A cleaning device that passively self-adjusts to improve biofoul removal across curved, non-uniform, or irregular underwater surfaces. The cleaning device includes a motor, one or more shafts coupled to the motor and coupled to one another via at least one universal joint, and a cleaning mechanism for removing biofoul from the target surface. The cleaning device includes an alignment mechanism that restricts the cleaning mechanism's movement to improve biofoul removal. The alignment mechanism can include bearings, spring components, dampening material, adhesion components, floatation objects, or a combination thereof.

A magnetic wheel includes: a balance block; a magnetic body which is provided in the balance block and attaches the balance block to an attachment object with a magnetic force; and a magnetic shielding block which is provided in the balance block and guides a magnetic field generated in the magnetic body toward the attachment object.

A magnetic wheel includes: a balance block; a magnetic body which is provided in the balance block and attaches the balance block to an attachment object with a magnetic force; and a magnetic shielding block which is provided in the balance block and guides a magnetic field generated in the magnetic body toward the attachment object.

A solution is provided for the problem of holding an apparatus against a metallic hull of a vessel or an offshore unit. Described is a holding means, comprising: at least one magnetic means for exerting a pushing force on the apparatus to-wards the metallic surface; and a moving means for moving the apparatus on the metallic surface, in which the moving means is arranged to bear the pushing force from the at least one magnetic means, on the metallic surface. Also disclosed, is an apparatus including such a holding means. The holding means allows to bear the pushing force from the magnetic means, on the metallic surface, at the same time it allows the apparatus to move on it.

A solution is provided for the problem of holding an apparatus against a metallic hull of a vessel or an offshore unit. Described is a holding means, comprising: at least one magnetic means for exerting a pushing force on the apparatus to-wards the metallic surface; and a moving means for moving the apparatus on the metallic surface, in which the moving means is arranged to bear the pushing force from the at least one magnetic means, on the metallic surface. Also disclosed, is an apparatus including such a holding means. The holding means allows to bear the pushing force from the magnetic means, on the metallic surface, at the same time it allows the apparatus to move on it.

A robot (2) and method for underwater monitoring and maintenance of a ship's hull (1) when the ship is underway, are described. The robot (2) comprises a main body (5), a connector (21) for connecting the robot (2) to a cable (3) for towing the robot (2), a resting base (13) adopted to rest against the ship's hull (1), one or more hydrofoil(s) (6, 7) arranged perpendicular to the length axis of the main body (5), and a rudder (8) arranged at the front part of the main body (5), the main body (5) being a straight and elongated body having a length to width ratio of 5 or more, where the length of the hydrofoil(s) (6, 7) as seen perpendicular to the main body (5), is/are longer than the width of the main body (5), and where the connector (21) for the cable (3) is arranged at one end of a hydrofoil (6), or at an arm extending parallel with the one or more hydrofoil(s).

A robot (2) and method for underwater monitoring and maintenance of a ship's hull (1) when the ship is underway, are described. The robot (2) comprises a main body (5), a connector (21) for connecting the robot (2) to a cable (3) for towing the robot (2), a resting base (13) adopted to rest against the ship's hull (1), one or more hydrofoil(s) (6, 7) arranged perpendicular to the length axis of the main body (5), and a rudder (8) arranged at the front part of the main body (5), the main body (5) being a straight and elongated body having a length to width ratio of 5 or more, where the length of the hydrofoil(s) (6, 7) as seen perpendicular to the main body (5), is/are longer than the width of the main body (5), and where the connector (21) for the cable (3) is arranged at one end of a hydrofoil (6), or at an arm extending parallel with the one or more hydrofoil(s).

A system for subsea inspection of grout in a subsea jacket such as jacket pin piles on offshore wind turbines comprises a subsea vehicle subsea which can be deployed in a cage style TMS which may comprise a radiographic assembly and a marinized digital detector array and betatron source which comprises an X-Ray source and an X-Ray detector plate. The subsea vehicle exits the cage style TMS and docks to the marinized digital detector array and betatron source, then is flown to a subsea structure to be inspected where the marinized digital detector array and betatron source is used to bombard the subsea structure to be inspected with x-rays, a portion of which are reflected and detecting, allowing an image to be generated of the structure to be inspected.

An inspection system may be deployed as part of a routine crew transfer diving (CTV) or service operation vessel (SOV) deployment to perform inspections for analyses which can be conducted while carrying out other inspection tasks. A marinized digital detector array and betatron source may be maneuvered proximate a first detector plate, which can be of a plurality of detector plates and a first exposure generated at the first detector plate which is then used to aid in generating one or more images comprising each such exposure. The images are then reconstructed to identify defects in the grout.

A method for performing operations using a water environment robotic system on a target section of pipeline located in an underwater environment is provided. The method includes the steps of deploying the underwater robotic vehicle into the water and visually inspecting the underwater environment to locate the pipeline and its plurality of weld joints. A cleaning operation is performed at one of the plurality of weld joints using the underwater robotic vehicle. The robotic vehicle can land on the sea floor and deploy a robotic arm to inspect the cleaned weld joint. The underwater can then swim to a next weld joint and land and perform cleaning and inspection operations, which can be repeated until all inspection sites are inspected.