A method for mitigating the effects of cable wear in an active heave compensated hoisting system of an offshore vessel in a locked to bottom mode of operation is disclosed. The method comprises supporting an upper end of a string which is connected to a subsea well from a travelling block of the hoisting system, wherein the travelling block is suspended from a crown block via a cable. The method further comprises operating an active heave compensation system to control a drawworks of the hoisting system to pay in and out the cable to compensate for motion of the offshore vessel and maintain a target overpull in the string. The method further comprises adjusting a ballast system of the offshore vessel to vary the draft of the vessel, and controlling the drawworks in accordance with the variation in the draft of the vessel to cause a length of cable to slip through the hoisting system and maintain the target overpull in the string.

In a vessel for installing a structure onto or into a seabed, multiple actuators comprised by a dynamic positioning system and a structure positioning system may be used for controlling a position and/or orientation of the structure. When two actuators are actuated simultaneously or in rapid succession, instabilities may occur. Furthermore, two actuators may be working in opposite directions or with opposite control goals. To increase stability and/or workability of the vessel's actuators, a supervisory control arrangement is provided to interconnect control systems of different actuators of the vessel, for example the dynamic positioning system and the structure positioning system. Where previously the dynamic positioning system and the structure position system were individually operating system, with the supervisory control arrangement one system can take into account an input and/or output of the other system.

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.

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 method is provided that includes acquiring positional information regarding a pallet being translated on a conveyance system with an encoding sensor disposed proximate to the conveyance system. The method also includes receiving, with at least one processor, the positional information from the encoding sensor. Further, the method includes determining timing information using the positional information. The timing information corresponds to when a substrate disposed on the pallet will be in a print zone of a print head. The method further includes controlling the print head to print on the substrate when the substrate is in the print zone and passing beneath the print head.

A method is provided that includes acquiring positional information regarding a pallet being translated on a conveyance system with an encoding sensor disposed proximate to the conveyance system. The method also includes receiving, with at least one processor, the positional information from the encoding sensor. Further, the method includes determining timing information using the positional information. The timing information corresponds to when a substrate disposed on the pallet will be in a print zone of a print head. The method further includes controlling the print head to print on the substrate when the substrate is in the print zone and passing beneath the print head.

A system is provided that includes a print head, a conveyance system, an encoding sensor, and at least one processor. The print head defines a print zone, and is configured to print on objects within the print zone. The conveyance system passes through the print zone, and is configured to translate a pallet through the print zone. The encoding sensor is disposed proximate to the conveyance system, and is configured to be oriented toward the pallet and to acquire positional information regarding the pallet. The at least one processor is operably coupled to the print head and the encoding sensor, and is configured to: receive the positional information from the encoding sensor; determine timing information corresponding to when a substrate disposed on the pallet will be in the print zone; and control the print head to print on the substrate when the substrate is in the print zone.

A system is provided that includes a print head, a conveyance system, an encoding sensor, and at least one processor. The print head defines a print zone, and is configured to print on objects within the print zone. The conveyance system passes through the print zone, and is configured to translate a pallet through the print zone. The encoding sensor is disposed proximate to the conveyance system, and is configured to be oriented toward the pallet and to acquire positional information regarding the pallet. The at least one processor is operably coupled to the print head and the encoding sensor, and is configured to: receive the positional information from the encoding sensor; determine timing information corresponding to when a substrate disposed on the pallet will be in the print zone; and control the print head to print on the substrate when the substrate is in the print zone.

A method for mitigating the effects of cable wear in an active heave compensated hoisting system of an offshore vessel in a locked to bottom mode of operation is disclosed. The method comprises supporting an upper end of a string which is connected to a subsea well from a travelling block of the hoisting system, wherein the travelling block is suspended from a crown block via a cable. The method further comprises operating an active heave compensation system to control a drawworks of the hoisting system to pay in and out the cable to compensate for motion of the offshore vessel and maintain a target overpull in the string. The method further comprises adjusting a ballast system of the offshore vessel to vary the draft of the vessel, and controlling the drawworks in accordance with the variation in the draft of the vessel to cause a length of cable to slip through the hoisting system and maintain the target overpull in the string.

A lifting device (14) is disclosed comprising a lift arm (16) and a first support structure (31) which is adapted to be placed on a lifting vessel (61). The lifting device (14) comprises a first attachment unit (33) that comprises a first attachment element (121) which connects the lift arm (16) rotatably to the first support structure (31). The lift arm comprises a load transfer device (19) that is secured to a first end portion (17, 27) of the lift arm (16). The lifting device (14) further comprises a second support structure (44) and a second attachment unit (46) including a second attachment element (123) which connects the lift arm (16) rotatably to the second support structure (44). The first attachment element (121), the second attachment element (123) and the load transfer device (19) all lie substantially in a straight line (L) or substantially in the same plane. There is also defined a lifting vessel carrying said lifting device, as well as the use of the lifting device and of the lifting vessel.