Mooring support structures, systems for mooring vessels, and processes for using same. In some embodiments, a system for mooring a vessel can include a mooring support structure than can include a post connected at a first end to a turntable disposed on a base structure. The post can extend out from the turntable and a yoke head connector can be connected to a second end of the post. A distal end of the yoke head connector can provide a disconnection location such that when a yoke head is disconnected from the yoke head connector, the yoke head can fall by gravity from the yoke head connector without contacting the mooring support structure.

A fluid loading joint includes: a first half provided at an end of a first vacuum double pipe, the first half including a first inner pipe, a first outer pipe, and a first blocking member blocking between the first inner pipe and the first outer pipe; a second half provided at an end of a second vacuum double pipe, the second half including a second inner pipe, a second outer pipe, and a second blocking member blocking between the second inner pipe and the second outer pipe; an annular inner insulator interposed between the first inner pipe and the second inner pipe; and an annular outer insulator interposed between the first outer pipe and the second outer pipe, the outer insulator surrounding the inner insulator, with a gas space positioned between the outer insulator and the inner insulator, the gas space being formed between the first blocking member and the second blocking member.

A fluid loading joint includes: a first half provided at an end of a first vacuum double pipe, the first half including a first inner pipe, a first outer pipe, and a first blocking member blocking between the first inner pipe and the first outer pipe; a second half provided at an end of a second vacuum double pipe, the second half including a second inner pipe, a second outer pipe, and a second blocking member blocking between the second inner pipe and the second outer pipe; an annular inner insulator interposed between the first inner pipe and the second inner pipe; and an annular outer insulator interposed between the first outer pipe and the second outer pipe, the outer insulator surrounding the inner insulator, with a gas space positioned between the outer insulator and the inner insulator, the gas space being formed between the first blocking member and the second blocking member.

A liquid loading device including a vertical lattice support structure, a platform coupled to the vertical lattice support structure, and a riser pipe located within the vertical lattice support structure and coupled to the vertical lattice support structure to substantially remain rotation free relative to the vertical lattice support structure. The device further includes a first rotatable joint located on a distal end of the riser pipe in which the first rotatable joint is operable to rotate relative to the riser pipe. The device further includes an arm extending from the platform and operable to be rotated relative to the platform. The device can also include a second rotatable joint coupled to the first rotatable joint through one or more rigid members, in which the second rotatable joint is operable to rotate relative to the platform. The device can further include an extension pipe extending from the second rotatable joint to a distal end of the arm.

A liquid loading device including a vertical lattice support structure, a platform coupled to the vertical lattice support structure, and a riser pipe located within the vertical lattice support structure and coupled to the vertical lattice support structure to substantially remain rotation free relative to the vertical lattice support structure. The device further includes a first rotatable joint located on a distal end of the riser pipe in which the first rotatable joint is operable to rotate relative to the riser pipe. The device further includes an arm extending from the platform and operable to be rotated relative to the platform. The device can also include a second rotatable joint coupled to the first rotatable joint through one or more rigid members, in which the second rotatable joint is operable to rotate relative to the platform. The device can further include an extension pipe extending from the second rotatable joint to a distal end of the arm.

A method for marine loading includes: providing a marine loading system including: a marine loading arm, a fluid transfer line provided with a coupling device, an actuator being adapted to move the marine loading arm and to position the coupling device and a imaging system for capturing a plurality of images; receiving image data associated with the plurality of images of a scene; constructing, based on the image data, a representation of an object in the scene; determining whether the object represents an open target duct being present in the scene; determining an estimated position of the open target duct with respect to the coupling device or the imaging system; constructing a 3D representation of the open target duct; determining a characteristic property of the open target duct; determining whether the coupling device is compatible with the open target duct; and moving the coupling device towards the open target duct.

A method for marine loading includes: providing a marine loading system including: a marine loading arm, a fluid transfer line provided with a coupling device, an actuator being adapted to move the marine loading arm and to position the coupling device and a imaging system for capturing a plurality of images; receiving image data associated with the plurality of images of a scene; constructing, based on the image data, a representation of an object in the scene; determining whether the object represents an open target duct being present in the scene; determining an estimated position of the open target duct with respect to the coupling device or the imaging system; constructing a 3D representation of the open target duct; determining a characteristic property of the open target duct; determining whether the coupling device is compatible with the open target duct; and moving the coupling device towards the open target duct.

A method for marine loading includes: providing a marine loading system including: a marine loading arm, a fluid transfer line provided with a coupling device, an actuator being adapted to move the marine loading arm and to position the coupling device and a imaging system for capturing a plurality of images; receiving image data associated with the plurality of images of a scene; constructing, based on the image data, a representation of an object in the scene; determining whether the object represents an open target duct being present in the scene; determining an estimated position of the open target duct with respect to the coupling device or the imaging system; constructing a 3D representation of the open target duct; determining a characteristic property of the open target duct; determining whether the coupling device is compatible with the open target duct; and moving the coupling device towards the open target duct.

A method for marine loading includes: providing a marine loading system including: a marine loading arm, a fluid transfer line provided with a coupling device, an actuator being adapted to move the marine loading arm and to position the coupling device and a imaging system for capturing a plurality of images; receiving image data associated with the plurality of images of a scene; constructing, based on the image data, a representation of an object in the scene; determining whether the object represents an open target duct being present in the scene; determining an estimated position of the open target duct with respect to the coupling device or the imaging system; constructing a 3D representation of the open target duct; determining a characteristic property of the open target duct; determining whether the coupling device is compatible with the open target duct; and moving the coupling device towards the open target duct.

Device for controlling the movement of one of the ends of an articulated fluid loading arm from a storage position to a target pipe (35) and from this target pipe (35) to the storage position, said arm comprising a fluid transfer line equipped at this end with a coupling system (26), the latter being adapted to be coupled to the target pipe (35) for the transfer of the fluid, which device comprises actuators (27-29) for controlling the movement of the arm in space from the storage position until the coupling system (26) is positioned in front of the target pipe (35) for its coupling to the latter, and from the target pipe (35) to the storage position. This device includes calculation means (41) adapted for: monitoring in real time the movement of the coupling system (26); generating, in real time, from the last determined position of the coupling system (26) a trajectory of movement of the coupling system (26) in the direction of the target pipe (35) or the storage position, based on a dynamic jerk-limited motion law; calculating command instructions to be given to each of the actuators (27-29) in order to control the movement of the coupling system (26) based on this motion law.