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.

A device for the cleaning of a submerged section of the hull of a vessel that is treated with a non-toxic layer of paint based on a surface-treated coating. The device comprises a platform with a first cleaning module and with a device to place and move the cleaning module against the side of the hull of the vessel and that the device is further provided with a launch platform with a second cleaning module which can place the second cleaning module against the bottom of the hull. The second cleaning module is connected via a first cable to the launch platform for the movement and control thereof.

A device for the cleaning of a submerged section of the hull of a vessel that is treated with a non-toxic layer of paint based on a surface-treated coating. The device comprises a platform with a first cleaning module and with a device to place and move the cleaning module against the side of the hull of the vessel and that the device is further provided with a launch platform with a second cleaning module which can place the second cleaning module against the bottom of the hull. The second cleaning module is connected via a first cable to the launch platform for the movement and control thereof.

Various aspects provide for parking an apparatus in a parking position. A parking position may be a configuration of an apparatus that minimizes damage resulting from extended exposure during periods of inactivity. An apparatus may comprise a marine apparatus, which may be configured to be disposed in an environment comprising saltwater, salty air, brackish water, freshwater, and the like. An apparatus may comprise a propulsion system (e.g., for a ship) and/or a steering system. Some aspects include a water jet based propulsion system having a scoop and a nozzle operable to redirect the water jet, providing a range of forward/backward and port/starboard thrusts. A control cylinder and/or a linkage may be parked in a configuration that segregates damage incurred during periods of inactivity to portions of an apparatus not needed for normal operation.

Various aspects provide for parking an apparatus in a parking position. A parking position may be a configuration of an apparatus that minimizes damage resulting from extended exposure during periods of inactivity. An apparatus may comprise a marine apparatus, which may be configured to be disposed in an environment comprising saltwater, salty air, brackish water, freshwater, and the like. An apparatus may comprise a propulsion system (e.g., for a ship) and/or a steering system. Some aspects include a water jet based propulsion system having a scoop and a nozzle operable to redirect the water jet, providing a range of forward/backward and port/starboard thrusts. A control cylinder and/or a linkage may be parked in a configuration that segregates damage incurred during periods of inactivity to portions of an apparatus not needed for normal operation.

A rotary cleaning apparatus for underwater cleaning including a housing, a battery, a motor and a flexible hub system. The flexible hub system includes a toroidal brush system coupled to a circular centrifugal pump assembly. The flexible hub system includes a flexible hub allowing the flexible hub system to bend out of plane. When the flexible hub system is rotated underwater at a curved surface, the brush system cleans the surface while the suction of the centrifugal pump assembly flexes the flexible hub system to evenly contact the surface.

A rotary cleaning apparatus for underwater cleaning including a housing, a battery, a motor and a flexible hub system. The flexible hub system includes a toroidal brush system coupled to a circular centrifugal pump assembly. The flexible hub system includes a flexible hub allowing the flexible hub system to bend out of plane. When the flexible hub system is rotated underwater at a curved surface, the brush system cleans the surface while the suction of the centrifugal pump assembly flexes the flexible hub system to evenly contact the surface.

A machine for cleaning boat hulls in the water, with a U-shaped structure (2), submerged in the water and fastened to a jetty or dock, that incorporates rollers (4), fastened to lateral frames (3), driven by motors (5), grouped with mobility and flotation in parallel rows (6), in order to slide perpendicularly along the length of the hull, in one direction or the other, adapting to its shape. The lateral frames (3) are mobile in the vertical sense. The rollers (4) are incorporated in floating cages. The structure (2) has a vertical movement mechanism (18) to adapt it to the draft and/or with a horizontal movement mechanism (21) to move it under the boat or it is fixed, with the boat being moved by a winch.

A machine for cleaning boat hulls in the water, with a U-shaped structure (2), submerged in the water and fastened to a jetty or dock, that incorporates rollers (4), fastened to lateral frames (3), driven by motors (5), grouped with mobility and flotation in parallel rows (6), in order to slide perpendicularly along the length of the hull, in one direction or the other, adapting to its shape. The lateral frames (3) are mobile in the vertical sense. The rollers (4) are incorporated in floating cages. The structure (2) has a vertical movement mechanism (18) to adapt it to the draft and/or with a horizontal movement mechanism (21) to move it under the boat or it is fixed, with the boat being moved by a winch.

Various aspects provide for parking an apparatus in a parking configuration. A parking configuration may be a configuration of an apparatus that minimizes damage (e.g., corrosion, wear, and the like) resulting from extended exposure during periods of inactivity. An apparatus may comprise a propulsion system (e.g., for a ship) and/or a steering system. An apparatus may comprise a linkage or other device positioned by an actuator. Some aspects include a water jet based propulsion system having a scoop and a nozzle operable to redirect the water jet, providing a range of forward/backward and port/starboard thrusts.