Systems and methods for securing a remotely operated vehicle (ROV) to a subsea structure during cleaning, maintenance, or inspection of the structure surface are provided. In one or more embodiments, an attachment mechanism includes a pair of grasping hooks that are raised and lowered when driven by a motorized drive. In one or more embodiments, an attachment mechanism includes a rigid holder having a mechanical stop and connected to a swing arm, the swing arm configured to rotate inward, but not outward beyond the mechanical stop. In one or more embodiments, an attachment mechanism includes a plurality of linked segments in series, each connected at a plurality of pivot points. A pair of wires passes through the plurality of linked segments and connects to a pair of pulleys that extend or retract the wires, thereby rotating the plurality of linked segments.

A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

A buoyancy module for use with a water environment robotic system of the type having an underwater robotic vehicle having a winch has a buoyancy configuration which can be selectively altered. The system includes a module that is configured to be repeatedly, selectively buoyantly engaged and buoyantly disengaged with the underwater robotic vehicle. A tether is connected to the module and is extendable and retractable in response to operation of the winch. Extending and retracting the module can buoyantly engage or buoyantly disengage the buoyancy module with the underwater robotic vehicle according to the operation of a state controller. By engaging and disengaging the buoyancy module, the buoyancy of the underwater robot can be selectively altered. A method is also disclosed.

An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.

An inspection crawler, and systems and methods for inspecting underwater pipelines are provided. The system includes the inspection crawler having a housing with a first side, an opposing second side, a power source, and a controller. The crawler includes an inspection tool, at least two pairs of latching arms, each latching arm including a rolling element, and at least two pairs of driving wheels. The system also includes at least one communication unit configured to communicate with the inspection crawler and to communicate aerially with one or more remote devices and, and at one sea surface unit. The inspection crawler can further include a connecting structure connecting the front and back portions of the crawler, and configured to elongate and shorten the inspection crawler.

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.

It is an object of the present invention to provide a means of constructing an Autonomous fully-Submersible Offshore Marine Platform (ASOMP) of considerable warfighting or commercial capability which is mobile and can autonomously transport to a hazardous operating area in a low-observable reduced vulnerability manner, fully submerge to avoid the military or environmental threat hazard, hibernate until needed, perform fully submerged mobility and mission operations, surface and provide Barge and SWATH surface ship mobility and mission operations, resubmerge if the hazardous threat appears and relocate to a new operating area. Another object of the present invention is to provide a fully autonomous and submersible low-cost lily-pad that surfaces when called and provides a main deck platform at appropriate freeboard and seakeeping motions to function as a refueling landing zone and pier to extend the range of aircraft and marine vehicles operating in a high-threat environment.

An autonomous underwater system for environmental monitoring including a multidisciplinary underwater station including onboard instrumentation, at least one autonomous modular underwater vehicle movable inside an area to be monitored along an assigned route, and at least one external instrumental modulus which can be connected the vehicle, wherein the multidisciplinary underwater station includes a docking area, an interface system, an equipping system for supplying the vehicle with instrumental moduli, and a management system.

An autonomous underwater system for environmental monitoring including a multidisciplinary underwater station including onboard instrumentation, at least one autonomous modular underwater vehicle movable inside an area to be monitored along an assigned route, and at least one external instrumental modulus which can be connected the vehicle, wherein the multidisciplinary underwater station includes a docking area, an interface system, an equipping system for supplying the vehicle with instrumental moduli, and a management system.