Many different types of systems are utilized and tasks are performed in a marine environment. The present invention provides various configurations of castable devices that can be operated and/or controlled for such systems or tasks. One or more castable devices can be integrated with a transducer assembly, such as a phased array, that emits sonar beams and receives sonar returns from the underwater environment. Processing circuitry may receive the sonar returns, process the sonar returns, generate an image, and transmit the image to a display.

A vehicle (10) for performing operations on a subsea pipeline, such as a riser (2), carries one or more interchangeable modules (18) and is configured to translate along the riser (2). The vehicle (10) comprises an elongate support structure (12) for carrying the modules (18). Gripper arms (14, 16) hold the support structure (12) a predetermined distance away from the elongate body and cause translation of the vehicle (10) along the riser (2) using a hand-over-hand action, so as to allow the vehicle (10) to pass protuberances or obstacles, such as a clamp (8), on the riser (2).

The present invention is applicable to the technical field of marine equipment and provides a hybrid-driven mooring chain cleaning and structural inspection underwater robot and a working method thereof. The hybrid-driven mooring chain cleaning and structural inspection underwater robot includes at least one frame structure; a buoyancy system disposed on the frame structure and used for adjusting the buoyancy of the robot; a driving system disposed on the frame structure; underwater observation and communication systems disposed on the frame structure and used for underwater observation; a cleaning system disposed on the frame structure and used for cleaning a mooring chain; an active clasping/unclasping system disposed on the frame structure; and a structural inspection system disposed on the frame structure.

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

A fluid medium vehicle is provided which has a main body and at least one engine attached to the main body. The engine is configured to provide thrust parallel to a thrust axis passing through the main body. A plurality of foils is moveably attached to and extends outwardly from the main body. The plurality of foils is arranged in pairs. Each pair of foils extends from the main body along opposite ends of one of a plurality of foil axes. Each foil axis is perpendicular to the thrust axis, and each foil is constructed as an independently positionable control surface and as an independently controllable propulsion device.

The amphibious unmanned patrol vehicle includes a buoy, a waterproof cable and a submersible amphibious vehicle. An end of the waterproof cable is connected to a first controller of the buoy; and another end thereof is connected to a second controller of the submersible amphibious vehicle. A bottom end of the buoy is connected to a top end of the submersible amphibious vehicle which is configured to realize movement and operation of a whole system. The waterproof cable is configured to connect the submersible amphibious vehicle, and the buoy configured to ensure real-time communication between the submersible amphibious vehicle and an external environment during operation of the submersible amphibious vehicle. A height difference between an upper surface and a lower surface of the automatic reeling and unreeling cable device is equal to a thickness of the waterproof cable. The length of the waterproof cable is adjusted automatically in real time.

Disclosed is a detector 10 using a liquid spray 2000 for detecting electrical faults or shorts with the detector including a body 100 having an interior 120; a hose or pipe 130 fluidly connected to interior 120; a trigger valve 140 operatively connected to hose 130; a conductor 200 attached to detector 10; and/or a pump 110 fluidly connected to interior 120. In various embodiments the detector 10 can cause liquid spray 2000 to be sprayed on a subregion of an item such as a remotely operated vehicle to create a closed electrical circuit through the liquid spray and the conductor in the detector.

A system for inspecting flexible pipelines comprises a data analyzer, a data collector and an ultrasonic transducer. Further, the ultrasonic transducer is adapted to propagate shear wave into the annulus of the flexible pipeline. The data collector further comprises a data store and a communicator. Further, the system is capable of differentiating flooding and non-flooding condition of the annulus of the flexible pipeline which is subjected to high pressure. Using the system, an indicator of a flooded or non-flooded condition within the flexible pipeline may be calculated using transmitted and detected reflective waves or the lack of detected reflective waves.

An apparatus for joining elongated elements in a body of water has a frame; a strap feeding device; two arms movable with respect to the frame and configured to guide a strap around the elongated elements; a clamping device, configured to retain an end portion of the strap; a driving device configured to advance and tighten the strap around the elongated elements; a junction device, configured to join two overlapping portions of the strap so as to close the strap around the elongated elements; and a cutting device configured to separate the strap upstream of the joined portion.

A leak detection system includes a light source configured to output emitted light into a region of water, and a light detector configured to receive returned light from the region of the water and to output a detector signal indicative of the returned light. The leak detection system also includes at least one controller configured to detect hydrocarbons within the region of the water in response to detecting a hydrocarbon wavelength within the returned light, to determine at least one position of the hydrocarbons within the region of the water based on a time difference between a first time at which the emitted light is output from the light source and a second time at which the returned light at the hydrocarbon wavelength is received at the light detector, and to generate a three-dimensional model of a subsea structure based on the detector signal.