MOORING SYSTEMS AND PROCESSES FOR USING SAME

Abstract

Mooring systems for mooring a vessel floating on a surface of a body of water. In some embodiments, the mooring system can include a mooring structure and a mooring let. The mooring structure can be configured to be connected to a seabed. The vessel can be configured to be connected to the mooring structure such that the vessel can be partially rotatable with respect to an axis of the mooring structure. A first end of the mooring leg can be configured to be connected to the vessel. A second end of the mooring leg can be configured to be connected to the seabed.

Claims

1. A mooring system for mooring a vessel floating on a surface of a body of water, comprising: a mooring structure configured to be connected to a seabed; and a mooring leg, wherein: the vessel is configured to be connected to the mooring structure such that the vessel is partially rotatable with respect to an axis of the mooring structure, and a first end of the mooring leg is configured to be connected to the vessel, and a second end of the mooring leg is configured to be connected to the seabed.

2. The mooring system of claim 1, wherein: the mooring structure is a chain table configured to be rotatively connected to the vessel via a bearing, and the chain table is connected to the seabed via a plurality of anchor legs.

3. The mooring system of claim 1, wherein: the mooring structure is configured to be connected to the seabed, the vessel is configured to be connected to the mooring structure via a turntable, a yoke, and a link arm, the turntable is configured to be connected to the mooring structure such that the turntable is at least partially rotatable with respect to the mooring structure, a first end of the yoke is configured to be connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is substantially orthogonal or substantially perpendicular to the longitudinal axis of the yoke, and a first end of the link arm is configured to be connected to a second end of the yoke, and a second end of the link arm is configured to be connected to the vessel.

4. The mooring system of claim 3, wherein the turntable is configured to be disposed above the surface of the body of water.

5. The mooring system of claim 3, wherein the turntable is configured to be disposed below the surface of the body of water.

6. The mooring system of claim 3, further comprising a weight disposed on the yoke toward the second end thereof.

7. The mooring system of claim 3, further comprising a flexible fluid conduit having a first end configured to be connected to a first rigid fluid conduit disposed on the turntable or disposed on an offshore production facility and a second end configured to be connected to a second rigid fluid conduit disposed on the vessel.

8. The mooring system of claim 7, wherein the first end of the flexible fluid conduit is configured to be connected to the rigid fluid conduit disposed on the turntable or disposed on the offshore production facility via a first fluid swivel and/or the second end of the flexible fluid conduit is configured to be connected to the rigid fluid conduit disposed on the vessel via a second fluid swivel.

9. The mooring system of claim 8, wherein a central longitudinal axis of the first fluid swivel and/or a central longitudinal axis of the second fluid swivel is non-colinear with the axis of the mooring structure.

10. The mooring system of claims 7, wherein: the mooring structure is configured to be disposed on the seabed, the first rigid fluid conduit is disposed on the offshore production facility, and the flexible fluid conduit is configured to be supported by a support structure disposed on the turntable.

11. The mooring system of claim 7, wherein: the mooring structure is configured to be disposed on the offshore production facility, and the first rigid fluid conduit is disposed on the offshore production facility.

12. The mooring system of claim 1, wherein the mooring structure is floating in the body of water above the seabed, and wherein the mooring structure is secured to the seabed via at least one anchor leg.

13. The mooring system of claim 1, wherein the mooring system is configured to permit an angular orientation of the vessel about the axis of the mooring structure that is within a 180 degree sector.

14. The mooring system of claim 1, further comprising a tensioning device configured to be disposed on the vessel, wherein the first end of the mooring leg is configured to be connected to the vessel via the tensioning device, and wherein the tensioning device is configured to adjust a length of the mooring leg.

15. The mooring system of claim 14, wherein the mooring leg is a first mooring leg and the tensioning device is a first tensioning device, the mooring system further comprising a second tensioning device configured to be disposed on the vessel and a second mooring leg having a first end configured to be connected to the vessel via the second tensioning device and a second end configured to be connected to the seabed, wherein the second tensioning device is configured to adjust a length of the second mooring leg.

16. The mooring system of claim 14, wherein the tensioning device is a windlass, a rotary winch, a linear winch, or a chain jack.

17. The mooring system of claim 1, wherein the mooring leg comprises at least one buoy and at least one weight connected thereto.

18. The mooring system of claim 1, wherein the mooring leg comprises at least one buoy and at least two weights or at least two buoys and at least one weight, and wherein the at least one buoy and the at least two weights or the at least two buoys and the at least one weight, respectively, are alternatingly arranged along the mooring leg.

19. The mooring system of claim 1, wherein: a depth of the body of water is less than 50 meters, the vessel is connected to the mooring structure toward a first end of the vessel at a connection point, the first and second mooring legs are attached to the vessel toward a second end of the vessel, a surge motion of the vessel at the connection point is limited to +/15 meters from a neutral location, a sway motion of the vessel at the connection point is limited to +/15 meters from a neutral position, and the mooring system is configured to permit an angular orientation of the vessel about the axis of the mooring structure that is within a 120 degree sector.

20. A mooring system for mooring a vessel floating on a surface of a body of water, comprising: a mooring structure configured to be disposed on a seabed; a turntable configured to be connected to the mooring structure such that the turntable is partially rotatable with respect to the mooring structure about an axis of the mooring structure, and wherein the turntable is disposed above the surface of the body of water; a yoke comprising a first end and a second end, wherein the first end of the yoke is configured to be connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is substantially orthogonal or substantially perpendicular to the longitudinal axis of the yoke; a ballast tank disposed on the yoke toward or at the second end thereof and configured to contain a ballast medium; a first link arm and a second link arm each having a first end configured to be connected to the second end of the yoke and a second end configured to be connected to the vessel; a first mooring leg and a second mooring leg each having a first end configured to be connected to the vessel and a second end configured to be connected to a seabed; and a plurality of flexible fluid conduits each comprising a fluid swivel at one end thereof; wherein: each flexible fluid conduit has a first end configured to be connected to a corresponding rigid fluid conduit disposed on an offshore production facility and a second end configured to be connected to a corresponding rigid fluid conduit disposed on the vessel, the first end or the second end of each flexible fluid conduit independently comprises the fluid swivel, the fluid swivel connected to each flexible fluid conduit is configured to connect the first end of the flexible fluid conduit to the rigid fluid conduit disposed on the offshore production facility or the second end of the flexible fluid conduit to the rigid fluid conduit disposed on the vessel, and the mooring system is configured to permit an angular orientation of the vessel about the axis of the mooring structure that is within a 180 degree sector.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The subject disclosure is further described in the detailed description that follows in reference to the drawings by way of non-limiting embodiments, in which like reference numerals represent similar parts throughout the embodiments shown in the drawings.

[0008] FIG. 1 depicts a side elevation view of an illustrative mooring system that is mooring a vessel floating on a surface of a body of water, according to one or more embodiments described.

[0009] FIG. 2 depicts a plan view of the mooring system shown in FIG. 1 that shows the vessel in two separate offset positions within a sector, according to one or more embodiments described.

[0010] FIG. 3 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure, a turntable, a yoke, a link arm, and a mooring leg, according to one or more embodiments described.

[0011] FIG. 4 depicts a plan view of the mooring system shown in FIG. 3.

[0012] FIG. 5 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure, a turntable, a yoke, a link arm, and a mooring leg, according to one or more embodiments described.

[0013] FIG. 6 depicts a side elevation view of the mooring system shown in FIG. 3 that is mooring the vessel adjacent to an offshore production facility, where a flexible fluid transfer conduit is connected to the vessel and the offshore production facility, according to one or more embodiments described.

[0014] FIG. 7 depicts a plan view of the mooring system shown in FIG. 6.

[0015] FIG. 8 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure, a turntable, a yoke, a link arm, and a first mooring leg in which the mooring structure is disposed on an offshore production facility, according to one or more embodiments described.

[0016] FIG. 9 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure, a turntable, a yoke, a link arm, a mooring leg, and at least one weight and at least one buoy disposed on the mooring leg, according to one or more embodiments described.

[0017] FIG. 10 depicts a plan view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure that includes a turntable, a yoke, a link arm, and a first mooring leg, a first tensioning device, a second mooring leg, and a second tensioning device, according to one or more embodiments described.

[0018] FIG. 11 depicts a plan view of the mooring system shown in FIG. 10 that shows the vessel in two separate offset positions within a sector, according to one or more embodiments described.

[0019] FIG. 12 depicts an end elevation view of the mooring system shown in FIG. 10 that includes the first mooring leg in a slack configuration and the second mooring leg in a taut configuration, according to one or more embodiments described.

[0020] FIG. 13 depicts a perspective view of an illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure that includes a yoke, a ballast tank or weight, and a link arm, a first mooring leg that includes a plurality of buoys disposed thereon, and a second mooring leg that includes a plurality of buoys disposed thereon, according to one or more embodiments described.

[0021] FIG. 14 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure disposed on a seabed and a turntable, a yoke, a ballast tank or weight, and a link arm each disposed above the surface of the body of water, and a mooring leg connected to the seabed and the vessel, according to one or more embodiments described.

[0022] FIG. 15 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water that includes a mooring structure disposed on the seabed and a turntable, a yoke, a ballast tank or weight, and a link arm each disposed above the surface of the body of water, and a first mooring leg, according to one or more embodiments described.

[0023] FIG. 16 depicts a side elevation view of another illustrative mooring system that is mooring a vessel floating on a surface of a body of water, according to one or more embodiments described.

DETAILED DESCRIPTION

[0024] A detailed description will now be provided. Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references to the invention, in some cases, refer to certain specific or preferred embodiments only. In other cases, references to the invention refer to subject matter recited in one or more, but not necessarily all, of the claims. It is to be understood that the following disclosure describes several exemplary embodiments for implementing different features, structures, or functions of the invention. Exemplary embodiments of components, arrangements, and configurations are described below to simplify the present disclosure; however, these exemplary embodiments are provided merely as examples and are not intended to limit the scope of the invention. Additionally, the present disclosure may repeat reference numerals and/or letters in the various exemplary embodiments and across the figures provided herein. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various exemplary embodiments and/or configurations discussed in the Figures. Moreover, the formation of a first feature over or on a second feature in the description that follows includes embodiments in which the first and second features are formed in direct contact and also includes embodiments in which additional features are formed interposing the first and second features, such that the first and second features are not in direct contact. The exemplary embodiments presented below may be combined in any combination of ways, i.e., any element from one exemplary embodiment may be used in any other exemplary embodiment, without departing from the scope of the disclosure. The figures are not necessarily drawn to scale and certain features and certain views of the figures can be shown exaggerated in scale or in schematic for clarity and/or conciseness.

[0025] Additionally, certain terms are used throughout the following description and claims to refer to particular components. As one skilled in the art will appreciate, various entities may refer to the same component by different names, and as such, the naming convention for the elements described herein is not intended to limit the scope of the invention, unless otherwise specifically defined herein. Also, the naming convention used herein is not intended to distinguish between components that differ in name but not function. Furthermore, in the following discussion and in the claims, the terms including and comprising are used in an open-ended fashion, and thus should be interpreted to mean including, but not limited to.

[0026] All numerical values in this disclosure are exact or approximate values (about) unless otherwise specifically stated. Accordingly, various embodiments of the disclosure may deviate from the numbers, values, and ranges disclosed herein without departing from the intended scope.

[0027] Further, the term or is intended to encompass both exclusive and inclusive cases, i.e., A or B is intended to be synonymous with at least one of A and B, unless otherwise expressly specified herein. The indefinite articles a and an refer to both singular forms (i.e., one) and plural referents (i.e., one or more) unless the context clearly dictates otherwise. The terms up and down; upward and downward; upper and lower; upwardly and downwardly; above and below; and other like terms used herein refer to relative positions to one another and are not intended to denote a particular spatial orientation since the apparatus and methods of using the same may be equally effective at various angles or orientations.

[0028] The terms rotate, rotation, rotatable, and rotating are used interchangeably and mean partial or unlimited rotation of a body about an axis of rotation.

[0029] The terms orthogonal and orthogonally refer to two lines or vectors that are not coplanar and therefore do not intersect but can appear to be perpendicular when viewed from a particular angle. For example, a first line being orthogonal to a second line, the first line can lie in a first plane and the second line can lie in a second plane, where the first and second planes are parallel with respect to one another and the first line and the second line are oriented at 90 degrees with respect to one another when viewed along an axis that is normal to the first and second planes. Further is should be understood that the term substantially when used in the context of substantially orthogonal means the first and second line are orientated at angles of about 80 degrees, about 83 degrees, about 85 degrees, about 87 degrees, or about 89 degrees to, about 91 degrees, about 93 degrees, about 95 degrees, about 97 degrees, or about 100 degrees with respect to one another when viewed along an axis that is normal to the first and second planes.

[0030] The terms perpendicular and perpendicularly, as used herein, refer to two lines or vectors that are coplanar and, therefore, do intersect one another at a 90 degree angle. Further, the term substantially when used in the context of substantially perpendicular means a first line and a second line are orientated at angles of about 80 degrees, about 83 degrees, about 85 degrees, about 87 degrees, or about 89 degrees to, about 91 degrees, about 93 degrees, about 95 degrees, about 97 degrees, or about 100 degrees with respect to one another. Further, the term substantially when used in the context of substantially parallel means an axis and a plane (e.g., the surface of a body of water) are orientated at angles of about 160 degrees, about 165 degrees, about 170 degrees, about 175 degrees, or about 180, or about 185 degrees, or about 190 degrees, or about 195 degrees, or about 200 degrees with respect to one another.

[0031] The terms surge, sway, and heave are terms that are used to describe the linear motion of a vessel on its three axes. Surge is the linear longitudinal (forward and backward) motion of a vessel, for example along an x-axis. Sway is the linear transverse (side-to-side) motion of a vessel, for example along a y-axis. Heave is the linear vertical (up and down) motion of a vessel, for example along a z-axis.

[0032] The terms roll, pitch, and yaw are terms that are used to describe the angular motion of a vessel about its three axes. Roll refers to the heeling motion of a vessel about its longitudinal (front to back) axis, for example rotation about the x-axis. Pitch refers to the rotation of a vessel about its transvers (side-to-side) axis, for example rotation about the y-axis of the vessel. Yaw refers to the rotation of a vessel about its vertical axis, for example rotation about the z-axis of the vessel.

[0033] The term Metocean conditions refers to the combined effects of meteorological and oceanographic conditions including but not limited to: wave height and direction, wind speed and direction, swell height and direction, ocean currents (at all water depths), water temperature, and tides, temperatures, squall conditions, tropical storm conditions, storm surge, salinity, internal waves within the water column (solitons), and other such effects.

[0034] FIG. 1 depicts a side elevation view of an illustrative mooring system 100 that is mooring a vessel 5 floating on a surface 1 of a body of water 4, according to one or more embodiments. FIG. 2 depicts a plan view of the mooring system 100 shown in FIG. 1 that shows the vessel 5 in two separate offset positions within a sector 6, according to one or more embodiments. In some embodiments, the mooring system 100 can include a mooring structure 101 that can be connected to a seabed 2. In some embodiments, the mooring structure 101 can be connected to the seabed 2 via at least one elongated member or anchor leg 130. The anchor leg 130 can be any structure or member configured to connect the mooring structure 101 to the seabed 2. In some embodiments, the anchor leg 130 can be a chain, a wire rope, a synthetic rope, or any combination thereof. In some embodiments, the mooring structure 101 can be disposed on the vessel 5 above the surface 1 of the body of water 4, as shown. In other embodiments, not shown, the mooring structure 101 can be floating on the surface 1 of the body of water 4. In still other embodiments, not shown, the mooring structure 101 can be disposed below the surface 1 of the body of water 4.

[0035] In some embodiments, the mooring system 100 can include one or more mooring legs 110. In some embodiments, the mooring structure 101 can be configured to be connected to the vessel 5 such that the vessel 5 can be partially rotatable with respect to the mooring structure 101 about a vertical axis 120. In some embodiments, the mooring leg 110 can include a first end 111 configured to be connected to the vessel 5 and a second end 112 configured to be connected to the seabed 2. In some embodiments, the mooring structure 101 can be connected to the vessel 5 toward a first end 7 of the vessel 5, for example a bow of the vessel, and the mooring leg 110 can be connected toward a second end 8 of the vessel 5, for example a stern of the vessel 5. In some embodiments, the second end 112 of the mooring leg 110 can be connected to the seabed 2 via an anchor 114. In some embodiments, the anchor 114 can be configured as a driven pile, a suction pile, a torpedo pile, a drag embedment anchor, a clump weight, any other type of anchoring device, or any combination thereof. In some embodiments, the mooring leg 110 can be or can include, but is not limited to, a chain, a wire rope, a synthetic rope, or any combination thereof.

[0036] In some embodiments, the mooring leg 110 can include one or more buoys 113 connected thereto. The buoy(s) 113 can support at least a portion of the mooring leg 110. The buoy(s) 113 can be or can include, but is/are not limited to, any type of buoyant structure configured to float in the body of water 4 or on the surface 1 of the body of water 4. In some embodiments, the buoy(s) 113 can be or can include, but are not limited to, in-line mooring buoys, a pendulum fixture with a tri-plate and modular mooring buoy secured via a padeye at the base of the steelwork, closed structures having an internal volume that can be empty or filled with a buoyant fluid, e.g., a gas such as air, buoyant materials, or any combination thereof. Buoyant materials can be or can include, but are not limited to, syntactic foams, foamed thermoset or thermoplastic materials such as epoxy, urethane, phenolic, vinyl ester, polypropylene, polyethylene, polyvinylchlorides, nylon, thermoplastic or thermoset materials filled with particles (such as glass, plastic, micro-spheres, and/or ceramics), filled rubber or other elastic materials, or any combination thereof. In some embodiments, suitable buoys can be or can include, but are not limited to, the in-line mooring buoy available from Balmoral or Doowin Marine.

[0037] In some embodiments, the buoy(s) 113 can be connected to the mooring leg 110 via one or more connectors. In some embodiments, suitable connectors can be or can include, but are not limited to, an h-link, one or more, e.g., a pair, of shackles, a link plate, a tri-plate, a length adjustable connector, or a combination thereof.

[0038] In some embodiments, the mooring leg 110 can be of sufficient length and can include a sufficient number of buoys 113 to permit the vessel 5 to partially rotate about the vertical axis 120. In some embodiments, the mooring system 100 can be configured to permit the vessel 5 to rotate with respect to the mooring structure 101. In some embodiments, the mooring system 100 can be configured to permit the vessel 5 to rotate with respect to the mooring structure 101 about the vertical axis 120 within the sector 6 (see FIG. 2). In some embodiments, the sector 6 can be a 180 degree sector, or a 160 degree sector, or a 140 degree sector, or a 120 degree sector, or 100 degree sector or an 80 degree sector, or a 60 degree sector. In some embodiments, the sector 6 can be less than a 180 degree sector, less than a 160 degree sector, less than a 140 degree sector, less than a 120 degree sector, less than 100 degree sector, less than an 80 degree sector, or less than a 60 degree sector. In some embodiments, the sector 6 can be greater than 180 degrees and less than 360 degrees. In some embodiments, the sector 6 can be divided into two sub-sectors 6a and 6b. In some embodiments, the subsectors can be equal to each other, for example 90 degrees, in other embodiments, not shown the subsectors 6a, 6b can be unequal.

[0039] In some embodiments, as noted above, the mooring structure 101 can be or can include a chain table. As shown, the mooring structure 101 can be supported by a support structure 9 that extends from the first end 7 of the vessel 5 over the surface 1 of the body of water 4. In some embodiments, the mooring structure 101 can be configured to be rotatively connected to the vessel via a bearing 140 and the mooring structure 101 can be connected to the seabed 2 via the one or more anchor legs 130. In some embodiments, when the mooring structure 101 is or includes as a chain table, the chain table can be permanently connected to the vessel or can be disconnectable from the vessel. In some embodiments, the mooring structure 101 can include a chain table disposed on a buoy. In such embodiments, the buoy can be configured to be disconnected from the vessel 5 and permitted to float on the surface 1 of the body of water 4 or below the surface 1 of the body of water 4. In some embodiments, the chain table can be similar to or the same as the chain tables disclosed in U.S. Patent Application Publication Nos.: 2002/0134292; 2005/0061224; 2008/0166936; 2020/0039610; and 2023/0151846. As shown, the mooring structure 101 can be located above the surface 1 of the body of water 4.

[0040] In some embodiments, the mooring system 100 can be disposed at a location where a water depth is less than 60 meters (m), less than 55 m, less than 50 m, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5. The vessel 5 can be rotatively connected to the mooring structure 101 at the connection point 99. In some embodiments, the mooring system 100 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 100 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 100 can be configured to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 100 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree or less sector.

[0041] FIG. 3 depicts a side elevation view of an illustrative mooring system 300 that is mooring the vessel 5 floating on the surface 1 of the body of water 4, according to one or more embodiments. The mooring system 300 can include a mooring or base structure 301 that can be configured to be secured to the seabed 2. The mooring system 300 can also include turntable 302, a yoke 303, a link arm 315, and a mooring leg 110. FIG. 4 depicts a plan view of the mooring system 300 shown in FIG. 3.

[0042] In some embodiments, the mooring structure 301 can be fixed to the seabed 2. In some embodiments, not shown, the mooring structure 301 can be fixed or attached to the seabed 2 with driven piles or suction piles or the base structure can be configured as a gravity-based structure. The particular apparatus used to connect the mooring structure 301 to the seabed 2 can be based, at least in part, on the seabed conditions at the site. The turntable 302 can be rotatively connected to the mooring structure 301. In some embodiments, the turntable 302 can be connected to the base structure 301 via a yaw bearing 309 that can provide for unlimited rotation of the turntable 302 relative to the mooring structure 301 about an axis 320 of the mooring structure 301. In some embodiments, the axis 320 can be a vertical axis with respect to the mooring structure 301, the yaw bearing, and the turntable 302. In other embodiments the turntable 302 can be connected to the mooring structure 301 in a manner that permits the turntable 302 to partially rotate relative to the mooring structure 301 about the axis 320. For example, the yaw bearing 309 can be configured with stops that can limit the rotational travel of the turntable 302 about the axis 320.

[0043] In some embodiments, the yoke 303 can have a first end 304 and a second end 305. The yoke 303 can be a fabricated, e.g., steel, structure. In some embodiments, the first end 304 of the yoke 303 can be connected to the turntable 302 in a manner that permits the yoke 303 to rotate relative to the turntable 302 about a longitudinal axis 321 of the yoke 303. In some embodiments, a roll bearing, bushing, or the like 306 can be disposed between the first end 304 and the second end 305 of the yoke 303, as shown. In other embodiments, the first end 304 of the yoke 303 can be connected to the turntable 302 via the roll bearing 306 that can be disposed on the first end 304 of the yoke 303. In still other embodiments, the roll bearing 306 can be disposed on or integrated into the turntable 302.

[0044] In some embodiments, the first end 304 of the yoke 303 can include a pitch bearing 307 that permits at least a portion of the yoke 303 to rotate relative to the turntable 302 about a transverse axis 322. In some embodiments, the first end 304 of the yoke 303 can be connected to the turntable 302 via the pitch bearing 307 in a manner that permits the yoke 303 to rotate about a transverse axis 322 that can be substantially orthogonal or substantially perpendicular to the longitudinal axis 321 of the yoke 303. In other embodiments, the first end 304 of the yoke 303 can be connected to the turntable 302 via a trunnion arrangement, not shown. In some embodiments, the transverse axis 322 can be within +/10 degrees, +/5 degrees, +/3 degrees, or +/1 degree of being orthogonal or perpendicular to the longitudinal axis 321 of the yoke 303. In some embodiments, the transverse axis 322 can be horizontal or substantially horizontal, e.g., within +/10 degrees, +/5 degrees, +/3 degrees, or +/1 degree, with respect to a horizontal plane when the vessel 5 is in a neutral or static position with respect to the base structure 301.

[0045] In some embodiments, the mooring system 300 can also include a weight 308 that can be connected to or disposed on the yoke 303. In some embodiments, the weight 308 can be positioned toward the second end 305 of the yoke 303. In some embodiments, the weight 308 can be or can include a ballast tank configured to contain a ballast material. The weight 308 can also be a fabricated, e.g., steel, structure. In some embodiments, the yoke 303 and the weight 308 can be disposed at least partially below the surface 1 of the body of water 4. In some embodiments, when the weight 308 is or includes a ballast tank, the ballast material can have a specific gravity that is greater than that of the water. Examples of ballast material can be or can include, but are not limited to, concrete, sand, aggregate, iron ore, magnetite, rocks, drilling mud, any other material that has a specific gravity greater than that of the water, or any combination or mixture thereof.

[0046] The mooring system 300 can also include at least one link arm 315 that can be configured to connect the yoke 303 to the vessel 5. In some embodiments, the mooring system 300 can include two link arms 315 each having a first end 318 connected toward the second end 305 of the yoke 303 and/or to the weight 308 and a second end 319 connected to the vessel 5. In other embodiments, not shown, the mooring system 300 can include more than two link arms, e.g., three, four, or more link arms, that can be configured to connect the yoke 303 and/or the weight 308 to the vessel 5. As shown, the second end 319 of the link arm(s) 315 can be connected to a support structure 12 extending from the first end 7 of the vessel 5.

[0047] In some embodiments, the link arm(s) 315 can each be configured as an elongated rigid structure that can each include one or more dual axis or universal joints 316 (two are visible in FIG. 3). As shown, one dual axis joint 316 can be disposed toward the first end 318 of the link arm 315 and one dual axis joint 316 can be disposed toward the second end 319 of the link arm 315. Each dual axis joint 316 can be configured to provide articulation about two axes that are substantially perpendicular or substantially orthogonal to one another. In some embodiments, a suitable dual axis joint 316 can be the dual axis joint disclosed in US Patent Application publication No. 2023/0151846.

[0048] In some embodiments, the link arm(s) 315 can include an axial bearing 317 toward the second end 319 thereof that can be configured to permit the second end 319 of the link arm 315 to rotate about a longitudinal axis of the link arm(s) 315 relative to the first end 318 of the link arm 315. In other embodiments, the link arm(s) 315 can include the axial bearing 317 toward the first end 318 thereof. In still other embodiments, the link arm(s) 315 can be a chain, a pair of chains, a rope or wire rope or a pair of ropes or wire ropes, or any other elongated member.

[0049] As noted above, in some embodiments, the mooring system 300 can include one or more mooring legs 110. In some embodiments, the mooring leg(s) 110 can as described above with reference to the mooring system 100. More particularly, the mooring leg 110 can include the first end 111 configured to be connected to the vessel 5 and the second end 112 configured to be connected to the seabed 2. In some embodiments, the mooring structure 101 can be connected to the vessel 5 toward the first end 7 of the vessel 5, for example a bow of the vessel, and the mooring leg 110 can be connected to the vessel 5 toward the second end 8 of the vessel 5, for example a stern of the vessel 5. In some embodiments, the second end 112 of the mooring leg 110 can be connected to the seabed 2 via an anchor 114. In some embodiments, the anchor 114 can be configured as a driven pile, a suction pile, a torpedo pile, a drag embedment anchor, a clump weight, any other type of anchoring device, or any combination thereof. In some embodiments, the mooring leg 110 can be or can include, but is not limited to, a chain, a wire rope, a synthetic rope, or any combination thereof.

[0050] In some embodiments, the mooring leg 110 can include the one or more buoys 113 connected thereto. The buoy(s) 113 can support at least a portion of the mooring leg 110. The buoy(s) 113 can be or can include, but is/are not limited to, any type of buoyant structure configured to float in the body of water 4 or on the surface 1 of the body of water 4. In some embodiments, the buoy(s) 113 can be or can include, but are not limited to, in-line mooring buoys, a pendulum fixture with a tri-plate and modular mooring buoy secured via a padeye at the base of the steelwork, closed structures having an internal volume that can be empty or filled with a buoyant fluid, e.g., a gas such as air, buoyant materials, or any combination thereof. Buoyant materials can be or can include, but are not limited to, syntactic foams, foamed thermoset or thermoplastic materials such as epoxy, urethane, phenolic, vinyl ester, polypropylene, polyethylene, polyvinylchlorides, nylon, thermoplastic or thermoset materials filled with particles (such as glass, plastic, micro-spheres, and/or ceramics), filled rubber or other elastic materials, or any combination thereof. In some embodiments, suitable buoys can be or can include, but are not limited to, the in-line mooring buoy available from Balmoral or Doowin Marine.

[0051] In some embodiments, the buoy(s) 113 can be connected to the mooring leg 110 via one or more connectors. In some embodiments, suitable connectors can be or can include, but are not limited to, an h-link, one or more, e.g., a pair, of shackles, a link plate, a tri-plate, a length adjustable connector, or a combination thereof.

[0052] In some embodiments, the mooring leg 110 can be of sufficient length and can include a sufficient number of buoys 113 to permit the vessel 5 to partially rotate about the axis 320. In some embodiments, the mooring system 300 can be configured to permit the vessel 5 to rotate with respect to the mooring structure 301. In some embodiments, the mooring system 300 can be configured to permit the vessel 5 to rotate with respect to the mooring structure 301 about the axis 320 within the sector 6, as shown and described above with reference to FIG. 2.

[0053] In some embodiments, the mooring system 300, can be disposed at a location where a water depth is less than 60 m, less than 55 m, less than 50 m, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5, e.g., on the support structure 12 that extends from the first end 7 of the vessel 5, for each link arm 315. For example, if the mooring system 300 includes one link arm 315, the vessel 5 can have one connection point 99. In another example, if the mooring system 300 includes two link arms 315, the vessel 5 can have two connection points 99, and so on.

[0054] The vessel 5 can be connected to the mooring structure 301 via the link arm(s) 315 at the corresponding connection point(s) 99. In some embodiments, the mooring system 300 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 300 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 300 can be configured permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 300 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m from a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree or less sector.

[0055] FIG. 5 depicts a side elevation view of an illustrative mooring system 500 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes a mooring structure 501, the turntable 302, the yoke 303, the link arm 315, and the mooring leg 110, according to one or more embodiments. The mooring system 500 can be similar to the mooring system 300 described above with reference to FIGS. 3 and 4 with one main difference being that the mooring structure 501 can be configured to position the turntable 302, the yoke 303, the link arm 315, and the weight 308 at least partially above the surface 1 of the body of water 4. In some embodiments, another difference between the mooring system 500 and the mooring system 300 can be that the vessel 5 can include a support structure 512 disposed thereon that can be configured to locate the connection point 99 of the link arm(s) 315 to the support structure 512 at a greater distance than the support structure 12 disposed on the vessel 5 being moored with the mooring system 300.

[0056] In some embodiments, the mooring structure 501 can be configured as a platform that can be fixed to the seabed 2 at a first end 503 thereof and a second end 504 that can be disposed just below, at, or, as shown, above the surface 1 of the body of water 4. In some embodiments, the mooring structure 501 can be configured as a gravity-based platform, not shown. In some embodiments, the mooring structure 501 can be secured to the seabed 2 via a plurality of driven piles 505, a plurality of suction piles (not shown), or a plurality of gravity anchors (not shown). In some embodiments, the mooring structure 501 can be constructed from steel, concrete, or a combination thereof.

[0057] FIG. 6 depicts a side elevation view of a mooring system 600 that is mooring the vessel 5 adjacent to an offshore production facility 650, where a flexible fluid conduit 601 is connected to the vessel 5 and the offshore production facility 650, according to one or more embodiments. FIG. 7 depicts a plan view of the mooring system 600 shown in FIG. 6. As shown in FIGS. 6 and 7, the mooring system 600 can include the mooring system 300 described above with reference to FIGS. 3 and 4. More particularly, the mooring system 600 can include the mooring or base structure 301 that can be configured to be secured to the seabed 2, the turntable 302, the yoke 303, the link arm(s) 315, and the mooring leg(s) 110. In some embodiments, the mooring structure 301 can be configured to be disposed on the seabed 2 such that a distance from the axis 320 of the mooring structure 301 to the offshore production facility 650 is less than a maximum distance between the axis 320 of the mooring structure 301 and a distal end of the vessel 5.

[0058] In some embodiments, the flexible fluid conduit 601 can have a first end 602 and a second end 603. In some embodiments, the first end 602 of the flexible fluid conduit 601 can be connected to a rigid fluid conduit or a first rigid fluid conduit 651 disposed on the offshore production facility 650. In some embodiments, the second end 603 of the flexible fluid conduit 601 can be connected to a rigid fluid conduit or a second rigid fluid conduit 10 disposed on the vessel 5. In some embodiments, the mooring system 600 can include plurality of flexible fluid conduits 601. In some embodiments, the mooring system 300 can include two, three, four, five, six, seven, or even more flexible fluid transfer conduits 601. Two flexible fluid conduits 601 are shown in FIG. 7.

[0059] In some embodiments, the first end 602 of the flexible fluid conduit 601 can be connected to the rigid fluid conduit 651 via a fluid swivel 605. In some embodiments, the second end of the flexible fluid conduit 601 can be connected to the rigid fluid conduit 10 via a fluid swivel 606. In some embodiments, the first end 602 of the first fluid can be connected to the rigid fluid conduit 651 if the fluid swivel or first fluid swivel 605 and the second end 603 of the flexible fluid conduit 601 can be connected to the rigid fluid conduit 10 via the fluid swivel or second fluid swivel 606.

[0060] In some embodiments, the first fluid swivel 605 can be configured to connect the first end 602 of first fluid conduit 601 to the rigid fluid conduit 651 disposed on the offshore production facility 650 such that the first end 602 of the flexible fluid conduit 601 can rotate relative the rigid fluid conduit 651 disposed on the offshore production facility 650 about a central longitudinal axis 661 of the first fluid swivel 605. In some embodiments, the second fluid swivel 606 can be configured to connect the second end 603 of the flexible fluid conduit 601 to the rigid fluid conduit 10 disposed on the vessel 5 such that the second end 603 of the flexible fluid conduit 601 can rotate relative the rigid fluid conduit 6 disposed on the vessel 5 about a central longitudinal axis 662 of the second fluid swivel 605. In some embodiments, the first fluid swivel 605 can reduce or relieve a torque that can build up in the flexible fluid conduit 601 as the vessel 5 rotates about the axis 320. In some embodiments, the axis 320 can be a vertical axis with respect to the mooring In some embodiments, the second fluid swivel 606 can reduce or relieve a torque that can build up in the flexible fluid conduit 601 as the vessel 5 rotates about the axis 320. As shown, in some embodiments, the central longitudinal axis 661 of the first fluid swivel 605 and/or the central longitudinal axis 662 of the second fluid swivel 606 can be non-colinear with the axis 320 of the mooring structure

[0061] As shown in FIG. 7, the two flexible fluid conduits 601 can be connected to the same rigid fluid conduit 651 disposed on the offshore production facility 650 and to the same rigid fluid conduit 10 disposed on the vessel 5. In other embodiments, however, the two flexible fluid conduits 601 can be connected to different rigid fluid conduits 651 disposed on the offshore production facility and/or to different rigid fluid conduits 10 disposed on the vessel 5. In some embodiments, the flexible fluid conduits 601 can be configured to convey the same fluid or different fluids therethrough with respect to one another.

[0062] In some embodiments, the mooring system 600, can be disposed at a location where a water depth is less than 60 m, less than 55 m, less than 50 m, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5, e.g., on the support structure 12 that extends from the first end 7 of the vessel 5, for each link arm 315. For example, if the mooring system 300 includes one link arm315, the vessel 5 can have one connection point 99. In another example, if the mooring system 300 includes two link arms 315, the vessel 5 can have two connection points 99, and so on.

[0063] The vessel 5 can be connected to the to the mooring structure 301 via the link arm(s) 315 at the connection point 99. In some embodiments, the mooring system 600 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments the mooring system 600 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments the mooring system 600 can be configured to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 600 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m from a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree sector.

[0064] FIG. 8 depicts a side elevation view of an illustrative mooring system 800 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes a mooring structure 801, the turntable 302, the yoke 303, the link arm 315, the mooring leg 110 in which the mooring structure 801 is disposed on the offshore production facility 650, according to one or more embodiments. The mooring system 800 is similar to the mooring system 300 described above with reference to FIGS. 3-7. A main difference in the mooring system 800 can be that the mooring system 800 can include the mooring structure 801 disposed on the offshore production facility 650. In some embodiments, the mooring system 800 can include the flexible fluid transfer conduit 601 and the first and/or second fluid swivels 605, 606 configured to connect the flexible fluid transfer conduit 601 to the rigid fluid conduits 651 disposed on the offshore production facility 650 and the rigid fluid conduit 10 disposed on the vessel 5.

[0065] In some embodiments, the mooring system 800 can be disposed at a location where a water depth is less than 60 meters (m), less than 55 m, less than 50 meters, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5, e.g., on the support structure 12 that extends from the first end 7 of the vessel 5, for each link arm 315. For example, if the mooring system 300 includes one link arm 315, the vessel 5 can have one connection point 99. In another example, if the mooring system 300 includes two link arms 315, the vessel 5 can have two connection points 99, and so on.

[0066] The vessel 5 can be connected to the to the mooring structure 801 via the link arm(s) 315 at the connection point 99. In some embodiments, the mooring system 800 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 800 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 800 can be configured to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 800 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m from a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree sector.

[0067] FIG. 9 depicts a side elevation view of an illustrative mooring system 900 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes the mooring structure 301, the turntable 302, the yoke 303, the link arm(s) 315, a mooring leg 910, and at least one weight 915 and at least one buoy 113 disposed on the mooring leg 910, according to one or more embodiments. The mooring leg 910 can have a first end 911 and a second end 912. In some embodiments, the first end 911 of the mooring leg 910 can be connected to the vessel 5 and the second end 912 of the mooring leg 910 can be connected to the seabed 2 via the anchor 114. In some embodiments, the mooring leg 910 can be connected to the vessel 5 toward the second end 8 of the vessel 5, for example a stern of the vessel 5.

[0068] In some embodiments, the mooring leg 910 can include the at least one buoy 113 connected thereto. In some embodiments, the mooring leg 910 can include the at least one weight 915 connected thereto. In some embodiments, the mooring leg 910 can include at least one buoy 113 and at least two weights 915. In other embodiments, the mooring leg 910 can include at least two buoys 113 and at least one weight 915, e.g., a clump weight. In some embodiments, the least one buoy 113 and the at least two weights 915 or the at least two buoys 113 and the at least one weight 915 can be distributed along the first mooring leg 910 in an alternating arrangement. For example, as shown in FIG. 9, a first weight 915 can be located between the first end 911 of the mooring let 910 and a first buoy 13, the first buoy can be located between the first weight 915 and a second weight 915, and the second buoy can be located between the second weight 915 and the second end 912 of the mooring leg 912, as shown in FIG. 9. In some embodiments the mooring leg 910 can be or can include, but is not limited to, a chain, a wire rope, a synthetic rope, or any combination thereof.

[0069] The weight(s) 915 can be or can include, but are not limited to, any type of weight. In some embodiments, the weight 915 can be a clump weight, mooring sinkers, segments of chain, or any combination thereof. In some embodiments, the weight 915 can be formed from a metal, a metal alloy, concrete, or a combination thereof. The weight 915 can be secured to the mooring leg 910 such that the weight 915 does not move along the length of the mooring leg 910. In some embodiments, the weight 915 can be a single body or a plurality of bodies. For example, in some embodiments, the weight 915 can include one clump weight, two clump weights, three clump weights, or more connected to the mooring leg 910 at the same location or adjacent to one another along the mooring leg 910. In another example, in some embodiments, the weight 915 can be composed of two components or parts that can be configured to be disposed about the mooring leg 910 and secured to one another. The number of individual weights that can be used to make up or otherwise provide a weight 915 can be based, at least in part, on the overall mass of each weight desired and whether more than one single weight is needed to reach the desired mass for a given weight.

[0070] In some embodiments, the weight(s) 915 can be connected to the mooring leg 910 via one or more connectors. In some embodiments, suitable connectors can be or can include, but are not limited to, an h-link, one or more shackles, e.g., a pair of shackles, a link plate, a tri-plate, a length adjustable connector, or a combination thereof.

[0071] In some embodiments, the mooring system 900 can be disposed at a location where a water depth is less than 60 meters (m), less than 55 m, less than 50 meters, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5, e.g., on the support structure 12 that extends form the first end 7 of the vessel 5, for each link arm 315. For example, if the mooring system 300 includes one link arm 315, the vessel 5 can have one connection point 99. In another example, if the mooring system 300 includes two link arms 315, the vessel 5 can have two connection points 99, and so on.

[0072] The vessel 5 can be connected to the to the mooring structure 901 via the link arm 315 at the connection point 99. In some embodiments, the mooring system 900 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 900 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 900 can be configured to limit to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 800 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m from a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree sector.

[0073] FIG. 10 depicts a plan view of an illustrative mooring system 1000 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes the mooring structure 301, the turntable 302, the yoke 303, the link arm(s) 315, a first mooring leg 1010, a first tensioning device 1050, a second mooring leg 1020, and a second tensioning device 1051, according to one or more embodiments. FIG. 11 depicts a plan view of the mooring system 1000 shown in FIG. 10 that shows the vessel 5 in two separate angular offset positions within a sector, according to one or more embodiments. FIG. 12 depicts an end elevation view of the mooring system 1000 shown in FIG. 10 that includes the first mooring leg 1010 in a slack configuration and the second mooring leg 1020 in a taut configuration, according to one or more embodiments. In some embodiments, the first and second mooring legs 1010, 1020 can be the same as or similar to the mooring leg 110 or the mooring leg 910 described above.

[0074] In some embodiments, the first mooring leg 1010 and the second mooring leg 1020 can be substantially parallel to one another, for example orientated approximately 5 degrees apart from one another. In some embodiments, the first mooring leg 1010 and the second mooring leg 1020 can each be connected to the seabed 2 via an anchor 114. In other embodiments, as shown in FIG. 10, the first mooring leg 1010 and the second mooring leg 120 can be substantially opposed to one another, for example orientated about 150 degrees, about 155 degrees, about 160 degrees, or about 165 degrees to about 170 degrees, about 175 degrees, or about 180 degrees of one another, or can be orientated in any configuration that is suitable for the metocean conditions at the site. In some embodiments, the first tensioning device 1050 and the second tensioning device 1051 can independently be configured as a rotary winch, a traction winch, a windlass, a chain jack, a linear winch, or a combination thereof.

[0075] In some embodiments, a heading or angular orientation of the vessel 5 in a yaw direction can be adjusted or controlled by pulling in on the first mooring leg 1010 with the first tensioning device 1050 and paying out on the second mooring leg 1020 with the second tensioning device 1051 or by paying out on the first mooring leg 1110 with the first tensioning device 1050 and pulling in on the second mooring leg 1120 with the second tensioning device 1051. In some embodiments, the first mooring leg 1010 or the second mooring leg 1020 can be let out, slacked, or payed out so that the fist mooring leg 1010 or second mooring leg 1020 can be configured in a slack configuration while the other mooring leg 1010 or 1020 can be in a taut configuration (as shown in FIG. 12) to facilitate or permit side-by-side mooring operations of an approaching vessel with the vessel 5. Said another way, the mooring leg 1010 or the mooring leg 1020 can be placed in a slack configuration so that the mooring leg 1010 1020 does not interfere with the approaching vessel. In such embodiments, the mooring legs 1010 and/or 1020 can include one or more weights 1015 disposed thereon that can urge the mooring leg 1010 or 1020 that can be placed in the slack configuration toward the seabed 2 so that the mooring leg 1010 or 1020 does not interfere with the approaching vessel.

[0076] In some embodiments, a heading or angular orientation of the vessel 5 in a yaw direction can be adjusted or controlled by thrusters on the vessel 5, not shown. In some embodiments, a length of the first mooring leg 1010 can be adjusted via the first tensioning device 1050 and a length of the second mooring leg 1020 can be adjusted via the second tensioning device 1051. In some embodiments, the length of the first mooring leg 1010 can be adjusted or set to a specified length and/or the length of the second mooring leg 1020 can be adjusted or set to a specified length to allow the vessel 5 to align, turn, or otherwise orientate in a yaw direction under the influence of the vessel's 5 thrusters during normal operations, for example during side-by-side offloading operations, and the length of the first mooring leg 1010 can be adjusted or set to a second specified length and/or the length of the second mooring leg 1020 can be adjusted or set to a second specified length to orientate the vessel 5 to a preferred heading or yaw orientation for extreme or survival metocean conditions.

[0077] FIG. 13 depicts a perspective view of an illustrative mooring system 1300 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes the yoke 303, the weight 308, the link arm(s) 315, a first mooring leg 1310, and a second mooring leg 1320, according to one or more embodiments. The mooring system 1300 can also include the mooring structure 301 (not shown) and the turntable 302 (not shown). In some embodiments, the first mooring leg 1310 and the second mooring leg 1320 can include a plurality of chain segments or a plurality of wire rope segments, six are shown 1305a, 1305b, 1305c, 1305d, 1305e, and 1305f. In some embodiments, the first mooring leg 1310 and the second mooring leg 1320 can include plurality of buoys, five are shown 1303a, 1303b, 1303c, 1303d, and 1303e. In some embodiments, the quantity of buoys 1303 can be n where n represents an integer and the quantity of chain segments 1305 can be n+1. In some embodiments, the chain segments 1305 can be connected in a series or daisy chain arrangement to one another and each buoy 1303 can be disposed toward a first end, or a second end, or even at a point along the length of each chain segment 1305, except for the last chain segment 1305f which can be connected to the anchor 114, not shown. In some embodiments, the first mooring leg 1310 and the second mooring leg 1320 can be the same as or similar to one another. For example, the first mooring leg 1310 and the second mooring leg 1320 can include the same quantity and size of chain segments and buoys. In other embodiments, the first mooring leg 1310 and the second mooring leg 1320 can be different from one another.

[0078] FIG. 14 depicts a side elevation view of an illustrative mooring system 1400 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes the mooring structure 501 disposed on the seabed 2, the turntable 302, the yoke 303, and the link arm 315 each disposed above the surface 1 of the body of water 4, and the mooring leg 110 connected to the seabed 2 and the vessel 5, according to one or more embodiments. In some embodiments, one or more fluid conduits 1401 can be used to connect a rigid conduit 10 disposed on the vessel 5 to a rigid conduit 1460 disposed on the turntable 302. In some embodiments, a first end 1402 of the flexible fluid conduit 1401 can be connected to the rigid conduit 1460 disposed on the turntable 302 or on the mooring structure 501. In some embodiments, a second end 1403 of the flexible fluid conduit 1401 can be connected to the rigid conduit 10 disposed on the vessel 5. In some embodiments, the flexible fluid conduit 1401 can provide or maintain fluid communication between the rigid fluid conduit 1460 disposed on the turntable 302 or the mooring structure 501 and the rigid fluid conduit 10 disposed on the vessel.

[0079] In some embodiments, the first end 1402 of the flexible fluid conduit 1401 can be configured to be connected to the rigid fluid conduit 1460 disposed on the turntable 302 or the mooring structure 501 via the first fluid swivel 605. In some embodiments, the second end 1403 of the flexible fluid conduit 1401 can be configured to be connected to the rigid fluid conduit 10 disposed on the vessel 5 via the second fluid swivel 606. In some embodiments, the first fluid swivel 605 can reduce or relieve a torque that can build up in the flexible fluid conduit 1401 as the vessel 5 rotates about the axis 320. In some embodiments, the second fluid swivel 706 can reduce or relieve a torque that can build up in the flexible fluid conduit 601 as the vessel 5 rotates about the axis 320.

[0080] In some embodiments, the mooring system 1400 can be disposed at a location where a water depth is less than 60 meters (m), less than 55 m, less than 50 meters, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5, e.g., on the support structure 512 that extends from the first end 7 of the vessel 5, for each link arm 315. For example, if the mooring system 1400 includes one link arm 315, the vessel 5 can have one connection point 99. In another example, if the mooring system 1400 includes two link arms 315, the vessel 5 can have two connection points 99, and so on.

[0081] The vessel 5 can be connected to the to the mooring structure 1401 via the link arm 315 toward the at the connection point 99. In some embodiments, the mooring system 1400 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 1400 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 1400 can be configured to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 1400 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m from a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree sector.

[0082] FIG. 15 depicts a side elevation view of an illustrative mooring system 1500 that is mooring the vessel 5 floating on the surface 1 of the body of water 4 that includes the mooring structure 501 disposed on the seabed 2 and the turntable 302, the yoke 303, the weight 308, and the link arm(s) 315 each disposed above the surface 1 of the body of water 4, and the first mooring leg 110, according to one or more embodiments. In some embodiments, the mooring structure 501 can be configured to be disposed on the seabed 2 such that a distance from the axis 320 of the mooring structure 501 to the offshore production facility 650 is less than a maximum distance between the axis 320 of the mooring structure 501 and a distal end of the vessel 5.

[0083] In some embodiments, one or more flexible fluid conduits 1501 can be used to connect a rigid conduit 10 disposed on the vessel 5 to a rigid conduit 651 disposed on the offshore production facility 650. In some embodiments, the flexible fluid conduit 1501 can have a first end 1502 and a second end 1503. In some embodiments, the first end 1502 of the flexible fluid conduit 1501 can be connected to the rigid conduit 651 disposed on the offshore production facility 650. In some embodiments, the second end 1503 of the flexible fluid conduit 1501 can be connected to the rigid conduit 10 disposed on the vessel 5. In some embodiments, the flexible fluid conduit 1501 can provide or maintain fluid communication between the rigid fluid conduit 651 disposed on the offshore production facility 650 and the rigid fluid conduit 10 disposed on the vessel 5.

[0084] In some embodiments, the mooring system 1500 can include a flexible conduit support 1550 disposed on the turntable 302 as shown in FIG. 15, or disposed on the mooring structure 501, not shown. In some embodiments, the flexible conduit support 1550 can be configured as a saddle arrangement that can support the flexible fluid conduit 1501 such that the flexible fluid conduit 1501 is configured in a double catenary configuration.

[0085] In some embodiments the first end 1502 of the flexible fluid conduit 1501 can be configured to be connected to the rigid fluid conduit 651 disposed on the offshore production facility 650 via the first fluid swivel 605. In some embodiments, the second end 1503 of the flexible fluid conduit 1501 can be configured to be connected to the rigid fluid conduit 10 disposed on the vessel 5 via the second fluid swivel 606. In some embodiments, the first fluid swivel 605 can reduce or relieve a torque that can build up in the flexible fluid conduit 150101 as the vessel 5 rotates about the axis 320. In some embodiments, the second fluid swivel 706 can reduce or relieve a torque that can build up in the flexible fluid conduit 601 as the vessel 5 rotates about the axis 320.

[0086] In some embodiments, the mooring system 1500 can be disposed at a location where a water depth is less than 60 meters (m), less than 55 m, less than 50 meters, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5, e.g., on the support structure 512 that extends from the first end 7 of the vessel 5, for each link arm 315. For example, if the mooring system 1500 includes one link arm 315, the vessel 5 can have one connection point 99. In another example, if the mooring system 1500 includes two link arms 315, the vessel 5 can have two connection points 99, and so on.

[0087] The vessel 5 can be connected to the to the mooring structure 501 via the link arm 315 at the connection point 99. In some embodiments, the mooring system 1500 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 1500 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 1500 can be configured to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 800 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m from a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree sector.

[0088] FIG. 16 depicts a side elevation view of another illustrative mooring system 1600 that is mooring a vessel 5 floating on a surface 1 of a body of water 4, according to one or more embodiments. In some embodiments, the mooring system 1600 can include a mooring structure 1601 that can be connected to the seabed 2. In some embodiments, the mooring structure 1601 can be connected to the seabed 2 via at least one anchor leg 130. The anchor leg 130 can be any structure or member configured to connect the mooring structure 1601 to the seabed 2. In some embodiments, the anchor leg 130 can be a chain, a wire rope, a synthetic rope, or any combination thereof. In some embodiments, the mooring structure 1601 can be configured to float in the body of water 4 above the seabed 2. In some embodiments, the mooring structure 1601 can be configured to float on the surface 1 of the body of water 4, as shown.

[0089] In some embodiments, the mooring system 1600 can include one or more mooring legs 110. In some embodiments, the mooring structure 1601 can be configured to be connected to the vessel 5 such that the vessel 5 can be partially rotatable with respect to the mooring structure 1601 about a vertical axis 1620. In some embodiments, the mooring leg 110 can include a first end 111 configured to be connected to the vessel 5 and a second end 112 configured to be connected to the seabed 2. In some embodiments, the mooring structure 1601 can be connected to the vessel 5 toward the first end 7 of the vessel 5, for example a bow of the vessel, and the mooring leg 110 can be connected toward the second end 8 of the vessel 5, for example a stern of the vessel 5. In some embodiments, the second end 112 of the mooring leg 110 can be connected to the seabed 2 via an anchor 114. In some embodiments, the anchor 114 can be configured as a driven pile, a suction pile, a torpedo pile, a drag embedment anchor, a clump weight, any other type of anchoring device, or any combination thereof. In some embodiments, the mooring leg 110 can be or can include, but is not limited to, a chain, a wire rope, a synthetic rope, or any combination thereof.

[0090] In some embodiments, the mooring leg 110 can include one or more buoys 113 connected thereto. The buoy(s) 113 can support at least a portion of the mooring leg 110. The buoy(s) 113 can be or can include, but is/are not limited to, any type of buoyant structure configured to float in the body of water 4 or on the surface 1 of the body of water 4. In some embodiments, the buoy(s) 113 can be or can include, but are not limited to, in-line mooring buoys, a pendulum fixture with a tri-plate and modular mooring buoy secured via a padeye at the base of the steelwork, closed structures having an internal volume that can be empty or filled with a buoyant fluid, e.g., a gas such as air, buoyant materials, or any combination thereof. Buoyant materials can be or can include, but are not limited to, syntactic foams, foamed thermoset or thermoplastic materials such as epoxy, urethane, phenolic, vinyl ester, polypropylene, polyethylene, polyvinylchlorides, nylon, thermoplastic or thermoset materials filled with particles (such as glass, plastic, micro-spheres, and/or ceramics), filled rubber or other elastic materials, or any combination thereof. In some embodiments, suitable buoys can be or can include, but are not limited to, the in-line mooring buoy available from Balmoral or Doowin Marine.

[0091] In some embodiments, the buoy(s) 113 can be connected to the mooring leg 110 via one or more connectors. In some embodiments, suitable connectors can be or can include, but are not limited to, an h-link, one or more, e.g., a pair, of shackles, a link plate, a tri-plate, a length adjustable connector, or a combination thereof.

[0092] In some embodiments, the mooring leg 110 can be of sufficient length and can include a sufficient number of buoys 113 to permit the vessel 5 to partially rotate about the vertical axis 1620. In some embodiments, the mooring system 1600 can be configured to permit the vessel 5 to rotate with respect to the mooring structure 1601. In some embodiments, the mooring system 1600 can be configured to permit the vessel 5 to rotate with respect to the mooring structure 1601 about the vertical axis 1620 within a sector, e.g., see sector 6 in FIG. 2. In some embodiments, the sector can be a 180 degree sector, a 160 degree sector, a 140 degree sector, a 120 degree sector, a 100 degree sector, an 80 degree sector, or a 60 degree sector. In some embodiments, the sector can be less than a 180 degree sector, less than a 160 degree sector, less than a 140 degree sector, less than a 120 degree sector, less than 100 degree sector, less than an 80 degree sector, or less than a 60 degree sector. In some embodiments, the sector can be greater than 180 degrees and less than 360 degrees. In some embodiments, the sector can be divided into two sub-sectors, e.g., see sectors 6a and 6b in FIG. 2. In some embodiments, the subsectors can be equal to each other, for example 90 degrees, in other embodiments, not shown the subsectors can be unequal.

[0093] In some embodiments, as noted above, the mooring structure 1601 can be configured to float in the body of water 4 above the seabed 2. In some embodiments, the mooring structure 1601 can be a buoy. In some embodiments, the mooring structure 1601 can include a chain table connected thereto to which the at least one anchor leg 130 can be connected. As shown, the mooring structure 1601 can be connected to a support structure 1612 that extends from the first end 7 of the vessel 5 over the surface 1 of the body of water 4. In some embodiments, the mooring structure 1601 can be configured to be rotatively connected to the vessel via a bearing 1640 and the mooring structure 1601 can be connected to the seabed 2 via the one or more anchor legs 130. In some embodiments, when the mooring structure 1601 is configured as buoy with a chain table connected thereto, the buoy can be permanently connected to the vessel 5 or can be disconnectable from the vessel 5. In some embodiments, when the mooring structure 1601 includes a buoy, the buoy can be configured to be disconnected from the vessel 5 and permitted to float on the surface 1 of the body of water 4 or below the surface 1 of the body of water 4. In some embodiments, when the mooring structure 1601 includes a buoy having a chain table connected thereto, the buoy and chain table can be disconnected from the vessel 5 and can be configured to float in the body of water 4 above the seabed 2 and/or on the surface 1 of the body of water 4. In other embodiments, when the mooring structure 1601 includes a buoy having a chain table connected thereto, the chain table can be disconnected from the buoy and can be configured to float in the body of water 4 above the seabed 2 and/or on the surface 1 of the body of water 4. In some embodiments, the chain table that can be connected to the mooring structure 1601, e.g., a buoy, can be similar to or the same as the chain tables disclosed in U.S. Patent Application Publication Nos.: 2002/0134292; 2005/0061224; 2008/0166936; 2020/0039610; and 2023/0151846.

[0094] In some embodiments, the mooring system 1600 can be disposed at a location where a water depth is less than 60 meters (m), less than 55 m, less than 50 m, less than 45 m, less than 40 m, less than 35 m, or less than 30 m. In some embodiments, the vessel 5 can have a connection point 99 located toward the first end 7 of the vessel 5. The vessel 5 can be rotatively connected to the mooring structure 1601 at the connection point 99. In some embodiments, the mooring system 1600 can be configured to limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 1600 can be configured to limit a sway motion of the vessel 5 at the connection point 99 to within +/15, +/13 m, +/10 m, +/7 m, or +/5 m of a neutral location. In some embodiments, the mooring system 1600 can be configured to permit a yaw motion of the vessel 5 within a 180 degree sector. In some embodiments, the mooring system 100 can be configured to: (i) limit a surge motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, (ii) limit a sway motion of the vessel 5 at the connection point 99 to within +/15 m of a neutral location, and/or (iii) to permit a yaw motion of the vessel 5 within a 180 degree or less sector.

[0095] In some embodiments, the mooring systems 100, 300, 500, 600, 900, 1300, 1400, 1500, and/or 1600 can include a first mooring leg 1010, a first tensioning device 1050, a second mooring leg 1020, and a second tensioning device 1051, as described above with reference to the mooring system 1000. In some embodiments, the flexible fluid conduit 601, the rigid fluid conduit 651, the rigid fluid conduit 10, the flexible conduit 1401, rigid fluid conduit 1460, and the flexible conduit 1501 can each be configured to convey a cryogenic fluid. The cryogenic fluid can be a fluid having a boiling point of less than 150 C. In some embodiments, the cryogenic fluid can be liquified natural gas (LNG). In other embodiments, the flexible fluid conduit 601, the rigid fluid conduit 651, the rigid fluid conduit 10, the flexible conduit 1401, rigid fluid conduit 1460, and the flexible conduit 1501 can each be configured to convey ammonia, liquid hydrocarbons, gaseous hydrocarbons, water, carbon dioxide, or any other liquid or gas or mixture thereof.

[0096] Certain embodiments and features have been described using a set of numerical upper limits and a set of numerical lower limits. It should be appreciated that ranges including the combination of any two values, e.g., the combination of any lower value with any upper value, the combination of any two lower values, and/or the combination of any two upper values are contemplated unless otherwise indicated. Certain lower limits, upper limits and ranges appear in one or more claims below. All numerical values are about or approximately the indicated value, and take into account experimental error and variations that would be expected by a person having ordinary skill in the art.

[0097] Various terms have been defined above. To the extent a term used in a claim can be not defined above, it should be given the broadest definition persons in the pertinent art have given that term as reflected in at least one printed publication or issued patent. Furthermore, all patents, test procedures, and other documents cited in this application are fully incorporated by reference to the extent such disclosure can be not inconsistent with this application and for all jurisdictions in which such incorporation can be permitted.

[0098] While certain preferred embodiments of the present invention have been illustrated and described in detail above, it can be apparent that modifications and adaptations thereof will occur to those having ordinary skill in the art. It should be, therefore, expressly understood that such modifications and adaptations may be devised without departing from the basic scope thereof, and the scope thereof can be determined by the claims that follow.