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.

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.

The present invention involves a system for the release of low relief, self-orienting deployable payloads from a platform such as a submersible vehicle and a mechanism of passive buoyancy compensation of the vehicle. The system secures one or more payloads by a vacuum force without an additional mechanical restraining mechanism and deployment of a payload is accomplished by disengaging the vacuum hold to release the payload for its intended function. Once deployed, the payload may reorient itself to a functional orientation without additional assistance.

The present invention involves a system for the release of low relief, self-orienting deployable payloads from a platform such as a submersible vehicle and a mechanism of passive buoyancy compensation of the vehicle. The system secures one or more payloads by a vacuum force without an additional mechanical restraining mechanism and deployment of a payload is accomplished by disengaging the vacuum hold to release the payload for its intended function. Once deployed, the payload may reorient itself to a functional orientation without additional assistance.

A marine array having various embodiments of a modular foil system is disclosed. The modular foil system may be configured to generate lift when towed in a marine environment, and thus used to move, position, and/or depress instrument of the array. The modular foil system may include multiple groups of foil sections, each having an angle of attack that is adjustable relative to other groups of foil sections. For example, each group may be supported by a pair of through cables, and an actuator may adjust a tension in one or both of through cables, thereby alerting the angle of attack. The pair of through cables may converge toward one another at connection points adjacent opposing ends of a given group of foil sections of the modular system. The connection points thus establishing a modular framework to couple the given group to other groups of foils of the system.

A modular subsea fluid storage unit has a variable-volume inner tank having a rigid top panel and a peripheral wall that is flexible by virtue of concertina formation. The peripheral wall is extensible and retractable vertically while the horizontal width of the tank remains substantially unchanged. A side wall of a lower housing part surrounds and is spaced horizontally from the peripheral wall of the inner tank to define a floodable gap between the peripheral wall and the side wall that surrounds the tank. An upper housing part extends over and is vertically spaced from the top panel of the inner tank and overlaps the side wall to enclose the inner tank. The floodable gap and the upper housing part enhance thermal insulation and trap any fluids that may leak from the inner tank.

A modular subsea fluid storage unit has a variable-volume inner tank having a rigid top panel and a peripheral wall that is flexible by virtue of concertina formation. The peripheral wall is extensible and retractable vertically while the horizontal width of the tank remains substantially unchanged. A side wall of a lower housing part surrounds and is spaced horizontally from the peripheral wall of the inner tank to define a floodable gap between the peripheral wall and the side wall that surrounds the tank. An upper housing part extends over and is vertically spaced from the top panel of the inner tank and overlaps the side wall to enclose the inner tank. The floodable gap and the upper housing part enhance thermal insulation and trap any fluids that may leak from the inner tank.

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 foil system is used with a towed marine cable array to provide downward, upward or lateral lift to the array. The foil system can be coupled with the cable and configured to bias the submerged payload toward a target position. The foil system can include a group of foil sections each having a leading edge collectively defining an angle of attack, and a group of through-cables supporting the group of foil sections within the foil system. A subset of through-cables of the group of through-cables are arranged through front halves of the group of foil sections. This subset of through-cables can be selectively tensionable, and manipulatable to define a tensioned one of the subset of through-cables as being offset from a chord that is defined between the leading edge and a trailing edge of any of the foil sections. The foil system can thus induce one or more angles of attack for the group of foil sections, based on a rotational constraint defined by the tensioned one of the through-cables.

A field configurable autonomous vehicle includes modular elements and attachable components. The vehicle can be assembled from these modular elements and components to meet desired mission and performance characteristics without the need to purchase specially designed vehicles for each mission. The vehicle can include a mechanisms that magnetically attaches to a ferry vehicle for transport to the location of use.