint. The rotating part of the turntable can be configured to be connected to the vessel. The base structure can be configured to be elevated above of the seabed when the second end of the column is connected to the fixed part of the turntable.

A mooring system for mooring a vessel floating on a surface of a body of water. The system can include a base structure, a mooring leg, a column, and a turntable. The mooring leg can include a first end configured to be attached to a seabed and a second end configured to be attached to the base structure. The column can include a first end attached to the base structure. The turntable can include a rotating part and a fixed part. A second end of the column can be configured to be connected to the fixed part of the turntable via a dual axis joint. The rotating part of the turntable can be configured to be connected to the vessel. The base structure can be configured to be elevated above of the seabed when the second end of the column is connected to the fixed part of the turntable.

A mooring system for mooring a vessel floating on a surface of a body of water. In some embodiments, the system can include a base structure configured to be secured to a seabed, a yoke configured to be pivotably connected at a first end to the base structure about an axis of the base structure, a weight connected to the yoke, a turntable that can include a rotating part configured to be disposed on the vessel and a fixed part, a link arm that can include a first end configured to be connected to a second end of the yoke and/or the weight and a second end configured to be connected to the fixed part of the turntable such that the vessel is rotatable with respect to the link arm about a central axis of the turntable.

A mooring system for mooring a vessel floating on a surface of a body of water. In some embodiments, the system can include a base structure configured to be secured to a seabed, a yoke configured to be pivotably connected at a first end to the base structure about an axis of the base structure, a weight connected to the yoke, a turntable that can include a rotating part configured to be disposed on the vessel and a fixed part, a link arm that can include a first end configured to be connected to a second end of the yoke and/or the weight and a second end configured to be connected to the fixed part of the turntable such that the vessel is rotatable with respect to the link arm about a central axis of the turntable.

Yoke mooring systems and processes for using same. The system can include a turntable connected to and rotatable with respect to a base. A yoke can be connected to the turntable such that the yoke can at least partially rotate about a longitudinal axis of the yoke and at least partially rotate about a second axis that can be orthogonal to the longitudinal axis. A first and second link arm can be connected to the yoke and to a first component of a first and a second releasable connector, respectively. A first and second lifting line can be connected to the second end of the first and second link arms, respectively. A first and second lifting device can be disposed on a vessel and configured to be connected to a second end of the first and second lifting lines, respectively, to lift and lower the link arms and the yoke.

Yoke mooring systems and processes for using same. The system can include a turntable connected to and rotatable with respect to a base. A yoke can be connected to the turntable such that the yoke can at least partially rotate about a longitudinal axis of the yoke and at least partially rotate about a second axis that can be orthogonal to the longitudinal axis. A first and second link arm can be connected to the yoke and to a first component of a first and a second releasable connector, respectively. A first and second lifting line can be connected to the second end of the first and second link arms, respectively. A first and second lifting device can be disposed on a vessel and configured to be connected to a second end of the first and second lifting lines, respectively, to lift and lower the link arms and the yoke.

An underwater vehicle includes a hull extending along a main longitudinal axis and at least one first pincer member disposed towards a forward end of the hull, characterized in that it further includes a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, the first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the respective cables.

An underwater vehicle includes a hull extending along a main longitudinal axis and at least one first pincer member disposed towards a forward end of the hull, characterized in that it further includes a second pincer member disposed towards an aft end of the hull, which is an opposite end to the forward end, the first and second pincer members being disposed respectively on a first lateral part and a second lateral part of the hull, on opposite sides of the main longitudinal axis, and being configured to take an open position or a closed position, and a detection member and a guide member which are respectively configured to detect cables and in order for the first and second pincer members to come respectively into engagement with one of the respective cables.

A method for operating a winch system, and an arrangement including at least two electric drives each configured to operate a respective winch including a winch drum to spool a spoolable medium, and an electric motor to rotate the winch drum, each of the winches having an active state, in which the winch drum is driven according to a predetermined tension set point value, and a passive state, in which the winch drum is prevented from rotating, wherein, during a mooring of a vessel, the arrangement is configured to operate the at least two winches such that, over a period of time, each of the at least two winches is operated in its active state for a portion of the period, and each of the at least two winches is operated in its passive state for a portion of the period.

A method for operating a winch system, and an arrangement including at least two electric drives each configured to operate a respective winch including a winch drum to spool a spoolable medium, and an electric motor to rotate the winch drum, each of the winches having an active state, in which the winch drum is driven according to a predetermined tension set point value, and a passive state, in which the winch drum is prevented from rotating, wherein, during a mooring of a vessel, the arrangement is configured to operate the at least two winches such that, over a period of time, each of the at least two winches is operated in its active state for a portion of the period, and each of the at least two winches is operated in its passive state for a portion of the period.