A container system that includes a container element with a hole or series of holes that are sealed by at least one seal assembly with at least one seal element. When the container system is placed into material to be captured, the seal element of the seal assembly is displaced from the holes when material exerts inward pressure on the seals, allowing the container system to self-fill with material. Once the desired amount of material is captured, the container system is removed and captured material exerts outward pressure on the seal assembly, causing the seal element to close the holes and the container system to self-seal.

A drilling system configured to install a tap assembly into a ship skin is disclosed. The drilling system comprises a remotely-operated underwater vehicle and a drilling assembly configured to be operated by the remotely-operated underwater vehicle. The drilling assembly comprises a frame comprising an attachment element configured to hold the drilling assembly to a surface of the ship skin. The drilling assembly further comprises a drill actuation system comprising a linear actuator attached to the frame and a rotary actuator, wherein an actuation of the linear actuator is configured to move the rotary actuator relative to the frame to install the tap assembly into the ship skin by driving the tap assembly with the rotary actuator and the linear actuator.

A drilling system configured to install a tap assembly into a ship skin is disclosed. The drilling system comprises a remotely-operated underwater vehicle and a drilling assembly configured to be operated by the remotely-operated underwater vehicle. The drilling assembly comprises a frame comprising an attachment element configured to hold the drilling assembly to a surface of the ship skin. The drilling assembly further comprises a drill actuation system comprising a linear actuator attached to the frame and a rotary actuator, wherein an actuation of the linear actuator is configured to move the rotary actuator relative to the frame to install the tap assembly into the ship skin by driving the tap assembly with the rotary actuator and the linear actuator.

A buoyancy system for an underwater autonomous vehicle is provided. The buoyancy system includes one or more pressure vessels, a primary pump connected to each of the one or more pressure vessels with the primary pump configured to pump liquid from the one or more pressure vessels. The buoyancy system further includes a controller communicatively coupled to the primary pump and configured to operate the main pump via wireless or wired communication, and a power source configured to provide power to the controller and the primary pump.

The present invention provides a lateral and continuous measurement method for soil parameters in a soft soil field. The method mainly comprises the following measurement steps: arranging soil strength measuring apparatuses at the front end of a towing apparatus; arranging soil strain softening relationship measuring apparatuses at the bottom end of the towing apparatus; and measuring interface friction parameters between the soil and a structure. The towing apparatus actively or passively moves in a soft soil layer to ensure that the towing apparatus partially penetrates into the to-be-measured soil layer during movement; and the penetration depth of the towing apparatus is controlled by adjusting counterweight above the towing apparatus and a towing angle.

The present invention provides a lateral and continuous measurement method for soil parameters in a soft soil field. The method mainly comprises the following measurement steps: arranging soil strength measuring apparatuses at the front end of a towing apparatus; arranging soil strain softening relationship measuring apparatuses at the bottom end of the towing apparatus; and measuring interface friction parameters between the soil and a structure. The towing apparatus actively or passively moves in a soft soil layer to ensure that the towing apparatus partially penetrates into the to-be-measured soil layer during movement; and the penetration depth of the towing apparatus is controlled by adjusting counterweight above the towing apparatus and a towing angle.

A tool interchange for a submersible remote operated vehicle (ROV) arm includes a first interchange body that affixes to an ROV arm. A second interchange body is carried by the first interchange body to rotate on a rotation axis. The second interchange body includes a tool mount actuable between gripping an ROV tool to the second interchange body and releasing the ROV tool from the second interchange body. An inductive power coupling part is provided in the tool mount. The inductive power coupling part is presented outwardly in the tool mount opposite the first interchange body, resides on the rotation axis and is fixed with respect to the first interchange body while the second interchange body rotates. The inductive power coupling part is adapted to inductively communicate power with a corresponding inductor power coupling part of the ROV tool when the ROV tool is docked in the tool mount.

A photographing apparatus and an inspection device are provided. The photographing apparatus comprises a camera, a light supplementing structure, and a closed housing; the camera is provided with a lens, and positioned in and connected to the housing; the housing is provided with at least one photographing portion configured to be attached to an object to be photographed, and a space is formed between the lens and the photographing portion; the light supplementing structure is positioned in and connected to the housing, the light supplementing structure is configured to emit light to said object through the space and the photographing portion, and the lens is configured to capture an image of said object via the photographing portion. The inspection device comprises a rack and the photographing apparatus, and the housing is connected to the rack.

A system receives data from a submersible remote operated vehicle (ROV), the data being about the operation of an arm of the ROV. The system automatically controls, based on the data, movement of the arm in docking the arm to a tool holder. In certain instances, the system implements an image based control. In certain instances, the system implements a force accommodation control. In certain instances, the system implements both.

A tool interchange for a submersible remote operated vehicle (ROV) arm includes a first interchange body that affixes to an ROV arm. A second interchange body is carried by the first interchange body to rotate on a rotation axis. The second interchange body includes a tool mount actuable between gripping an ROV tool to the second interchange body and releasing the ROV tool from the second interchange body. An inductive power coupling part is provided in the tool mount. The inductive power coupling part is presented outwardly in the tool mount opposite the first interchange body, resides on the rotation axis and is fixed with respect to the first interchange body while the second interchange body rotates. The inductive power coupling part is adapted to inductively communicate power with a corresponding inductor power coupling part of the ROV tool when the ROV tool is docked in the tool mount.