A method of controlling a position and/or an orientation of an elongated structure is provided. The method is a method of controlling a position and/or an orientation of an elongated structure connected via a gripper to a vessel. The method comprises the steps of: receiving force data indicative of an interaction force between the structure and the gripper; and controlling a position and/or an orientation of the structure and the vessel, in particular controlling a position and/or orientation of the structure and/or the vessel with respect to each other. The step of controlling a position and/or an orientation of the structure and the vessel comprises controlling the position and/or the orientation of the structure and the vessel on the basis of the force data.

A method of assembling a floating wind turbine platform includes forming a base assembly of the floating wind turbine platform in either a cofferdam or a graving dock built in water having a first depth. The base assembly includes a keystone and a plurality of buoyant bottom beams extending radially outward of the keystone, wherein longitudinal axes of each of the plurality of bottom beams are coplanar. The cofferdam or the graving dock is flooded and the assembled base assembly is floated to an assembly area in water having a second depth. A center column and a plurality of outer columns are assembled or formed on the base assembly, a tower is assembled or formed on the center column, and a wind turbine is assembled on the tower, thereby defining the floating wind turbine platform.

A floating body (4) for a spar-type offshore wind power generation facility floating sideways is raised by injecting ballast water at sea, by steps including a first step of decentering a center of gravity of the floating body for the spar-type offshore wind power generation facility by means of a center-of-gravity decentering device, and a second step of injecting the ballast water to raise upright the floating body for the spar-type offshore wind power generation facility. The center-of-gravity decentering device may be a weight (2) attached to an outer surface of the floating body, or a solid ballast (34) introduced in the floating body.

A floating body (4) for a spar-type offshore wind power generation facility floating sideways is raised by injecting ballast water at sea, by steps including a first step of decentering a center of gravity of the floating body for the spar-type offshore wind power generation facility by means of a center-of-gravity decentering device, and a second step of injecting the ballast water to raise upright the floating body for the spar-type offshore wind power generation facility. The center-of-gravity decentering device may be a weight (2) attached to an outer surface of the floating body, or a solid ballast (34) introduced in the floating body.

A method of assembling a floating wind turbine platform includes assembling a keystone having a hollow central cavity from pre-formed concrete sections, and assembling a plurality of buoyant bottom beams from pre-formed concrete sections. Each bottom beam is attached to, and extends radially outward of the keystone to define a base assembly. Each buoyant bottom beam includes a ballast chamber therein. The keystone is post-tensioned to each bottom beam along a longitudinal axis thereof. A center column is assembled upwardly and perpendicularly on the base assembly from pre-formed sections of the center column, the outer columns are assembled on a distal end of each bottom beam from pre-formed sections of the outer columns, and the center column and the outer columns are longitudinally post-tensioned to the base assembly. A tower is assembled on the center column from pre-formed sections, and a wind turbine is assembled on the tower.

A semi-submersible service vessel (100) for a floating installation (102) has a hull (104) and a ballasting system. The ballasting system is arranged to selectively lower the hull (104) to a first draft and raise the hull (104) to a second draft. The second draft is smaller than the first draft. At least one submersed elongate lifting fork is fixed to the hull (104) and is configured to extend across the underside of the floating installation (102) and engage the underside of the floating installation (102) when the hull (104) is raised from the first draft to the second draft. Wherein the at least one lifting fork is arranged to lift the entire floating installation (102) when the hull (104) is raised from the first draft to the second draft, and a method of servicing a floating installation (102) with a semi-submersible service vessel (100).

A semi-submersible service vessel (100) for a floating installation (102) has a hull (104) and a ballasting system. The ballasting system is arranged to selectively lower the hull (104) to a first draft and raise the hull (104) to a second draft. The second draft is smaller than the first draft. At least one submersed elongate lifting fork is fixed to the hull (104) and is configured to extend across the underside of the floating installation (102) and engage the underside of the floating installation (102) when the hull (104) is raised from the first draft to the second draft. Wherein the at least one lifting fork is arranged to lift the entire floating installation (102) when the hull (104) is raised from the first draft to the second draft, and a method of servicing a floating installation (102) with a semi-submersible service vessel (100).

The present application provides a top-lock pull-out type connecting device and an immersed tube construction ship; the connecting device comprising a support member, fixedly connected to the load-bearing element and located on a side of the load-bearing element facing the borne element; a sliding member, been able to slide relative to the load-bearing element in a connection direction of the load-bearing and borne elements; an ejector rod, used to push the sliding member, fixedly connected to the borne element; a first locking member, used to lock the ejector rod, movably connected between an end of the sliding member close to the borne element and the support member, and can to be driven by the sliding member to be close to or away from the ejector rod; and a second locking member, used to lock the sliding member, and connected between an end of the sliding member away from the borne element and the load-bearing element.

The present invention provides a controllable float module for a modular offshore support structure assembly. The inventive float module comprises (i) a first ballast chamber provided within a predetermined first portion of said float module, having at least one first controllable fluid connection, adapted to provide controlled fluid flow between an interior of said first ballast chamber and a first fluid reservoir containing a first fluid, and at least one second fluid connection, adapted to provide controlled fluid flow between said interior of said first ballast chamber and a second fluid reservoir containing a second fluid; (ii) at least one second ballast chamber provided within a predetermined second portion of said float module, having at least one first controllable fluid connection, adapted to provide controlled fluid flow between an interior of said second ballast chamber and said first fluid reservoir containing said first fluid, and at least one second fluid connection, adapted to provide controlled fluid flow between said interior of said second ballast chamber and said second fluid reservoir containing said second fluid, and (iii) a control system, adapted to control each of said at least one first and second controllable fluid connection and selectively vary the proportional quantity of said first fluid and said second fluid within any one of said first and at least one second ballast chamber, so as to selectively vary the buoyancy of any one of said at least one predetermined first and second portion of said float module when in use.

A semi-submersible wind power platform includes a tower and a plurality of arms for stabilizing the tower, each arm having a float experiencing an anchoring force. Each arm consists of two elongated elements forming with part of the tower a triangle, and at least one of the elongated elements includes a catenary element.