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 tool-less joiner clamp comprising a hinged circular body having a forward mating flange and an aft mating flange configured to selectively attach to a forward section flange and an aft section flange of an underwater vehicle, respectively. The forward mating flange has a threaded inner diameter configured to integrate with a threaded outer diameter of the forward section flange, such that rotating the joiner clamp about the forward section flange causes the clamp to move in an axial direction. Also included is a cam lock for selectively closing and tightening the tool-less joiner clamp onto the forward and aft section flanges of the vehicle and may include a quick release mechanism for opening the cam lock. The clamp may also include collapsible handles, and multiple buttons configured to press against a flat surface of the aft mating flange when the joiner clamp is rotated about the forward section flange.

A submersible habitat 100 for the repair of subsea cable 11, the habitat comprising a cable maintenance environment 108 being suitable for receiving a portion of the subsea cable under repair 115 while the subsea cable 11 is submerged. The submersible habitat further comprising raising and/or lowering component 25 configured for raising and/or lowering the submersible habitat 100 relative to the subsea cable 11. The entire repair is carried out within the submersible habitat 100 without the requirement to transport any portion of the subsea cable 11 to the surface.

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 subsea pump and power system having a base unit positioned on the seabed to which is detachably mounted a power module tethered to a surface power source via a power umbilical. The base unit includes process pumps for carrying out subsea pumping operations and is lowered by a heavy lift cable into position on the seabed adjacent a hydrocarbon production facility prior to lowering of the power module on a tether. The power module includes a power unit which may include an electrical motor, or a hydraulic pump or both, one or more of which are driven by the umbilical extending from the surface. The tether supports the weight of the power module as it is lowered to the base unit and includes an electrical umbilical, a hydraulic umbilical or both.

A wrap tape cassette for a subsea pipeline repair or coating machine includes a drum for carrying a wrap tape wound on the drum. A housing defines an exit opening for the wrap tape to be dispensed from the drum onto a pipeline during a repair or coating operation. The drum may be mounted to the housing for rotational and longitudinal movement relative to the housing to dispense the wrap tape through the exit opening on being unwound from the drum. A leading end of the wrap tape may be attached to an anchor element that is arranged as a closure for the exit opening and, when moved from the exit opening, for attachment to a pipeline being repaired or coated.

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 subsea pump and power system having a base unit positioned on the seabed to which is detachably mounted a power module tethered to a surface power source via a power umbilical. The base unit includes process pumps for carrying out subsea pumping operations and is lowered by a heavy lift cable into position on the seabed adjacent a hydrocarbon production facility prior to lowering of the power module on a tether. The power module includes a power unit which may include an electrical motor, or a hydraulic pump or both, one or more of which are driven by the umbilical extending from the surface. The tether supports the weight of the power module as it is lowered to the base unit and includes an electrical umbilical, a hydraulic umbilical or both.