An automated cargo transfer system is used, in conjunction with a crane, to load cargo onto, and unload cargo from, the deck of a watercraft. An example automated cargo transfer system comprises: a dynamic positioning system installed on the watercraft; a crane hook system installed on the crane; a crane automation system configured to automate the operation of the crane; and a load plan comprising: data that identifies all cargo being transported by the watercraft, data used by the dynamic positioning system to actively position and orient the watercraft during loading and unloading of the watercraft, and data used by the crane hook system to actively position and orient it's hook mechanism during loading and unloading of the watercraft. The automated cargo transfer system is configured to actively track the location of the watercraft, the hook mechanism of the crane hook system, and cargo. The automated cargo transfer system is also configured to actively position and orient the watercraft and the hook mechanism of the crane hook system based on the location and weight of cargo being loaded onto, and unloaded from, the watercraft.

A compensating device (200) maintains specifiable target positions of a load (206) handled using a cable hoist (202) and attached to a cable (216) of the cable hoist. The respective specifiable target position of the load may change unintentionally to an actual position deviating from the target position. The compensating device has a sensor device (240, 242) for detecting the respective actual position of the load (206). A rotational drive (226, 228, 230) specifies a cable length of the cable hoist (202). A controller (244) changes the cable length after the respective actual position has been detected until the load (206) re-assumes its target position. The respective drive (226, 228,230) can be controlled at least partly by a hydraulic motor (226, 228, 230) with opposite rotational directions. The motor is connected to an actuating device (246) having at least two separate pressure chambers (250, 252) with pressure levels that differ during operation, thereby forming a drive section (248) for the respective hydraulic motor (226, 228, 230), and which can be actuated by the controller (244).

A compensating device (200) maintains specifiable target positions of a load (206) handled using a cable hoist (202) and attached to a cable (216) of the cable hoist. The respective specifiable target position of the load may change unintentionally to an actual position deviating from the target position. The compensating device has a sensor device (240, 242) for detecting the respective actual position of the load (206). A rotational drive (226, 228, 230) specifies a cable length of the cable hoist (202). A controller (244) changes the cable length after the respective actual position has been detected until the load (206) re-assumes its target position. The respective drive (226, 228,230) can be controlled at least partly by a hydraulic motor (226, 228, 230) with opposite rotational directions. The motor is connected to an actuating device (246) having at least two separate pressure chambers (250, 252) with pressure levels that differ during operation, thereby forming a drive section (248) for the respective hydraulic motor (226, 228, 230), and which can be actuated by the controller (244).

The publication relates to a depth compensated actuator, for a transportable inline depth compensated heave com-pensator for subsea lifting operations. The actuator comprises a cylinder shaped body and a piston with a piston rod, the piston rod being intended for exposure to external water pressure, a first and second connection means associated with the actuator. Further, the actuator comprises a depth compensator comprising a cylinder, a piston and a piston rod, the end of which being exposed to surrounding water; and conduit means between at least one volume in the actuator and one volume in the depth compensator. The pistons and piston rods are shaped as any of: hollow piston rod, ring shaped piston, ring piston rod. The depth compensated actuator solves the problem if improving depth compensation performance regarding size, weight, required fluid consumption, internal/inherent friction and adaptability. Further, use of a depth compensated actuator is claimed.

Methods and apparatus for deploying a plurality of unmanned marine vehicles into water, in which each unmanned marine vehicle including a float and a glider connected by a tether. A buoyant platform carries the plurality of unmanned marine vehicles is advanced through the water. Each respective unmanned marine vehicle is secured in an associated apparatus comprising a buoyant frame defining a receiving bay, a float clamp assembly coupled to the buoyant frame and selectively retaining a float of the respective unmanned marine vehicle in the receiving bay, and a glider retainer assembly configured to selectively hold the glider of the respective unmanned marine vehicle below the buoyant frame. Each respective unmanned marine vehicle and associated apparatus is transferred from the buoyant platform to the water, and each respective unmanned marine vehicle is deployed from the associated apparatus.

A method of providing motion compensation of a subsea package with a synthetic rope comprising attaching the synthetic rope to the subsea package, supporting a first gripper with a wire rope from a winch capable of motion compensation control characteristics and gripping the synthetic rope with the first gripper, supporting a second gripper with a second wire rope, and repeating the following sequence: lowering the first gripper, the synthetic rope, and the subsea package a first distance, gripping the synthetic rope with the second gripper, releasing the first gripper from the synthetic rope, raising the first gripper the first distance, gripping the synthetic rope with the first gripper, releasing the second gripper from the synthetic rope, such that when the subsea package is lowered proximate the subsea landing location the winch capable of operating with motion compensation characteristics can operate to compensate for the vessel motion and smoothly lower the subsea package to the subsea landing location.

A method of providing motion compensation of a subsea package with a synthetic rope comprising attaching the synthetic rope to the subsea package, supporting a first gripper with a wire rope from a winch capable of motion compensation control characteristics and gripping the synthetic rope with the first gripper, supporting a second gripper with a second wire rope, and repeating the following sequence: lowering the first gripper, the synthetic rope, and the subsea package a first distance, gripping the synthetic rope with the second gripper, releasing the first gripper from the synthetic rope, raising the first gripper the first distance, gripping the synthetic rope with the first gripper, releasing the second gripper from the synthetic rope, such that when the subsea package is lowered proximate the subsea landing location the winch capable of operating with motion compensation characteristics can operate to compensate for the vessel motion and smoothly lower the subsea package to the subsea landing location.

A wave-induced motion compensation crane and corresponding vessel and method are disclosed. The crane includes a motion compensation device at a tip end portion of the boom structure to compensate for X-Y wave-induced motion and a heave compensation device for Z-motion. The motion compensation device includes a moveable jib beam that extends in a substantially horizontal direction. The jib beam is slewable about a substantially vertical slew axis and translatable in a longitudinal direction of the jib beam. Preferably, the jib beam can be levelled based on the angular orientation of the boom structure.

In embodiments, motion may be arrested and/or dampened using a motion arresting and dampening device comprising a lifting spreader bar, one or more bar mounted winches, deployment wire, a restorative inflation device, restraining wires and winches, hoses and controller, mechanical connection release system circuitry. Multiple restraints from winches mounted strategically on a vessel crane's boom may be applied to the spreader bar to restrain the bar during the lifting operation. The forces induced into the lifted object by the movement of the crane as it deploys the object into installation position are attenuated by the physical restrain of the adjustable wires. These adjustable wires may also be used to provide rotation of the object during final alignment of the object during installation.

A wave-induced motion compensating crane includes a hoist assembly. At least two departure sheaves are mounted at opposite lateral sides of the jib. The object suspension device is supported both by two hoist cables extending laterally from the jib and a third hoist cable that runs via another departure sheave. The hoist assembly is adapted to hoist and/or lower the object suspension device with an object connected thereto, between a lower position and a position at a height up to the departure sheaves while the hoist cables together define a reverse pyramid, diverging upwards in between the object suspension device and the departure sheaves.