Underwater drilling system and method for flushing a drill cavity within an underwater drilling system

Abstract

An underwater drilling assembly and system is disclosed. The underwater drilling assembly and system includes a drilling assembly, a frame for the drilling assembly, and a connection flange assembly to be secured to a hull of a vessel. The underwater drilling assembly and system also includes a waste box and an automatic vent valve assembly.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application Serial No. 63 / 426,591, filed November 18, 2022, entitled “MARINE SALVAGE DRILL ASSEMBLIES AND SYSTEMS,” the entire disclosure of which is incorporated herein by reference. BACKGROUND

[0003] The present disclosure relates to drilling systems, assemblies, and components that can be used for marine salvage. SUMMARY

[0004] In various aspects of the present disclosure, an underwater drilling system for marine salvage is disclosed. The underwater drilling system includes a frame, a drilling assembly supported by the frame, and a connection flange assembly configured to be attached to a ship hull by the drilling assembly. For example, hydrocarbons can be extracted from the ship hull through the connection flange assembly after the connection flange assembly is attached to the ship hull and the drilling assembly is disengaged from the connection flange assembly. BRIEF DESCRIPTION OF DRAWINGS

[0005] The various aspects described herein, and their advantages, can be understood with reference to the following description taken in conjunction with the accompanying drawings.

[0006] Figure 1 is a perspective view of an underwater drilling system according to at least one aspect of the present disclosure, the underwater drilling system including a frame, a drilling assembly supported by the frame, and a connection flange assembly configured to be secured to a ship hull by the underwater drilling system.

[0007] Figure 2 is a perspective view of an underwater drilling system according to at least one aspect of the present disclosure, the underwater drilling system including a frame, a drilling assembly supported by the frame, and a connection flange assembly configured to be secured to a ship hull by the underwater drilling system. Figure 1 is a partial perspective view of the underwater drilling system of

[0008] Figure 3 is a partial perspective view of the underwater drilling system of Figure 1

[0009] Figure 3A is a partial perspective view of the underwater drilling system of Figure 1

[0010] Figure 4 is a partial perspective view of the underwater drilling system of Figure 1

[0011] Figure 5 is a partial perspective view of the underwater drilling system of Figure 1 ​​​A front view of the underwater drilling system of

[0012] Figure 6 A front view of the underwater drilling system of Figure 1 A side view of the underwater drilling system of

[0013] Figure 7 A front view of the underwater drilling system of Figure 1 A perspective view of an attachment leg of the underwater drilling system of

[0014] Figure 8 A front view of the underwater drilling system of Figure 7 A partial perspective view of an attachment leg of

[0015] Figure 9 A front view of the underwater drilling system of Figure 7 A cross-sectional view of a portion of an attachment leg of

[0016] Figure 10 A front view of the underwater drilling system of Figure 1 A schematic view of the underwater drilling system and an attachment leg thereof configured to engage a concave hull surface of

[0017] Figure 11 A front view of the underwater drilling system of Figure 10 A schematic view of the underwater drilling system and an attachment leg thereof configured to engage a concave hull surface of

[0018] Figure 12 A front view of the underwater drilling system of Figure 10 A schematic view of the underwater drilling system and an attachment leg thereof configured to engage a concave hull surface of

[0019] Figure 13 A front view of the underwater drilling system of Figure 10 A schematic view of the underwater drilling system and an attachment leg thereof configured to engage a concave hull surface of

[0020] Figure 14 A front view of the underwater drilling system of Figure 1 A schematic view of the underwater drilling system and an attachment leg thereof configured to engage a concave hull surface of

[0021] Figure 15 A front view of the underwater drilling system of Figure 14schematic view of an underwater drilling system and an attachment leg of

[0022] Figure 16 is according to at least one aspect of the present disclosure Figure 14 schematic view of an underwater drilling system and an attachment leg of

[0023] Figure 17 is according to at least one aspect of the present disclosure Figure 14 schematic view of an underwater drilling system and an attachment leg of

[0024] Figure 18 is according to at least one aspect of the present disclosure Figure 1 partial cross-sectional view of a self-tapping connecting stud of a plurality of self-tapping connecting studs of an underwater drilling system of Figure 1 connecting flange assembly of the underwater drilling system is secured to a ship hull, and wherein the self-tapping connecting stud includes a cutting body, a self-tapping thread, a shank portion, and a drivable head portion.

[0025] Figure 19 is according to at least one aspect of the present disclosure Figure 18 self-tapping connecting stud of Figure 1 partial cross-sectional view of a receiving structure of a connecting flange assembly of

[0026] Figure 20 is according to at least one aspect of the present disclosure Figure 18 self-tapping connecting stud of Figure 1 partial cross-sectional view of a receiving structure of a connecting flange assembly of

[0027] Figure 21 is according to at least one aspect of the present disclosure Figure 18 self-tapping connecting stud of Figure 1 partial cross-sectional view of a receiving structure of a connecting flange assembly of

[0028] Figure 22 is according to at least one aspect of the present disclosure Figure 18 self-tapping connecting stud of Figure 1 partial cross-sectional view of a receiving structure of a connecting flange assembly of

[0029] Figure 23 is according to at least one aspect of the present disclosureFigure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, in which the self-tapping connecting stud is shown in the fully drilled position.

[0030] Figure 24 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, in which the self-tapping connecting stud is shown in the fully installed position.

[0031] Figure 25 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the receiving structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in the first failure configuration.

[0032] Figure 26 It is based on at least one aspect of this disclosure Figure 18 Self-tapping connecting studs and Figure 1 A partial cross-sectional view of the housing structure of the connecting flange assembly, wherein the self-tapping connecting stud is shown in a second failure configuration.

[0033] Figure 27 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system, which also includes a locking assembly configured to attach a connecting flange assembly to and detach it from the frame.

[0034] Figure 28 It is based on at least one aspect of this disclosure Figure 1 A partial perspective view of an underwater drilling system, wherein the frame includes a lower platform and a male coupling portion attached to the lower platform, wherein the male coupling portion is configured to be received by a female coupling portion of a connecting flange assembly, and wherein the locking assembly includes a locking ring configured to rotate to lock and unlock the male coupling portion and the female coupling portion.

[0035] Figure 29 It is based on at least one aspect of this disclosure Figure 1 A perspective view of a connecting flange assembly of an underwater drilling system, wherein the connecting flange assembly includes a cutter gate configured to provide an actuable seal between a lower drill chamber and an upper drill chamber defined within the connecting flange assembly.

[0036] Figure 30 It is based on at least one aspect of this disclosure Figure 1 A cross-sectional view of the connecting flange assembly, the lower platform of the frame, and the locking assembly of the underwater drilling system.

[0037] Figure 31is a schematic view of a drill rod, a male coupling portion of a frame, a connection flange assembly, and a waste bin of an underwater drilling system fluidly coupled to a drill cavity within the male coupling portion of a drilling assembly according to at least one aspect of the present disclosure, wherein the waste bin is configured to collect waste fluid, and wherein the drill rod is shown in an initial position. Figure 1

[0038] Figure 32 is a schematic view of a drill rod, a male coupling portion, a connection flange assembly, and a waste bin according to at least one aspect of the present disclosure, wherein the drill rod is shown in a chamber pressurization position. Figure 31

[0039] Figure 33 is a schematic view of a drill rod, a male coupling portion, a connection flange assembly, and a waste bin according to at least one aspect of the present disclosure, wherein the drill rod is shown in a hole cutting position, wherein fluid is passing through the hull and into the drill cavity. Figure 31

[0040] Figure 34 is a schematic view of a drill rod, a male coupling portion, a connection flange assembly, and a waste bin according to at least one aspect of the present disclosure, wherein the drill rod is shown in a retracted position and a knife gate of the connection flange assembly is shown in an actuated configuration to provide a seal between an upper drill cavity portion of the male coupling portion and a lower drill cavity portion of the connection flange assembly. Figure 31

[0041] Figure 35 is a schematic view of a drill rod, a male coupling portion, a connection flange assembly, and a waste bin according to at least one aspect of the present disclosure, wherein the drill rod is shown in a retracted position and a knife gate of the connection flange assembly is shown in an actuated configuration, wherein a pump is configured to expel waste fluid within the drill cavity into the waste bin. Figure 31

[0042] Figure 36 is a schematic view of a drill rod, a male coupling portion, and a waste bin of Figure 31 and a connection flange assembly of Figure 31 separated, wherein the waste bin is full of waste fluid.

[0043] Figure 37 is a partial perspective view of an underwater drilling system according to at least one aspect of the present disclosure, wherein the underwater drilling system includes an automatic vent valve assembly configured to automatically vent air within a drill cavity, and wherein the automatic vent valve assembly includes a fluid pivot coupling, a float, and an internal automatic vent valve. Figure 1

[0044] Figure 38 is a cross-sectional view of an automatic vent valve assembly according to at least one aspect of the present disclosure. Figure 37 ​​​​​​​

[0045] Figure 39 is a schematic view of a system including a drilling assembly and various components for operating the drilling assembly in accordance with at least one aspect of the present disclosure.

[0046] Corresponding reference numbers indicate corresponding parts throughout the various drawings. The examples set forth herein illustrate one form of various aspects of the disclosure and should not be construed as limiting the scope of the application. DETAILED DESCRIPTION

[0047] Applicant of the present application owns the following patent applications that were filed on November 17, 2023 and which are each herein incorporated by reference in their respective entirety:

[0048] 1. PCT Patent Application, titled FRAMEWORK FOR AN UNDERWATER DRILLING ASSEMBLY; Attorney Docket No. 220323-1 PCT;

[0049] 2. PCT Patent Application, titled FASTENERS FOR AN UNDERWATER DRILLING ASSEMBLY; Attorney Docket No. 220323-2 PCT;

[0050] 3. PCT Patent Application, titled LOCKABLE FLANGES FOR AN UNDERWATER DRILLING ASSEMBLY; Attorney Docket No. 220323-3 PCT; and

[0051] 4. PCT Patent Application, titled EXHAUST ASSEMBLY FOR AN UNDERWATER DRILLING ASSEMBLY; Attorney Docket No. 220323-5 PCT.

[0052] Before the various aspects of the drilling assembly and system are explained, it is to be noted that the application of the illustrative examples is not limited to the details of construction and the arrangement of components shown in the attached drawings and described herein. The illustrative examples can be implemented or incorporated in other aspects, variations and modifications, and can be practiced or carried out in various ways. Furthermore, unless otherwise indicated, the terms and expressions employed herein have been chosen for the purpose of describing the illustrative examples and are not to be taken in a limiting sense. It is also to be understood that one or more aspects, expressions of aspects, and / or examples from the following description can be combined with one or more other aspects, expressions of aspects, and / or examples from the following description.

[0053] One of the functions of ocean salvage can include removing or extracting fluids contained within a disabled vessel or marine vehicle. Leaving fluids within a disabled vessel can pose a potential environmental hazard. A vessel can be classified as disabled if it is sunk to the ocean floor or otherwise unable to return to a state where the vessel can independently discard its fluids. The fluids to be extracted can include, for example, fuel. In one instance, the fuel is contained within fuel tanks of the vessel. In another instance, the fuel is contained within a cargo area of the vessel. Regardless, extracting fluids from a disabled vessel can mitigate the risk of a potential environmental hazard.

[0054] In one instance, a method of extracting fluids from a disabled vessel involves a human diver manually drilling a hole in the vessel. Manually drilling a hole requires many steps and equipment. The diver must find the fluids to be extracted and assess where to drill a hole in the vessel to extract the fluids. In many cases, the frame of the vessel is behind or beside the outer shell or skin of the vessel. This presents the risk of drilling into the frame, which can cause drill bit failure and / or leakage of fluids from the vessel. The current method of deciding where to drill a hole involves tapping on the outer shell of the vessel and listening to the tapping tones until a hollow tone is found—similar to locating a joist in a wall.

[0055] In one instance, once the diver finds the location to drill a hole, the diver installs a flange piece on the outer shell. The flange piece can be attached to the outer shell of the vessel, for example, by inserting a self-tapping bolt and using the threaded bolt to secure the flange to the outer shell. Once the flange is attached to the outer shell of the vessel, a valve is attached to the flange, for example, by a bolt. Once the valve is installed, the diver installs a drilling assembly by bolting the drilling assembly to the valve. Once the drilling assembly is installed, the valve is opened. The diver can now actuate the drill, and as a result, a drill bit is configured to pass through the valve and flange to drill a hole in the outer shell of the vessel. The drill bit can act as a temporary fluid stop to prevent fluid from spilling out during the drilling process. Once the hole is drilled, the drill bit is raised above the valve, the valve is closed, and the drill is removed. Once the drill is removed, the fluids can be extracted through a port in the valve.

[0056] In at least one example, various marine salvage tasks are performed by an underwater drilling system capable of performing several steps of a marine salvage with minimal or no diver intervention at the drilling site. An overview of the underwater drilling system will now be described. Several components discussed below are described in greater detail throughout this disclosure. First, a vessel containing all necessary equipment to extract fluid from a wreck is positioned near the wreck. Once the vessel is in position, a crane disposed on the vessel is used to place the underwater drilling system on the water surface, where the assembly is floated by a plurality of removable floats. Then, a remotely operated underwater vehicle (ROV) is deployed to connect to the underwater drilling system. After the ROV is connected to the underwater drilling system, the floats are removed to allow the ROV to lower the underwater drilling system to the drilling site. The underwater drilling system is tethered to a control interface on the vessel to transfer hydraulic fluid between a hydraulic power pack and the underwater drilling system and to transfer electrical and data signals between the control interface and the underwater drilling system.

[0057] Once the underwater drilling system is positioned at the drilling location, the underwater drilling system is positioned against the surface of the wreck by the ROV. In at least one example, the ROV pushes the underwater drilling system against the surface of the wreck with a predetermined holding force. At this point, the attachment legs are actuated by the control interface on the vessel to attach the underwater drilling system to the surface of the wreck and hold it against the surface of the wreck. Once the attachment legs are engaged with the surface of the wreck, the ROV can reduce or stop applying the predetermined holding force and allow the underwater drilling system to be held against the surface of the wreck by the attachment legs.

[0058] After engagement of the attachment legs, a drilling assembly of the underwater drilling system is used to secure a flange connection assembly to the surface of the wreck with a plurality of self-tapping connection studs and drill a primary bore in the surface of the wreck for fluid extraction. The drilling assembly includes two linear fluid actuators and a rotary fluid actuator. Each linear fluid actuator is configured to linearly actuate a drill rod, and each drill rod is configured to be rotated by the rotary fluid actuator through a transmission assembly. One of the drill rods is configured to drive the self-tapping connection studs into the surface of the wreck to secure the flange connection assembly to the surface of the wreck, and the other drill rod is configured to drill the primary bore in the surface of the wreck for fluid extraction.

[0059] The flange connection assembly is secured to the hull by a plurality of self-tapping connection studs. The flange connection assembly includes a plurality of containment structures configured to contain waste fluid that can leak as a result of drilling the self-tapping connection studs into the hull. In at least one case, one or more of the self-tapping connection studs can break, and in such a case, the containment structures are configured to prevent waste fluid from leaking from the flange connection assembly as a result of the breakage.

[0060] After the flange connection assembly is secured and the main bore is drilled, the knife gate of the flange connection assembly is actuated to seal the flange connection assembly to prevent additional fluid from escaping from the main bore of the wreck beyond the fluid that escaped from the wreck during drilling of the main bore. The knife gate divides the drill cavity (through which the drill string passes to drill the main bore) into an upper drill cavity and a lower drill cavity. At this point, fluid and / or debris that escaped from the main bore during drilling of the main bore is trapped in the upper drill cavity defined in the male coupling portion of the frame of the underwater drilling system. As discussed in more detail below, the male coupling portion is secured to the flange connection assembly by a locking mechanism.

[0061] The fluid trapped in the upper drill cavity is now evacuated from the upper drill cavity into a waste box of the underwater drilling system in an attempt to reduce or eliminate the escape of waste fluid into the surrounding medium (e.g., seawater) when the frame and drilling assembly of the underwater drilling assembly are separated from the installed connection flange assembly. The waste box is mounted to the frame and fluidly coupled to the upper drill cavity through the male coupling portion. A pump is provided to pump seawater into the upper drill cavity to evacuate the waste fluid into the waste box.

[0062] The underwater drilling system also includes an automatic vent assembly fluidly coupled to the upper drill cavity to automatically release any trapped air encountered within the wreck. The automatic vent assembly is pivotally coupled to the frame to allow the automatic vent assembly to be pivoted to its highest position to facilitate the evacuation of trapped air from the automatic vent assembly.

[0063] After the waste fluid is evacuated from the upper drill cavity, the locking mechanism is actuated to unlock the male and female coupling portions, thereby allowing the drilling assembly, frame, and various other components of the underwater drilling system to be removed from the installed connection flange assembly. In addition to unlocking the male and female coupling portions of the flange connection assembly, the attachment legs are released from the surface of the wreck to allow the frame, drilling assembly, and various other components of the underwater drilling system to be completely separated from the installed connection flange assembly.

[0064] Once removed from the installed flange connection assembly, the underwater drilling system can be transported back to the surface, e.g., by an ROV, to re-install the float, re-load additional flange connection assemblies, clean and / or flush the waste box, and prepare for the next installation of a flange connection assembly. In at least one instance, the float is re-installed onto the frame before the above steps occur. In at least one instance, another flange connection assembly is aligned with the male coupling portion of the frame, and the locking mechanism locks the male coupling portion and the new flange connection assembly. The underwater drilling system can then be lowered back to the new drilling site for installation of the new flange connection assembly.

[0065] After installation of the flange connection assembly, the ROV can be configured to connect the hose assembly to the flange connection assembly, release the knife seal, and extract fluid from the wreck, for example, by vacuum. In at least one instance, after fluid extraction, the flange connection assembly is resealed.

[0066] All of the steps described herein can be performed by the ROV alone, by the ROV with the assistance of a diver, and / or by the diver alone.

[0067] Hydraulic hoses and / or electrical transmission lines can be stored on reels on the vessel. For example, hydraulic hoses and / or electrical transmission lines that transmit fluid and / or electrical signals between the vessel and the transport center can be stored on one or more reels positioned on the vessel.

[0068] Details of various equipment, systems, and / or assemblies for marine salvage can be found in U.S. Patent Application Serial No. 16 / 356,398 (now U.S. Patent No. 11,014,639, entitled “MARINE SALVAGE DRILL ASSEMBLIES AND SYSTEMS”), which is incorporated by reference herein in its entirety.

[0069] Figures 1-9 An underwater drilling system 1000 according to one aspect of the disclosure is shown. The underwater drilling system 1000 includes a frame 1100 configured to support various components of the underwater drilling system 1000, a plurality of attachment legs 1300 attached to the frame 1100 and configured to hold the underwater drilling system 1000 to a hull, and a drilling assembly 1400 configured to drill a main hole in the hull and secure a flange connection assembly 1600 to the hull with a plurality of self-tapping connection studs 1200. The underwater drilling system 1000 also includes a waste bin assembly 1800 mounted to the frame 1100 and configured to collect waste fluid, and an automatic vent valve assembly 1900 configured to automatically vent air encountered through the hull.

[0070] The underwater drilling system 1000 also includes other various components, such as a hot plug connector assembly 1010 configured to provide a global connection point for fluid and / or electrical line connections. In at least one instance, the ROV is configured to connect directly to the hot plug connector assembly 1010, and the ROV is connected to electrical and / or hydraulic supplies on the vessel. In at least one instance, the ROV is configured to connect a tether from the vessel to the hot plug connector assembly 1010. In at least one instance, the underwater drilling system 1000 also includes one or more cameras, lights, power supplies, and an ROV wrist mechanism that are attached to the frame 1100. In at least one instance, the ROV is configured to attach to the ROV wrist mechanism to allow the ROV to maneuver the underwater drilling system 1000. In at least one instance, the underwater drilling system 1000 also includes a central valve box. In at least one instance, one or more hydraulic components of the underwater drilling system 1000 include separate supply and return lines that are connected to the central valve box, and the central valve box includes a main supply and return line. In at least one instance, the main supply and return line is fed to the vessel through the hot plug connector assembly.

[0071] The underwater drilling system 1000 also includes a float member 1005 that is configured to be manually and / or by the ROV attached to and detached from the frame 1100. In at least one instance, the float member 1005 is configured to facilitate transfer of the underwater drilling system 1000 from the vessel to the ocean, for example, by allowing the underwater drilling system 1000 to float on the surface of the sea. At this point, the ROV can be attached to the underwater drilling system 1000. Once the ROV is attached to the underwater drilling system 1000, the float can be removed manually and / or by the ROV, thereby allowing the underwater drilling system 1000 to be taken to the drilling site, for example, by the ROV and / or a diver.

[0072] Referring primarily to Figure 2 and Figure 3 , the frame 1100 is configured to support various components, subsystems, and assemblies of the underwater drilling system 1000. The frame 1100 can be composed of any suitable material, such as metal, plastic, and / or any combination thereof. The frame 1100 includes a main support structure (or containment cage) 1110, a central support structure 1101 located within and attached to the main support structure 1110, and a lower platform 1120 attached to the central support structure 1101. The central support structure 1101 and the lower platform 1120 primarily support the drilling assembly 1400. As discussed in more detail below, the lower platform 1120 is configured to be in a pre-arranged configuration (e.g., as shown in FIG. 1) when the underwater drilling system 1000 is attached to the vessel, and the central support structure 1101 is configured to be in a pre-arranged configuration when the underwater drilling system 1000 is attached to the vessel. Figure 2 and Figure 3The drill assembly 1400 is configured to drive the plurality of self- tapping connection studs 1200 into the flange connection assembly 1600 to secure the flange connection assembly 1600 to the ship hull. In at least one instance, the studs 1200 are held within the lower platform 1120 by, for example, a bushing structure 1121 configured to provide a close fit for each stud 1200 therein prior to being driven by the drill assembly 1400 to hold the studs 1200 in a pre-arranged configuration.

[0073] The central support structure 1101 also includes a top platform 1102. The top platform 1102 includes a hook 1103 configured to be engaged by a crane to pick up and lower the underwater drilling system 1000.

[0074] Referring primarily to Figure 2 , Figure 3 and Figures 7-9 , the attachment legs 1300 are attached to the frame 1100 and are configured to hold the underwater drilling system 1000 to the ship hull. Each attachment leg 1300 is attached to the lower platform 1120. Each attachment leg 1300 includes a linear fluid actuator 1310, an expandable (or telescoping) leg assembly 1320 attached to the fluid actuator 1310, and a suction cup base 1370 attached to the expandable leg assembly 1320 via a gimbal 1360. The suction cup base 1370 is configured to provide a holding force against the ship hull. The expandable leg assembly 1320 is configured to allow the underwater drilling system 1000 to float relative to the ship hull, as will be discussed in greater detail below. The linear fluid actuator 1310 includes an output shaft 1311 configured to move up and down in response to fluid actuation. The expandable leg assembly 1320 includes a housing member 1321 fixedly attached to the linear fluid actuator 1310, an upper leg portion 1330 slidably supported within the housing member 1321, and a lower leg portion 1350 slidably supported within the housing member 1321. The upper leg portion 1330 is attached to the output shaft 1311 and directly translated up and down by the output shaft 1311. The lower leg portion 1350 is spring loaded against the upper leg portion 1330 by a spring mechanism 1340.

[0075] The spring mechanism 1340 includes a plunger shaft 1341 slidably supported within the upper leg portion 1330. The plunger shaft 1341 includes a plunger head 1342. The spring mechanism further includes a spring 1343 and a fixed nut 1344 positioned within the upper leg portion 1330. The spring 1343 is positioned between the plunger head 1342 and the nut 1344 such that as the upper leg portion 1330 is translated upward by the output shaft 1311 when the suction base 1370 is engaged with the hull (e.g., by the hydraulic application of suction), the upper leg portion 1330 expands relative to the lower leg portion 1350 due to the holding force provided by the suction base 1370 and the spring 1343. The lower leg portion 1350 is pinned to the plunger shaft 1341 and the slot 1322 of the housing member 1321 via a pin 1345. The pin 1345 holds the plunger shaft 1341 to the lower leg portion 1350 to allow the upper leg portion 1330 to be retracted by the fluid actuator 1310. The upper leg portion 1330 is spring loaded against the nut 1344. As will be discussed in greater detail below, the attached leg 1300 is configured to allow the underwater drilling system 1000 to float relative to the hull while still providing a holding force through the suction base 1370.

[0076] Each suction base 1370 is attached to the lower leg portion 1350 via a gimbal 1360 to allow each attached leg 1300 to conform to the uneven surface of the hull, as will be discussed in greater detail below. The suction base 1370 includes a suction cavity 1371 defined in the bottom side of the suction base 1370 and a plurality of suction holes 1372 that are fluidly coupleable to a fluid line such that a vacuum can be created in the suction cavity 1371 to secure each attached leg 1300 to the hull.

[0077] Figures 10-13 and Figures 14-17 are schematic illustrations of the attachment of the underwater drilling system 1000 to a concave hull 2001 and a convex hull 2002, respectively, by the attached leg 1300. As can be seen in Figure 10 , the expandable leg assembly 1320 is shown in a retracted configuration. From the retracted configuration, the fluid actuator 1310 is actuated to advance the output shaft 1311, and thus the expandable leg assembly 1320 and the suction base 1370, toward the concave hull 2001 and into the Figure 11 illustrated extended position. As can be seen in Figure 11 , the suction base 1370 pivots or rotates as it comes into contact between the suction base 1370 and the concave hull 2001 to conform to the concave hull 2001. After the suction base 1370 is in sufficient contact with the concave hull 2001, air and / or water is drawn from the suction cavity 1371 defined in the suction base 1370 through the suction holes 1372 to secure the suction base 1370 to the concave hull 2001. In at least one instance, a suction or vacuum pump 1003 is used to draw the air and / or water from the suction cavity 1371.Figure 2 ) to achieve suction within suction cavity 1371.

[0078] In at least one instance, sufficient contact between suction base 1370 and hull 2001 can be determined automatically by a pre-configured pressure relief valve configured to stop extension of output shaft 1311 upon reaching a predetermined pressure. This configuration can prevent fluid actuator 1310 from lifting underwater drilling system 1000 from hull 2001. In at least one instance, ROV is configured to maintain application of a predetermined amount of positive downward force on underwater drilling system to hold underwater drilling system 1000 against hull 2001. In at least one instance, grommet 1690 allows for some degree of self-leveling of underwater drilling system 1000.

[0079] After suction base 1370 establishes suction force, output shaft 1311 is retracted by fluid actuator 1310 to place the attachment legs in a first holding configuration as seen in Figure 12 Output shaft 1311 is retracted to pull upper leg portion 1330 upward relative to lower leg portion 1350, thereby expanding expandable leg assembly 1320. This is achieved by spring mechanism 1340. This holding configuration causes attachment legs 1300 to pull underwater drilling system 1000 toward hull 2001. In at least one instance, output shaft 1311 is locked upon reaching this holding configuration. Expandable leg assembly 1320 allows underwater drilling system to float or move slightly while flange connection assembly 1600 is installed in hull 2001 while maintaining maximum suction holding force. In other words, underwater drilling system 1000 is able to index toward hull 2001 upon compression of grommet 1690 due to spring 1343. In at least one instance, this arrangement can eliminate the need for hydraulic pressure to compensate for movement of underwater drilling system 1000 relative to hull 2001 upon compression of grommet 1690. In at least one instance, hydraulic pressure other than spring mechanism 1340 (e.g., hydraulic pressure of attachment legs 1300) is used to index underwater drilling system 1000. In at least one instance, output shaft 1311 is not locked upon reaching the first holding configuration.

[0080] Underwater drilling system 1000 can float due to spring mechanism 1340, causing attachment legs 1300 to attain a second holding configuration as seen in Figure 13the second retaining configuration. In at least one instance, the underwater drilling system 1000 is pulled closer to the hull 2001 during installation of the flange connection assembly 1600 by the self- tapping connection bolts 1200. This vertical approximation is a result of the compression of the gasket 1690 of the flange connection assembly 1600 between the outer edge of the flange connection assembly 1600 and the hull 2001 as the threads 1230 of the self-tapping connection bolts 1200 engage into the hull 2001. This engagement pulls the flange connection assembly 1600 towards the hull 2001, thereby compressing the gasket 1690. Without the expandable leg assembly, vertical movement of the underwater drilling system relative to the hull after the retaining force is applied to the hull by the attachment legs of the underwater drilling system can result in instability in the size of the retaining force applied by the attachment legs. In at least one instance, this vertical approximation can result in a loss of suction force supplied by the attachment legs utilizing suction cups.

[0081] As discussed above, Figures 14-17 is a schematic illustration of the attachment of the underwater drilling system 1000 to a convex hull 2002 by the attachment legs 1300. The attachment legs 1300 operate in a similar manner as discussed above with respect to Figures 10-13 . In this case, the gimbals 1360 allow the suction cup base 1370 to pivot in a different direction than the pivot of the suction cup base 1370 when contacting a concave hull 2001.

[0082] As discussed above, the drilling assembly 1400 of the underwater drilling system 1000 is configured to drill a primary bore into the hull and secure the flange connection assembly 1600 to the hull with the plurality of self-tapping connection studs 1200. Referring again primarily to Figures 1-3 , the drilling assembly 1400 includes a rotary fluid actuator 1410 operably coupled to a transmission 1415. The drilling assembly 1400 further includes a first linear fluid actuator 1420 configured to linearly translate an outer drill rod 1430 and a second linear fluid actuator 1440 configured to linearly translate a primary drill rod 1450. The outer drill rod 1430 is configured to be rotated by the rotary fluid actuator 1410 through the transmission 1415 to drive the self-tapping connection studs 1200. The primary drill rod 1450 is further configured to be rotated by the rotary fluid actuator 1410 through the transmission 1415 in order to drill a primary bore into the hull for fluid extraction. In at least one instance, the transmission 1415 includes a clutch configured to selectively independently drive each drill rod 1430, 1450. In at least one instance, each drill rod 1430, 1450 is rotated simultaneously when the rotary fluid actuator 1410 is actuated.

[0083] The drilling assembly 1400 further includes a rotary carriage assembly 1470 surrounding the primary drill rod 1450 (Figure 3A ). The rotating carriage assembly 1470 is configured to rotate the entire drilling assembly 1400 about the drill axis defined by the main drill rod 1450 in order to align the outer drill rod 1430 with each self-tapping attachment stud 1200. Reference is made primarily to Figure 3A , the rotating carriage assembly 1470 includes a first linear fluid actuator 1471 attached to the lower platform 1120, a second linear fluid actuator 1472, a drive link 1475 connected to the first linear fluid actuator 1471 and the second linear fluid actuator 1472, and a rotating carriage gear segment 1480 that surrounds the main drill rod 1450. The drive link 1475 is operably engaged with the rotating carriage gear segment 1480. The linear fluid actuators 1471, 1472 can be cooperatively actuated to rotate the rotating carriage gear segment 1480, thereby aligning the outer drive shaft 1430 with each self-tapping attachment stud 1200.

[0084] When the outer drive shaft 1430 is aligned with one of the self-tapping attachment studs 1200, the first linear fluid actuator 1420 is actuated to advance the outer drive shaft 1430 toward the drive head 1211 of the self-tapping attachment stud 1200 in its pre-disposed configuration. Once the outer drive shaft 1430 is operably engaged with the drive head 1211, the linear fluid actuator 1420 and the rotating fluid actuator 1410 can be cooperatively actuated to linearly and rotationally drive the self-tapping attachment stud 1200 from its pre-disposed configuration into the hull. Once the self-tapping attachment stud 1200 is installed or broken, as discussed in greater detail below, the first linear fluid actuator 1420 is actuated to retract the outer drill rod 1430 to the home position. Once the outer drill rod 1430 is in the home position, the rotating carriage gear segment 1480 is rotated to align the outer drill rod 1430 with another self-tapping attachment stud 1200. This process is repeated until all of the self-tapping attachment studs 1200 are secured to the hull and / or the flange connection assembly 1600 is sufficiently installed in the hull. In at least one instance, one or more of the self-tapping attachment studs 1200 can break during attachment of the flange connection assembly 1600. In at least one instance, it is not necessary for each self-tapping attachment stud 1200 to be fully driven into the hull to achieve sufficient attachment of the flange connection assembly 1600 to the hull.

[0085] As discussed above, the flange connection assembly 1600 is secured to the hull by the self-tapping attachment studs 1200. In various instances, debris and / or waste fluid can be forced to escape from the hole drilled and / or tapped by each self-tapping attachment stud 1200. Accordingly, the flange connection assembly 1600 includes a containment structure 1650 for each self-tapping attachment stud 1200 in an attempt to address the issue of escaping debris and / or waste fluid. The containment structure 1650 and the self-tapping attachment stud will now be described in greater detail. As Figure 2 , 3As shown in FIGS. 27, the flange connection assembly 1600 includes an outer rim 1641. The outer rim 1641 includes the plurality of containment structures 1650. Each containment structure 1650 is aligned with one of the self- tapping connection studs 1200.

[0086] Referring now to FIGS. 1-3, Figures 18-26 Each self-tapping connection stud 1200 includes a head portion 1210, a shank portion 1220, a self-tapping thread 1230, and a cutting body 1240. The head portion 1210 includes a drive head 1211 configured to be engaged and rotated by the outer drill rod 1430. The head portion 1210 is configured to be secured within the bushing structure 1121 prior to engagement with the outer drill rod 1430. The head portion 1210 also includes an upper flange portion 1212. In at least one instance, the upper flange portion 1212 is also configured to be pushed downward by the outer drill rod 1430 to linearly advance the self-tapping connection stud 1200. The head portion 1210 also includes a main head flange (or locking collar) 1213 configured to abut the flange connection assembly 1600 when installing the self-tapping connection stud 1200 into the hull.

[0087] Referring primarily to FIGS. 1-3, Figure 18 The shank portion 1220 extends downward from the main head flange 1213 to the self-tapping thread 1230. Between the shank portion 1220 and the self-tapping thread 1230, a break point (or discontinuity) 1221 is provided, discussed in more detail below. The self-tapping thread 1230 includes a tapered thread portion 1231 and a relief groove 1232. The self-tapping thread 1230 is configured to be driven into the hull to secure the self-tapping connection stud 1200, and thus the flange connection assembly 1600, to the hull. The cutting body 1240 includes a tip 1241 and is configured to cut a hole in the hull for the self-tapping thread 1230 to engage.

[0088] Each containment structure 1650 includes a containment body 1651 and a bushing 1652 positioned on top of and inside the containment body 1651. Collectively, the containment body 1651 and the bushing 1652 define a containment cavity 1653. In at least one instance, the containment body is a conventional metal pipe fitting, for example, to provide a rigid structure that the self-tapping connection stud 1200 can be fastened to. In at least one instance, the pipe fitting is welded to the outer rim 1641. Any suitable rigid structure can be used. In at least one instance, the bushing 1652 includes a rubber material. Any suitable material can be used to manufacture the bushing 1652. The bushing 1652 is configured to retain its position within the containment cavity 1653. Figures 19-26The containment cavity 1653 is maintained in place throughout the installation of the self- piercing connecting stud 1200 so as to maintain a constant volume of the containment cavity 1653 throughout the installation of the self-piercing connecting stud 1200. Maintaining a constant volume of the containment cavity 1653 throughout the installation of the self-piercing connecting stud 1200 can ensure space to prevent debris and / or waste fluids from interfering with the installation of the self-piercing connecting stud 1200. For example, as the self-piercing connecting stud 1200 is driven into the hull 1001, debris can be free to float within the containment cavity 1653 during installation, rather than becoming trapped between the self-piercing connecting stud 1200 and the hull 1001. In at least one example, the volume of the containment cavity 1653 is based on the amount of debris predicted from installing the self-piercing connecting stud 1200. For example, the volume of the containment cavity 1653 can be capable of containing a volume of metal shavings equal to that from a hull having a maximum thickness through which the stud 1200 will attempt to install.

[0089] In at least one example, the bushing is rigidly supported within the containment body 1651, rather than at the top and inside of the containment body 1651. In this case, the bushing can be configured to slide downward relative to the containment body 1651 during installation of the self-piercing connecting stud 1200. In at least one example, the bushing is positioned near and / or at the bottom of the containment body 1651, against the outer edge 1641 of the flange connection assembly 1600. In this case, the downward force applied to the bushing reinforces the seal to prevent fluid and / or debris from escaping through the hole drilled in the hull by the self-piercing connecting stud 1200.

[0090] Figures 18-24 The process of driving or installing the self-piercing connecting stud 1200 completely into the hull 1001 with the containment structure 1650 is shown. For example, Figure 19 The self-piercing connecting stud 1200 is shown in an unactuated position with Figure 2 and Figure 3 To drive the self-piercing connecting stud 1200 into the hull 1001, the outer drill rod 1430 is engaged with the drive head 1211 ( Figure 20 ) and the self-piercing connecting stud 1200 is driven downward through the containment structure 1650 to bring the cutting tip 1241 into contact with the hull 1001. At this position, the self-piercing thread 1230 is in sealing engagement with the bushing 1652, thereby beginning the seal between the bushing 1652 and the hull 1001. Once in contact with the hull 1001, rotation and downward axial movement of the self-piercing connecting stud 1200 is continued to cut a hole in the hull 1001, with the self-piercing thread 1230 remaining in sealing engagement with the bushing 1652 to prevent debris and / or waste fluids from escaping from the containment cavity 1653 ( Figure 21 ).

[0091] As the self-attaching connection stud 1200 is further driven into the hull 1001, the sealed engagement between the self-attaching connection stud 1200 and the bushing 1652 shifts from the self-attaching thread 1230 to the shank 1220 Figure 22 ). Further axial movement and rotational actuation of the self-attaching connection stud provides sealed engagement between the shank 1220 and the bushing 1652 Figure 23 ). Finally, after the self-attaching connection stud 1200 is fully driven against Figure 24 ) the receiving structure 1650 to secure the outer edge 1641 to the hull 1001, the outer drill pipe 1430 can be retracted and repositioned to drive another self-attaching connection stud 1200 through another receiving structure 1650. During installation of the self-attaching connection stud 1200, the receiving cavity 1653 can have collected waste fluids and / or debris, where the fluids and / or debris will be trapped, for example, to prevent the fluids and / or debris from being released into the surrounding seawater.

[0092] As described above, the self-attaching connection stud 1200 can fracture and / or fail during installation. The stud 1200 can fracture and / or fail for any number of reasons. For example, unpredictable hull material (hull that is harder than expected), unpredictable hull thickness (hull that is thicker than expected), manufacturing irregularities of the self-attaching connection stud, and interference objects that the cutting tip 1241 strikes into the interior of the hull and / or ship, can all increase the risk of the self-attaching connection stud failing during installation of the stud. Failure of the stud can result in unintended escape of waste fluids and / or debris. The self-attaching connection stud 1200 and the receiving structure 1650 are configured to address these issues.

[0093] Turning to Figure 25 , the self-attaching connection stud 1200 is shown in a first failed configuration. A break point 1221 is provided on the connection stud 1200 so as to direct or isolate the mechanical failure of the self-attaching connection stud 1200 to the location of the break point 1221 in the event of failure of the self-attaching connection stud 1200. Isolating the failure of the self-attaching connection stud 1200 can reduce the likelihood of the self-attaching connection stud 1200 failing in other locations that would increase the risk of leakage of waste fluids and / or debris. In addition, the bushing 1652 is configured to retain the head portion 1210 and the shank 1220 after failure so as to maintain the sealed receiving cavity 1653 and trap any waste fluids and / or debris that escapes during installation of the self-attaching connection stud 1200.

[0094] Turning to Figure 26, showing the self-tapping connection stud 1200 in a second failed configuration. In this case, the break is within the self-tapping thread 1230. This failure can also be less severe than failures at other locations for similar reasons as listed above with respect to the first failed configuration. The bushing 1652 remains in sealing engagement between the self-tapping thread 1230, and the bushing 1652 remains in place of the failed portion of the self-tapping connection stud 1200 after the failure. Although the hole is not completely drilled out during this failure, metal shavings generated during the drilling out of a portion of the hole can be trapped in the containment cavity 1653.

[0095] Referring again to Figures 1-3 , after the flange connection assembly 1600 is secured to the ship hull by the self-tapping connection stud 1200, the rotary fluid actuator 1410 and the second linear fluid actuator 1440 are actuated in coordination to linearly advance and rotate the main drill pipe 1450. As discussed in more detail below, the main drill pipe 1450 is configured to use the pilot drill bit 1451 and the annular cutter 1452 to cut or drill out a main hole in the ship hull. In at least one example, the main drill pipe 1450 is driven through the gear within the transmission 1415 according to torque and speed requirements for drilling the main hole in the ship hull for fluid extraction, while the outer drill pipe 1430 is driven through the gear within the transmission 1415 according to different torque and speed requirements for driving the self-tapping connection stud 1200 into the ship hull. In at least one example, greater torque and lesser speed are optimal for the main hole, while limited torque and greater speed are optimal for driving the self-tapping connection stud 1200 into the ship hull. Any suitable combination of torque and speed specifications can be used.

[0096] In at least one example, a plurality of flange connection assemblies 1600 are configured for use with the underwater drilling system 1000 in order to provide a plurality of fluid access points through the ship hull. Thus, referring again to Figures 1-3 and Figures 27-30 , the flange connection assembly 1600 is capable of coupling to and decoupling from the frame coupling assembly 1130 of the frame 1100, and / or is capable of being locked to and unlocked from the frame coupling assembly 1130 by the locking assembly 1160 of the frame 1100. In at least one example, this occurs on a ship. In at least one example, this occurs at a drilling site. In at least one example, this is performed manually. In at least one example, this is performed by a ROV.

[0097] Referring primarily to Figures 27-30 , the frame coupling assembly 1130 includes a male coupling portion 1140 fixedly attached to the lower platform 1120. The male coupling portion 1140 includes a support flange 1141 and a male pipe end 1142 configured to be received within the flange connection assembly 1600 as discussed in more detail below.

[0098] Referring primarily to Figure 29 , the flange connection assembly 1600 includes a female coupling portion 1610 configured to receive the male coupling portion 1140 therein, a knife gap aperture 1630, and a lower coupling portion 1640 including an outer rim 1641. The female coupling portion 1610 includes a coupling flange 1620 and a central bore segment 1621 configured to receive the male tube end 1142 of the male coupling portion 1140. In at least one example, the central bore segment 1621 includes a machined inner surface configured to mate sealingly with an outer surface of the male coupling portion 1140. In at least one example, the outer surface of the male coupling portion 1140 is also machined to ensure a tight sealing interface between the inner surface of the central bore segment 1621 and the outer surface of the male coupling portion 1140. A gasket 1695 is also disposed between the male coupling portion 1140 and the central bore segment 1621. In at least one example, the gasket 1695 is positioned in a groove of the male coupling portion 1140. In at least one example, the gasket 1695 is positioned in a groove of the inner surface of the central bore segment 1621. The coupling flange 1620 includes a mating face 1622 configured to mate with a corresponding mating face 1143 of the male support flange 1141. The coupling flange 1620 also includes a plurality of slots 1623 defined therein.

[0099] To couple the flange connection assembly 1600 to the frame coupling assembly 1130, the locking assembly 1160 is placed in its unlocked configuration. The locking assembly 1160 includes a linear fluid actuator 1163 and a locking ring 1161 including a plurality of locking detents 1162. The locking ring 1161 is axially fixed to the frame coupling assembly 1130; however, the locking ring 1161 is free to rotate relative to the frame coupling assembly 1130 between a locked position and an unlocked position. The linear fluid actuator 1163 is actuated to rotate the locking ring 1161 relative to the frame coupling assembly 1130 between the locked position and the unlocked position.

[0100] Once the locking ring 1161 is in its unlocked position, the slots 1623 of the coupling flange 1620 are axially aligned with the locking detents 1162 of the locking ring 1161, and the flange connection assembly 1600 is brought into abutting engagement with the support flange 1141, with the locking detents 1162 passing through the slots 1623. At this point, referring primarily to Figure 28, the linear fluid actuator 1163 is actuated to rotate the locking ring 1161 to a locked position, thereby rotating the locking dog 1162 relative to the coupling flange 1620, and thus the slot 1623, thereby misaligning the dog 1162 and the slot 1623. When in its locked position, the locking ring 1161 is positioned such that the locking dog 1162 axially constrains the flange connection assembly 1600 relative to the frame coupling assembly 1130. To remove the flange connection assembly 1600 from the frame coupling assembly 1130, the locking ring 1161 is rotated by the linear fluid actuator 1163 to its unlocked position to axially realign the locking dog 1162 and the slot 1623, such that the male coupling portion 1140 can be removed from the female coupling portion 1610.

[0101] As can be seen in Figure 28 The male coupling portion 1140 includes a chamfered edge 1144, as can be seen in FIG. 14. Such a chamfered edge can facilitate insertion of the male coupling portion 1140 into the female coupling portion 1610. In at least one example, the male coupling portion 1140 is axially constrained by the shoulder 1624 defined within the coupling flange 1620 in addition to being axially constrained by the mating face 1143 of the male support flange 1141. In at least one example, the male coupling portion 1140 is axially constrained only by the shoulder 1624.

[0102] To prevent the flange connection assembly 1600 and the rest of the underwater drilling system 1000 from rotating relative to one another, a guide system is employed. Referring primarily to Figures 27-29 The guide system includes a guide dog 1390 extending from each outer housing member 1321 and a corresponding guide post 1642 extending from the lower coupling portion 1640. Each dog 1390 includes a lead-in slot portion 1391 configured to capture the post 1642 and a retention slot portion 1392. The lead-in slot portion 1391 includes a tapered profile to guide into a tighter fit between the post 1642 and the dog 1390. Each post 1642 includes a lead-in surface 1643 configured to facilitate alignment of the post 1642 with the lead-in slot portion 1391. When the post 1642 is positioned within the retention slot portion 1392, relative rotation between the attached leg 1300 and the flange connection assembly 1600 is prevented. When the underwater drilling system 1000 is removed from the installed flange connection assembly 1600, the dog 1390 slides off of the post 1642.

[0103] Referring to Figure 28In various instances, a manual unlock actuator 1170 is connected to the locking assembly 1160 in order to allow for manual rotation of the locking ring 1161. Such an actuator can be used to demand disengagement or unlocking of the frame coupling assembly 1130 and the flange coupling assembly 1600, for example in an emergency situation. In at least one instance, the unlock actuator 1170 is configured to release hydraulic pressure from the linear fluid actuator 1163 to automatically rotate the locking ring 1161 back to its unlocked position.

[0104] Referring primarily to Figure 29 After the flange coupling assembly 1600 is secured to the hull and the main hole is drilled, the knife gate 1660 of the flange coupling assembly 1600 is actuated to seal the flange coupling assembly 1600 to prevent additional fluids from escaping the sunken ship out of the main hole, other than waste fluids and / or debris that can escape from the ship during drilling of the main hole, and to allow for the evacuation of waste fluids within the flange coupling assembly 1600, as will be discussed in detail below. When the knife gate 1660 is actuated, the knife gate 1660 divides the drill cavity through which the drill pipe passes to drill the main hole into an upper drill cavity and a lower drill cavity. In at least one instance, the knife gate 1660 is actuated by a linear fluid actuator.

[0105] The knife gate 1660 includes a gate frame 1661 and a knife gate aperture 1630 extending from the gate frame 1661. The knife gate aperture 1630 is secured between the coupling flange 1620 and the lower coupling portion 1640. In at least one instance, the female coupling portion 1610, the knife gate aperture 1630, and the lower coupling portion 1640 are made in one piece. The knife gate aperture 1630 includes a knife slot 1631 extending transversely through half of the knife gate aperture 1630. The knife gate 1660 also includes a sealing gate knife 1670 slidably supported within the gate frame 1661 and configured to be received within the slot 1631 to provide a fluid seal between the female coupling portion 1610 and the lower coupling portion 1640. In at least one instance, the gate knife 1670 includes a half-moon shaped end in order to conserve space within the flange coupling assembly 1600 and maximize the effectiveness of the seal provided by the knife gate 1660 by limiting the profile of the gate knife 1670 to correspond to the interior of the knife gate aperture 1630 and allowing the edge of the half-moon shaped end to press against the interior of the knife gate aperture 1630. In at least one instance, a rubber cap is provided over the half-moon shaped end to further enhance the fluid seal of the gate knife 1670 within the knife gate aperture 1630. The sealing gate knife 1670 can include any suitable material, such as metal, plastic, wood, and / or rubber.

[0106] After the gate 1660 is closed, waste fluid and / or debris that escaped from the main borehole during drilling is captured within the upper drill chamber defined in the male connection portion 1140. The waste fluid and / or debris in the upper drill chamber are now discharged from the upper drill chamber into the waste box assembly 1800 of the subsea drilling system 1000 in an attempt to reduce or eliminate the escape of waste fluid and / or debris into the surrounding medium (e.g., seawater) when the rest of the subsea drilling system 1000 separates from the mounted connecting flange assembly 1600.

[0107] The discharge of waste fluid and / or debris from the upper drill cavity into the waste collection box assembly 1800 will now be described. (Main Reference) Figures 31-36 Waste fluid "WF" and / or debris are configured to be discharged from the upper drill cavity into the waste collection box assembly 1800. For example... Figures 31-36 As can be seen, a drill cavity 1850 is defined within the frame connection assembly 1130 and the flange connection assembly 1600 when they are operably connected to each other via the aforementioned locking assembly 1160. The drill cavity 1850 is defined as a chamber within the frame connection assembly 1130 and the flange connection assembly 1600 through which the drill bit passes to drill a main hole in the hull 1001.

[0108] The waste bin assembly 1800 includes a waste bin 1810 mounted to a frame 1100. The waste bin 1810 is configured to collect and store waste fluid (WF) and / or debris discharged from the drill duct 1850. The waste bin 1810 includes a vent 1811 and a volume rod 1820. The volume rod 1820 is configured to move relative to the housing of the waste bin 1810 as the waste fluid (WF) and / or debris push the volume rod 1820 upward relative to the housing.

[0109] like Figure 31 As can be seen, the main drill pipe 1450 is shown in the unacted position and has not yet drilled out of the main hole. Before drilling out of the main hole, the main drill pipe 1450 is linearly translated slightly towards the hull 1001. Figure 32 The pressure within the drill cavity 1850 is increased by increasing the volume of material within the main drill pipe 1450. This pressure increase at this stage is to test the seal of the drill cavity 1850. The pressure is indicated by a pressure gauge 1833. In at least one instance, for example, while the main drill pipe 1450 is held in the unacted position, a fluid such as seawater is pumped into the drill cavity 1850 to increase the pressure within the drill cavity 1850 and test the seal. In at least one instance, the pressure within the drill cavity 1850 is regulated and / or controlled by a check valve.

[0110] Once sufficient sealing is detected, the main drill pipe 1450 is driven through the drill chamber 1850 and into the hull 1001. Figure 33The main borehole is drilled in the hull 1001 using a guide drill bit 1451 and an annular cutter 1452. In at least one instance, drilling the main borehole and retracting the main drill string 1450 to its initial position causes waste fluid (WF) and / or debris to leak into the drill chamber 1850. Once the main borehole is drilled, the main drill string 1450 retracts to its initial position. Figure 34 And the knife gate 1660 is actuated to sealably divide the drill chamber 1850 into an upper drill chamber 1851 and a lower drill chamber 1852. For example... Figure 34 As can be seen, waste fluid (WF) and / or debris are present in the upper drill chamber 1851 and the lower drill chamber 1852. Waste fluid (WF) and / or debris can now be discharged from the upper drill chamber 1851 and enter the waste collection box 1810.

[0111] refer to Figure 35 To remove waste fluid WF and / or debris from the upper drill chamber 1851, pump 1830 pumps seawater “W” into the upper drill chamber 1851 via check valve 1831, which is configured to prevent backflow of fluid from the upper drill chamber 1851 toward the pump. In at least one instance, before, during, and / or after pumping seawater W into the upper drill chamber 1851, the main drill pipe 1450 rotates to agitate the waste fluid WF and seawater W in the upper drill chamber 1851. In at least one instance, the main drill pipe 1450 rotates continuously while the waste collection box 1810 is filled with waste fluid WF.

[0112] Pumping seawater W into the upper drill chamber 1851 causes waste fluid WF and / or debris to be emptied into the waste container 1810 via an outlet 1832 in fluid communication with the frame connection assembly. In at least one embodiment, the outlet 1832 is in fluid communication with the male connection portion 1140. The outlet 1832 includes a check valve 1834 configured to prevent backflow of fluid from the waste container 1810 toward the upper drill chamber 1851. In at least one embodiment, the check valve 1834 is also configured to regulate and / or control the pressure within the drill chamber 1850 and / or the upper drill chamber 1851.

[0113] Still referencing Figure 35 As waste fluid (WF) and / or debris flow into the waste collection box 1810, the volumetric rod 1820 is pushed upward by its plunger head 1821 as the waste collection box 1810 is filled with waste WF. In at least one instance, air can be trapped below the plunger head 1821 within the waste collection box 1810. The plunger head 1821 includes a check valve 1822 configured to automatically purge the air trapped within the waste collection box 1810. In at least one instance, when the subsea drilling system 1000 is brought to the surface, the air trapped within the waste collection box 1810 may expand. The air will be discharged through the check valve 1822. The vent 1811 is further configured to remove fluid (e.g., seawater) from the waste collection box 1810 as the volumetric rod 1820 is pushed upward by the waste WF.

[0114] In at least one instance, the volume rod 1820 is configured to be pulled upward to draw the waste fluid WF out of the upper drill cavity 1851 during the removal of fluid from the upper drill cavity 1851 by the fluid linear actuator. The suction force can be applied by the plunger head 1821 and can be supplemented by the pump 1830 pumping water into the upper drill cavity 1851. In at least one instance, the pump is not used and ambient water can be drawn into the upper drill cavity 1851 by the waste bin 1810 through a check valve. In at least one instance, a vacuum pump is used within the waste bin 1810 to apply further suction force to the fluid in the upper drill cavity 1851.

[0115] In at least one instance, the waste bin 1810 is sized to receive three times the volume of the upper drill cavity 1851. In this case, the waste fluid WF within the upper drill cavity can be removed three times before the subsea drilling system 1000 is removed from the flange connection assembly 1600 to ensure that clean residual fluid (e.g., as close to 100% seawater as possible) remains within the upper drill cavity 1851. The waste bin 1810 can comprise any suitable size. The waste bin 1810 also comprises a transparent housing to facilitate visual inspection of the contents of the waste bin during the removal of the upper drill cavity 1851. In at least one instance, the contents of the waste bin 1810 can be monitored and / or monitored by an ROV.

[0116] Once the waste bin 1810 is full and / or the removal process is complete, the male coupling portion 1140 and the flange connection assembly 1600 are uncoupled to remove the subsea drilling system 1000 from the flange connection assembly 1600. The subsea drilling system 1000 containing the full waste bin 1810 can be brought to the surface to empty the waste bin and / or flush the waste bin for subsequent use. In at least one instance, the waste bin 1810 allows for the collection of a sample of the collected waste fluid WF prior to the full fluid extraction process. Further, at this point, the hose assembly can be connected to the flange connection assembly 1600, the knife gate 1660 can be opened, and fluid can be drawn from the hull (e.g., by the full fluid extraction process).

[0117] In various instances, air trapped within the hull can be encountered during the drilling of the main bore by the subsea drilling system 1000. This air can flow into the subsea hose and / or components of the subsea drilling system 1000, and when the subsea drilling system 1000 is brought to the surface, this air can rapidly expand and can cause overpressure of the subsea hose and / or components of the subsea drilling system 1000. This rapid expansion can damage the subsea hose and / or components of the subsea drilling system 1000.

[0118] Referring primarily to Figure 37 and Figure 38, the underwater drilling system 1000 utilizes an automatic vent valve assembly 1900 to automatically vent air encountered during drilling of a primary hole in a ship's hull. The automatic vent valve assembly 1900 is in fluid communication with the upper drill cavity 1851 through an outlet 1832 Figure 31 ) and / or the male coupling portion 1140 Figure 30 ) and / or the male coupling portion 1140 Figure 30 ) and / or the male coupling portion 1140. Regardless, air exiting the ship's hull and entering the upper drill cavity 1851 is configured to be automatically expelled out of the outlet 1832 through an inlet vent line 1901.

[0119] The automatic vent valve assembly 1900 includes an inlet shaft 1920 in fluid communication with the inlet vent line 1901 and a head portion 1930 in fluid communication with the inlet shaft 1920 through which air from the inlet vent line 1901 is configured to be expelled. The inlet shaft 1920 and the head portion 1930 are pivotally connected to the frame 1100 and / or the inlet vent line 1901 through a fluid pivot coupling 1910, allowing the inlet shaft 1920 and the head portion 1930 to allow the head portion 1930 to be aligned to the shallowest position by an external float member 1940 while maintaining fluid communication. In at least one example, the inlet vent line 1901 includes a rigid fluid line and / or a flexible fluid line. In at least one example, the inlet shaft 1920 includes a rigid fluid shaft and / or a flexible fluid shaft. In at least one example, the fluid pivot coupling 1910 includes a hydraulic swivel knuckle.

[0120] Referring primarily to Figure 38 , the head portion 1930 includes an external float member 1940 configured to facilitate the head portion 1930 towards a position of equilibrium (e.g., the shallowest position within the ocean) when the underwater drilling system 1000 is attached to a ship's hull. The head portion 1930 also includes an internal valve chamber 1950 and a shuttle valve body 1960 movable up and down within the internal valve chamber 1950. The internal valve chamber 1950 includes a chamber wall 1951 defining a chamber cavity 1952. The shuttle valve body 1960 is freely movable within the chamber cavity 1952 and relative to the chamber wall 1951. As can be seen in Figure 38 , the head portion 1930 includes a fluid inlet through which waste fluid and air can enter the chamber cavity 1952 from the inlet shaft 1920.

[0121] Shuttle valve body 1960 includes an internal float member 1961 and an internal passage 1962 including passage walls 1963. Passage 1962 is configured to allow fluid and / or air to flow freely therethrough from chamber cavity 1952. Shuttle valve body 1960 also includes an upper vent head 1964 including a vent opening 1965 defined therein that is configured to allow air in passage 1962 to flow therethrough and into an upper portion of chamber cavity 1952. Head portion 1930 also includes a floor 1931 and a vent top 1970 including a vent opening 1971 that is configured to be sealed and unsealed by a flange plug head 1966 of shuttle valve body 1960, as discussed in greater detail below.

[0122] Air and / or waste fluid is configured to flow into chamber cavity 1952 during automatic venting from the drill cavity. Because waste fluid is denser than air, waste fluid is configured to collect at the bottom of chamber cavity 1952, while air passes through the waste fluid into chamber cavity 1952, up passage 1962 and through vent opening 1965 into the upper portion of chamber cavity 1952. Waste fluid is configured to push shuttle valve body 1960 upward within chamber cavity 1953. When the pressure build-up from air escaping into the upper portion of chamber cavity 1952 exceeds the push pressure applied to shuttle valve body 1960 by internal float member 1961, air pressure pushes shuttle valve body 1960 downward. This downward movement of shuttle valve body 1960 moves flange plug head 1966 from top 1970, thereby allowing trapped air to escape through vent opening 1971 into the ocean and / or ambient air. In at least one example, any air encountered within the hull during drilling of the main bore is configured to be continuously vented from the system through automatic vent valve assembly 1900.

[0123] In at least one example, waste fluid is prevented from flowing into head portion 1930 by a check valve (or non-return valve). In such an example, automatic vent valve assembly 1900 operates in a similar manner as described above; however, air pressure build-up in the upper portion of chamber cavity 1952 only needs to exceed air pressure build-up below shuttle valve body 1960 for shuttle valve body 1960 to move downward to release trapped air. In at least one example, when chamber cavity 1952 is filled with air, shuttle valve body 1960 is configured to slide to the bottom of head portion 1930 and air is released through vent opening 1971. In any event, waste fluid is prevented from escaping from the automatic vent valve assembly.

[0124] Once removed from the installed flange connection assembly 1600, the remainder of the underwater drilling system 1000 can be retrieved to the surface, e.g., by an ROV, to re-install the float member 1005, reload additional flange connection assemblies, clean and / or flush the waste bin assembly 1800, and prepare for installation of the next flange connection assembly. In at least one example, the float member 1005 is re-installed onto the frame 1100 prior to the occurrence of the above-described steps. In at least one example, another flange connection assembly is aligned with the male coupling portion 1140 of the frame 1100, and the locking assembly 1160 locks the male coupling portion 1140 and the new flange connection assembly.

[0125] The fluid actuators disclosed herein can include any suitable fluid actuator, such as a rotary hydraulic actuator, a linear hydraulic actuator, a rotary pneumatic actuator, a linear pneumatic actuator, a hydraulic drill, and / or a pneumatic drill, etc. In at least one example, any of the fluid actuators disclosed herein can be replaced with an electric actuator, such as a rotary electric actuator, a linear electric actuator, and / or an electric drill.

[0126] The fluid used within the fluid actuators can include any suitable actuator fluid, such as a hydraulic fluid and / or air.

[0127] Figure 39 is a schematic diagram of a control system 4000 that includes an above-water component 4100 and an underwater component 4200 of a drill assembly 4220. The above-water component 4100 and the underwater component 4200 cooperate to allow a user to operate the drill assembly 4220, e.g., from a ship. The above-water component 4100 is positioned, e.g., on a ship, and is configured to send electrical power, send and receive hydraulic fluid, and send and receive data signals to the underwater component 4200. The underwater component 4200 includes a transport hub 4210 that is configured to transport the drill assembly 4220 from the ship to a drilling site, and also controls the transmission of fluid flow, electrical signals, and data signals between the above-water component 4100 and the drill assembly 4220. For example, once the transport hub 4210 is positioned, e.g., on the seafloor near a drilling site, the drill assembly 4220 is removed from the transport hub 4210 and positioned on a target drilling location on the seafloor.

[0128] The topside component 4100 includes a control interface 4110, a power control box 4120, and a hydraulic power pack 4130, which are configured to deliver power, hydraulic fluid, and data signals to the subsea component 4200. The control interface 4110 can include, for example, a computer. An operator uses the control interface 4110 to send commands to the power control box 4120 in the form of data signals, which the power control box conveys to the subsea component 4200 along with power. The hydraulic power pack 4130 is positioned in a hydraulic circuit of the system 4000 to control the flow of hydraulic fluid through the subsea component 4200. The topside component 4100 also includes an optional system that includes a pump 4140 configured to deliver fluid to the drill site to blast away debris at the drill site. All electrical and fluid transfers between the topside component 4100 and the subsea component 4200 are achieved through transfer cables and hoses. Data signals can be transmitted through, for example, Ethernet cables, fiber optic cables, and / or coaxial cables.

[0129] The transport center 4210 is moored to the topside component 4100 and the rig assembly 4220 to control the transfer of power, hydraulic fluid, data signals, and electrical signals between the topside component 4100 and the rig assembly 4220. The transport center 4210 includes a valve box 4211 configured to house non-fluid sensitive transfer components and an isolated electrical cabin (or cavity) 4212 configured to house fluid sensitive transfer components. The valve box 4211 includes internal fluid valves and electronics, such as proportional valves, pressure relief valves, pressure sensors, valve control modules, and solid state relays. The isolated electrical cabin 4212 includes a dry environment for housing control circuitry 4213, such as a programmable logic controller. The programmable logic controller 4213 is connected to the electronics within the valve box 4211, such as relays, sensors, and valve control modules. The programmable logic controller 4213 is also connected to the topside component to send and receive data signals to the control interface 4110, such that the programmable logic controller 4213 can communicate with the control interface 4110 to receive instructions from the control interface 4110 and to relay information to the control interface 4110. Instructions can be received from the control interface 4110 that tell the programmable logic controller 4213 to activate relays and / or adjust valves within the valve box 4211 with a remote control module. Information can be transmitted to the control interface 4110 that corresponds to information collected by sensors within the valve box 4211.

[0130] The control circuit can include a microcontroller including one or more processors (e.g., microprocessors, microcontrollers) coupled to at least one memory circuit. The memory circuit stores machine executable instructions that, when executed by the processor, cause the processor to execute the machine instructions to implement the various processes described herein. The processor can be any of a number of single- or multi-core processors known in the art. The memory circuit can include volatile and non-volatile storage media. The processor can include an instruction processing unit and an arithmetic unit. The instruction processing unit can be configured to receive instructions from the memory circuit.

[0131] The drill assembly 4220 includes several components, some of which require electrical power, electrical signal transmission, fluid transmission, and / or data transmission. The drill assembly 4220 includes a mounting system that includes a plurality of magnets 4221, which can be, for example, electromagnets, to secure the drill assembly 4220 to a magnetic material, such as a ship hull, as described further herein. The electromagnets 4221 receive electrical power from the power control box 4120 through the valve box 4211. To activate the electromagnets 4221, power can be delivered when an instruction from the control interface 4110 is sent to the programmable logic controller 4213 to switch a relay in the valve box 4211 to an open state. Similarly, to deactivate the electromagnets 4221 and remove the drill assembly 4220 from the ship hull, power can be cut when an instruction from the control interface 4110 is sent to the programmable logic controller 4213 to switch a relay in the valve box 4211 to a closed state.

[0132] The drill assembly 4220 also includes a drilling system, as discussed in greater detail herein, that includes a linear actuator system 4223 and a drill bit drive system 4224 that is configured to move up and down by the linear actuator system 4223 and is configured to drill a self-tapping drill assembly into a ship hull. The linear actuator system 4223 can include, for example, a hydraulic cylinder that requires hydraulic fluid to flow into and out of the hydraulic cylinder to move the hydraulic cylinder to move the drill bit drive system 4224 up and down. The hydraulic fluid is configured to flow between the hydraulic power pack 4130, the valve box 4211 in the transit center 4210, and the hydraulic cylinder. To control the position of the drill bit drive system 4224, a valve control module in the valve box 4211 can adjust the valve configuration within the valve box 4211 according to instructions received from the programmable logic controller 4213 to adjust the flow of fluid to the hydraulic cylinder to actuate the hydraulic cylinder. The position of the drill bit drive system 4224 can be monitored by monitoring the pressure in the hydraulic cylinder fluid circuit with a pressure sensor in the valve box 4211. The monitored pressure can be communicated to the control interface 4110 so that an operator is provided the position of the drill bit drive system 4224 during operation of the drill assembly 4220.

[0133] The drill bit drive system 4224 is configured to drill the self-tapping drill bit assembly into the hull. The drill bit drive system 4224 can include a hydraulic drill, for example, that requires a flow of hydraulic fluid into and out of the hydraulic drill to drive the hydraulic drill and thus the self-tapping drill bit assembly clockwise and counterclockwise. The hydraulic fluid is configured to flow between the hydraulic power pack 4130, a valve box 4211 in the transport center 4210, and the hydraulic drill. To control the rotation of the hydraulic drill, a valve control module in the valve box 4211 can adjust the valve configuration inside the valve box 4211 based on instructions received from the programmable logic controller 4213 to adjust the flow of fluid to the hydraulic drill to actuate the hydraulic drill. The pressure required to drive the drill bit assembly into the hull can be monitored by monitoring the pressure in the hydraulic drill fluid circuit with pressure sensors in the valve box 4211 to determine the amount of resistance experienced by the hydraulic drill during the drilling process. This monitored pressure can be sent to the control interface 4110 so that the operator can adjust the drill bit drive system 4224 and / or the linear actuator system 4223 accordingly. For example, the operator can reduce the speed of the hydraulic drill and / or raise the drill bit drive system 4224 to reduce the resistance experienced by the hydraulic drill.

[0134] The drilling assembly 4220 includes various other components. For example, the drilling assembly 4220 includes an underwater camera 4225 to allow the operator to see the drilling location, an underwater light 4226 to illuminate the drilling location for the camera to see, and one or more proximity sensors 4222 configured to determine the relative position between the drilling assembly 4220 and the hull and / or the relative position between the drill bit assembly and the hull during the drilling process. The underwater camera 4225, the underwater light 4226, and the one or more proximity sensors 4222 require power from the transport center 4210. The underwater camera 4225 requires a transmission of data signals between the underwater camera 4225 and the control interface 4110 so that the operator can see the drilling location through the control interface 4110. The one or more proximity sensors 4222 require a transmission of electrical and / or data signals so that the programmable logic controller 4213 can send the relative position between the components to the control interface 4110.

[0135] The various components 4000 of the system can include analog components and / or digital components. For example, where analog sensors are used, there is no need to send and receive digital data from the analog sensors, thus the system 4000 can be simplified. Where digital sensors are used, digital data needs to be sent to and from the digital sensors. In various cases, both analog components and digital components are used, however, any suitable arrangement of analog components and digital components can be employed. Some analog components can provide greater simplicity for the system. For example, some digital components can provide greater accuracy than their analog counterparts. Further, where digital components are used, the analog-to-digital conversion required for the signals can be performed in a transducer mounted on the vessel to further simplify the system containing digital components.

[0136] The drilling assembly 4220 can also include a water jet nozzle 4227 configured to receive fluid (e.g., water) from a pump 4140 to blast away debris at the drilling location. This system bypasses the transport hub 4210 and the control interface 4110 to increase the simplicity of the system 4000; however, for example, the water jet nozzle 4227 and the pump 4140 can be integrated with other components to increase the controllability of the water jet nozzle 4227 and the pump 4140.

[0137] Any transmission lines (e.g., electrical cables and fluid hoses) in the system 4000 can be attached to and detached from the components to which they connect, such that if a component needs to be replaced and / or repaired, the component can be quickly and / or easily replaced. The system 4000 can also include various non-detachable transmission lines to reduce the likelihood of leaks caused by some detachable / attachable interfaces. The system 4000 can include detachable / attachable transmission lines as well as non-detachable transmission lines.

[0138] Examples

[0139] Example Set 1:

[0140] Example 1 - An underwater drilling assembly comprising: a drilling assembly; a connection flange assembly configured to be attached to a ship hull by the drilling assembly, wherein the connection flange assembly comprises a plurality of guide lugs; and a frame supporting the drilling assembly. The frame comprises a lower platform comprising an attachment leg extending therefrom, wherein the attachment leg is configured to attach the underwater drilling assembly to the ship hull. Each attachment leg comprises a fluid actuator comprising an output shaft, an expandable leg assembly attached to the output shaft, a suction cup base attached to the expandable leg assembly by a ball and socket joint; and a guide flange comprising a slot configured to receive one of the guide lugs of the connection flange assembly.

[0141] Example 2 - The underwater drilling assembly of example 1, wherein the expandable leg assembly includes an upper leg portion and a lower leg portion, the upper leg portion being attached to and movable by the output shaft, the lower leg portion being spring loaded against the upper leg portion to allow retraction movement of the upper leg portion relative to the lower leg portion upon retraction of the output shaft.

[0142] Example 3 - The underwater drilling assembly of example 1 or 2, wherein the expandable leg assembly further includes an outer housing, the outer housing including a slot defined therein, wherein the lower leg portion includes a plunger attached to the lower leg by a pin, wherein the pin extends radially outward from the plunger and is received within the slot.

[0143] Example 4 - The underwater drilling assembly of example 1, 2, or 3, wherein the outer housing is fixedly attached to the lower platform.

[0144] Example 5 - The underwater drilling assembly of example 1, 2, 3, or 4, wherein the connection flange assembly includes a guide fin, wherein the outer housing includes a guide bracket extending from a lower end of the outer housing, wherein the guide bracket includes a slot, wherein the guide fin is positionable within the slot to guide the frame relative to the connection flange assembly.

[0145] Example 6 - The underwater drilling assembly of example 1, 2, 3, 4, or 5, wherein the lower leg portion includes a plunger, wherein the plunger includes a head that is slidably supported within the upper leg portion, and wherein a coil spring is located between the head and a bottom of the upper leg portion.

[0146] Example 7 - The underwater drilling assembly of example 1, 2, 3, 4, 5, or 6, wherein the fluid actuator includes a hydraulic actuator.

[0147] Example 8 - The underwater drilling assembly of example 1, 2, 3, 4, 5, 6, or 7, wherein the lower leg portion includes a spherical portion extending therefrom, wherein the suction cup base includes a socket, and wherein the spherical portion is located within the socket.

[0148] Example 9 - An underwater drilling assembly frame, comprising a frame and a plurality of legs configured to secure the frame to a ship hull, wherein each leg includes a suction cup base, a piston, an outer column fixedly attached to the frame, and an inner column positioned within the outer column, wherein the inner column includes an upper tube fixedly attached to the piston and a lower leg vertically constrained relative to the suction cup base, wherein the piston is actuatable to expand the upper tube relative to the lower leg to pull the upper tube away from the ship hull.

[0149] Example 10 - The underwater drilling assembly frame of example 9, wherein the lower leg is spring loaded against the upper tube.

[0150] Example 11 - The underwater drilling assembly frame of example 9 or 10, wherein the outer column includes a slot defined therein, wherein the lower leg includes a plunger attached to the lower leg by a pin, wherein the pin extends radially outward from the plunger and is received within the slot.

[0151] Example 12 - The underwater drilling assembly frame of example 9, 10, or 11, further comprising a flange mountable to a hull, wherein the flange includes a guide fin, wherein the outer column includes a guide bracket extending from a lower end of the outer column, wherein the guide bracket includes a slot, wherein the guide fin is positionable within the slot to guide the frame relative to the flange.

[0152] Example 13 - The underwater drilling assembly frame of example 9, 10, 11, or 12, wherein the lower leg includes a plunger, wherein the plunger includes a head that is slidably supported within the upper tube, and wherein a coil spring is positioned between the head and a bottom of the upper tube.

[0153] Example 14 - The underwater drilling assembly frame of example 9, 10, 11, 12, or 13, wherein the plunger is actuatable by a hydraulic actuator.

[0154] Example 15 - The underwater drilling assembly frame of example 9, 10, 11, 12, 13, or 14, wherein the lower leg includes a ball extending therefrom, wherein the suction cup base includes a socket, and wherein the ball is positioned within the socket.

[0155] Example 16 - A method for attaching an underwater drilling assembly to a hull, wherein the underwater drilling assembly includes a frame, a drilling assembly attached to the frame, and a connection flange assembly including a gasket, wherein the frame includes a plurality of legs, wherein each leg includes a suction cup base and an expandable leg assembly, the method comprising lowering the underwater drilling assembly onto the hull and pressing the gasket against the hull to provide a seal with the hull by the connection flange assembly, positioning each suction cup base of the plurality of legs against the hull, activating a suction force to secure each suction cup base to the hull, actuating a fluid actuator of each leg to pull an upper leg portion of the expandable leg assembly of each leg to increase a holding force of the plurality of legs, attaching the connection flange assembly to the hull, and drilling a hole in the hull.

[0156] Example 17 - The method of example 16, wherein actuating the fluid actuator of each leg to pull the upper leg portion of the expandable leg assembly of each leg comprises pulling the upper leg portion upward relative to the hull and the lower leg portion of the expandable leg assembly.

[0157] Example 18 - The method of example 16 or 17, wherein actuating the fluid actuator of each leg to pull the upper leg portion of the expandable leg assembly of each leg comprises applying a pulling force to the suction cup base that is less than a suction force applied by the suction cup base.

[0158] Example 19 - The method of example 16, 17, or 18, further comprising actuating a spring mechanism within the legs to allow independent vertical movement of each leg relative to the hull.

[0159] Example Set 2:

[0160] Example 1 - An underwater drilling assembly comprising a frame, a drilling assembly supported by the frame, and a self-tapping attachment stud actuatable by the drilling assembly, wherein the self-tapping attachment stud comprises a cutting body, a self-tapping thread configured to secure the self-tapping attachment stud to a hull, a shank, and a drivable head. The underwater drilling assembly further comprises an attachment flange assembly attachable to the hull by the self-tapping attachment stud, wherein the attachment flange assembly comprises a grommet, a central aperture, and an outer edge comprising a containment structure, wherein the grommet is positioned between the outer edge and the hull. The containment structure comprises a sealing sleeve and a containment cavity, wherein the self-tapping attachment stud is configured to pass through the containment cavity when the self-tapping attachment stud is actuated by the drilling assembly to secure the outer edge to the hull, wherein the sealing sleeve seals the containment cavity when the self-tapping attachment stud passes through the sealing sleeve.

[0161] Example 2 - The underwater drilling assembly of example 1, wherein the self-tapping attachment stud comprises a discontinuity configured to isolate mechanical failure of the self-tapping attachment stud to the discontinuity.

[0162] Example 3 - The underwater drilling assembly of example 1 or 2, wherein the discontinuity is positioned to ensure that if the self-tapping attachment stud fails, the discontinuity is within the containment cavity.

[0163] Example 4 - The underwater drilling assembly of example 1, 2, or 3, wherein the containment cavity is configured to contain debris leakage during actuation of the self-tapping attachment stud into the hull.

[0164] Example 5 - The underwater drilling assembly of example 1, 2, 3, or 4, further comprising a plurality of self-tapping attachment studs, and wherein the outer edge comprises a plurality of containment structures.

[0165] Example 6 - The underwater drilling assembly of example 1, 2, 3, 4, or 5, wherein the drilling assembly is rotatable relative to the frame to drive each self-tapping attachment stud into the hull.

[0166] Example 7 - The underwater drilling assembly of example 1, 2, 3, 4, 5, or 6, wherein the frame comprises a plurality of sleeve structures attached to the frame, and wherein each of the self-tapping attachment studs is held in a starting position by one of the plurality of sleeve structures.

[0167] Example 8 - The underwater drilling assembly of example 1, 2, 3, 4, 5, 6, or 7, wherein the containment structure comprises a self-sealing sleeve to seal an interior chamber of the containment structure from ambient water when the self-tapping attachment stud is actuated through the self-sealing sleeve and into the containment structure.

[0168] Example 9 - The underwater boring assembly of example 1, 2, 3, 4, 5, 6, 7, or 8, wherein the outer edge comprises a first predetermined aperture, wherein the grommet comprises a second predetermined aperture aligned with the first predetermined aperture, and wherein the self-tapping connection stud is actuatable through the first predetermined aperture and the second predetermined aperture to engage the ship's hull.

[0169] Example 10 - A fastening system for an underwater boring assembly, wherein the fastening system comprises a fastener and a port assembly, the port assembly comprising a grommet positionable against a ship's hull and a body. The body comprises an outer edge, a sealing sleeve, and a containment enclosure, wherein a containment void is defined by the containment enclosure and the sealing sleeve, wherein the fastener is movable through the sealing sleeve, the containment void, and the grommet, and wherein the containment void is sealed when at least a portion of the fastener is positioned within the containment void.

[0170] Example 11 - The fastening system of example 10, wherein the fastener comprises a discontinuity configured to isolate a mechanical failure of the fastener to the discontinuity.

[0171] Example 12 - The fastening system of example 10 or 11, wherein the containment void is configured to contain a leakage of debris during actuation of the fastener into the ship's hull.

[0172] Example 13 - The fastening system of example 10, 11, or 12, further comprising a plurality of fasteners, and wherein the outer edge comprises a plurality of containment enclosures aligned with the plurality of fasteners.

[0173] Example 14 - The fastening system of example 10, 11, 12, or 13, wherein the outer edge comprises a first predetermined aperture, wherein the grommet comprises a second predetermined aperture aligned with the first predetermined aperture, and wherein the fastener is actuatable through the first predetermined aperture and the second predetermined aperture to engage the ship's hull.

[0174] Example 15 - A method of extracting a fluid from a watercraft using an underwater boring assembly, the method comprising positioning the underwater boring assembly on a ship's hull of the watercraft, actuating a leg assembly of the underwater boring assembly to attach the underwater boring assembly to the ship's hull, driving at least one self-tapping stud through a connection flange assembly of the underwater boring assembly comprising a containment housing into the ship's hull with a fluid drill of the underwater boring assembly to secure the connection flange assembly to the ship's hull, drilling a hole in the watercraft with the fluid drill within an interior void defined in the connection flange assembly, sealing contents within the hole drilled by the fluid drill from ambient water with the connection flange assembly, decoupling a portion of the underwater boring assembly from the connection flange assembly, and extracting the fluid through the connection flange assembly and the hole drilled by the fluid drill.

[0175] Example 16 - The method of example 15, wherein driving the at least one self- tapping stud with the fluid drill of the underwater drilling assembly further comprises driving the at least one self-tapping stud into the containment housing to seal the internal contents of the containment housing from the ambient water and driving the at least one self-tapping stud into the ship's hull until the at least one self-tapping stud is fully secured to the ship's hull, wherein the containment housing contains the internal contents of the containment housing throughout the driving of the at least one self-tapping stud.

[0176] Example 17 - The method of example 15 or 16, wherein the at least one self-tapping stud comprises a start position at which no portion of the self-tapping stud is located within a corresponding containment cavity and an end position at which a discontinuous portion of the self-tapping stud is located within a corresponding containment cavity.

[0177] Example 18 - The method of example 15, 16, or 17, further comprising driving another self-tapping stud through another containment housing and into the ship's hull with the fluid drill of the underwater drilling assembly.

[0178] Example Set 3:

[0179] Example 1 - An underwater drilling assembly comprising a drilling assembly, a connection flange assembly configured to be attached to a ship's hull by the drilling assembly, wherein the connection flange assembly comprises an upper flange and a female coupling portion, and a frame supporting the drilling assembly. The frame comprises a lower platform, an attachment leg extending from the lower platform and configured to attach the underwater drilling assembly to the ship's hull, a male coupling portion attached to the lower platform, wherein the male coupling portion is configured to be received by the female coupling portion, wherein the male coupling portion comprises a lower flange, and a locking assembly attached to the frame, wherein the locking assembly is configured to lock and unlock the upper flange and the lower flange to couple and disassemble the male coupling portion and the female coupling portion.

[0180] Example 2 - The underwater drilling assembly of example 1, wherein the locking assembly comprises a locking ring configured to be rotated to couple and disassemble the upper flange and the lower flange.

[0181] Example 3 - The underwater drilling assembly of example 1 or 2, wherein the locking ring comprises a plurality of radial locking lugs, wherein the lower flange comprises a plurality of slots configured to receive the radial locking lugs, and wherein the locking ring is rotatable relative to the upper flange to axially lock the male coupling portion and the connection flange assembly.

[0182] Example 4 - The underwater drilling assembly of example 1, 2, or 3, wherein the locking assembly further comprises a hydraulic actuator configured to rotate the locking ring relative to the frame, the male coupling portion, and the connection flange assembly.

[0183] Example 5 - The underwater drilling assembly of example 1, 2, 3, or 4, wherein the male coupling portion comprises a sealing ring configured to fluidly seal the male coupling portion and the female coupling portion.

[0184] Example 6 - The underwater drilling assembly of example 1, 2, 3, 4, or 5, wherein the connection flange assembly further comprises a guide post extending therefrom, the guide post configured to engage an attachment leg to prevent relative rotation between the connection flange assembly and the lower platform.

[0185] Example 7 - The underwater drilling assembly of example 1, 2, 3, 4, 5, or 6, wherein the male coupling portion comprises a machined outer surface and the female coupling portion comprises a machined inner surface configured to engage the machined outer surface.

[0186] Example 8 - The underwater drilling assembly of example 1, 2, 3, 4, 5, 6, or 7, wherein the male coupling portion comprises a chamfered tube edge receivable within the female coupling portion.

[0187] Example 9 - An assembly comprising: a frame defining a first bore; a connection flange defining a second bore, wherein an axis passes through the first bore and the second bore, and wherein a drill bit is movable along the axis; and a locking device mounted to the frame, wherein the locking device is rotatable about the axis between a locked position in which the connection flange is secured to the frame and an unlocked position in which the connection flange is disengaged from the frame such that the frame can be pulled away from the connection flange when the connection flange is fastened to a hull.

[0188] Example 10 - The assembly of example 9, wherein the locking device comprises a locking ring configured to be rotated to couple and decouple the connection flange and the frame.

[0189] Example 11 - The assembly of example 9 or 10, wherein the locking ring comprises a plurality of radially extending locking lugs, wherein the connection flange comprises a plurality of slots configured to receive the radial locking lugs, and wherein the locking ring is rotatable relative to the frame and the connection flange to axially lock the frame and the connection flange together.

[0190] Example 12 - The assembly of example 9, 10, or 11, further comprising a hydraulic actuator configured to rotate the locking ring relative to the frame and the connection flange.

[0191] Example 13 - The assembly of example 9, 10, 11, or 12, wherein the frame comprises a male coupler comprising a seal configured to fluidly seal the frame and the connection flange.

[0192] Example 14 - The assembly of example 9, 10, 11, 12, or 13, wherein the frame includes a plurality of legs, wherein the connecting flange further includes a guide post extending therefrom, the guide post configured to engage the plurality of legs to prevent relative rotation between the connecting flange and the frame.

[0193] Example 15 - The assembly of example 9, 10, 11, 12, 13, or 14, wherein the frame includes a male coupler including a machined outer surface, wherein the connecting flange includes a female coupler including a machined inner surface configured to engage the machined outer surface.

[0194] Example 16 - The assembly of example 9, 10, 11, 12, 13, 14, or 15, wherein the male coupler includes a chamfered tube edge receivable within the female coupler.

[0195] Example 17 - A method of extracting fluid from a shipwreck using an underwater boring assembly including a frame, a boring assembly attached to the frame, and a connecting flange assembly, the method comprising: attaching the connecting flange assembly to the frame with a hydraulic actuator; lowering the underwater boring assembly to an exterior of the shipwreck; actuating a leg assembly of the underwater boring assembly to hold the frame of the underwater boring assembly to the exterior; driving at least one self-tapping stud through the connecting flange assembly and into the exterior with a fluid bit of the underwater boring assembly to secure the connecting flange assembly to the exterior; boring into the shipwreck with the fluid bit within an interior void defined in the connecting flange assembly; sealing a chamber defined within the connecting flange assembly from ambient water with the connecting flange assembly; unclamping the connecting flange assembly from the frame with the hydraulic actuator; and extracting fluid through the connecting flange assembly and a hole bored by the fluid bit.

[0196] Example 18 - The method of example 17, wherein unclamping the flange connecting assembly from the frame with the hydraulic actuator includes rotating a locking ring from a locked position to an unlocked position such that the frame can be separated from the flange connecting assembly when the locking ring is moved to the unlocked position.

[0197] Example 19 - The method of example 17 or 18, wherein the locking ring includes a plurality of radial locking lugs extending inwardly therefrom, and wherein unclamping the flange connecting assembly from the frame with the hydraulic actuator includes rotating the radial locking lugs into alignment with corresponding lug slots defined in the flange connecting assembly.

[0198] Example 20 - The method of example 17, 18, or 19, further comprising, after rotating the radial locking lugs into alignment with the corresponding lug slots, lifting the frame vertically from the flange connection assembly such that the radial locking lugs pass through the corresponding lug slots.

[0199] Example Set 4:

[0200] Example 1 - A method for flushing a drill cavity within a subsea drilling system, wherein the subsea drilling system includes a connection flange assembly configured to attach to a ship hull, wherein the connection flange assembly includes an upper coupling portion, a lower coupling portion, and a knife gate, and wherein the method includes: placing the subsea drilling system against the ship hull; securing the subsea drilling system to the ship hull; drilling self-tapping studs into the ship hull to secure the connection flange assembly to the ship hull; pressurizing the drill cavity to test a first seal between the connection flange assembly and the ship hull; advancing a main drill string toward the ship hull to drill a main hole in the ship hull; retracting the main drill string through the ship hull; closing the knife gate of the connection flange assembly to provide a second seal between the upper coupling portion and the lower coupling portion; and discharging fluid in the drill cavity into a waste box.

[0201] Example 2 - The method of example 1, further comprising uncoupling the upper coupling portion from the lower coupling portion.

[0202] Example 3 - The method of example 1 or 2, further comprising actuating the main drill string to agitate fluid within the upper coupling portion during discharging of the fluid in the drill cavity.

[0203] Example 4 - The method of example 1, 2, or 3, wherein pressurizing the drill cavity includes advancing the main drill string into the drill cavity.

[0204] Example 5 - A subsea drilling system, comprising: a frame including an upper coupler; a connection flange to be attached to a ship hull, wherein the connection flange includes a lower coupler including a knife gate actuatable to provide a seal between the lower coupler and the upper coupler, wherein the upper coupler is separable from the lower coupler; and a drill cavity including an upper drill cavity defined in the upper coupler and a lower drill cavity defined in the lower coupler. The subsea drilling system further includes a waste box fluidly connected to the drill cavity through the upper coupler and a pump configured to discharge fluid within the upper drill cavity into the waste box.

[0205] Example 6 - The subsea drilling system of example 5, wherein the pump is configured to pump water into the upper drill cavity to discharge fluid within the upper drill cavity.

[0206] Example 7 - The subsea drilling system of example 5 or 6, wherein the waste box includes a check valve configured to prevent waste fluid contained in the waste box from flowing into the upper drill cavity.

[0207] Example 8 - The underwater drilling system of example 5, 6, or 7, further comprising an air purge valve positioned between the upper drill cavity and the waste cartridge.

[0208] Example 9 - The underwater drilling system of example 5, 6, 7, or 8, wherein the waste cartridge comprises a transparent housing.

[0209] Example 10 - The underwater drilling system of example 5, 6, 7, 8, or 9, wherein the upper drill cavity comprises a first capacity, and wherein the waste cartridge comprises a second capacity that is greater than the first capacity.

[0210] Example 11 - The underwater drilling system of example 5, 6, 7, 8, 9, or 10, wherein the second capacity is at least three times the first capacity.

[0211] Example 12 - An underwater drilling system comprising: a frame comprising a base; a connection flange pre-attached to the base, wherein the connection flange comprises a female coupler, a chamber defined in the connection flange, and a gate, wherein the chamber comprises an upper chamber and a lower chamber, the gate is actuatable to provide a seal between the upper chamber and the lower chamber, wherein the frame is separable from the female coupler; a container in fluid communication with the upper chamber; and a pump to expel fluid within the upper chamber into the container.

[0212] Example 13 - The underwater drilling system of example 12, wherein the pump is to pump water into the upper chamber to clear fluid within the upper chamber.

[0213] Example 14 - The underwater drilling system of example 12 or 13, wherein the container comprises a check valve to prevent waste fluid contained in the container from flowing into the upper chamber.

[0214] Example 15 - The underwater drilling system of example 12, 13, or 14, further comprising an air purge valve positioned between the upper chamber and the container.

[0215] Example 16 - The underwater drilling system of example 12, 13, 14, or 15, wherein the container comprises a transparent housing.

[0216] Example 17 - The underwater drilling system of example 12, 13, 14, 15, or 16, wherein the upper chamber comprises a first capacity, and wherein the container comprises a second capacity that is greater than the first capacity.

[0217] Example 18 - The underwater drilling system of example 12, 13, 14, 15, 16, or 17, wherein the second capacity is at least three times the first capacity.

[0218] Example Set 5:

[0219] Example 1 - An underwater drilling system comprising a drilling assembly, a frame supporting the drilling assembly, a connection flange assembly configured to be attached to a hull by the drilling assembly, wherein the connection flange assembly comprises a drill cavity defined therein, and an automatic vent valve assembly in fluid communication with the drill cavity, wherein the automatic vent valve assembly is attached to the frame by a fluid pivot coupling, and wherein the automatic vent valve assembly comprises an automatic vent valve and an external float member.

[0220] Example 2 - The underwater drilling system of example 1, wherein the fluid pivot coupling comprises a hydraulic swivel elbow.

[0221] Example 3 - The underwater drilling system of example 1 or 2, wherein the automatic vent valve assembly further comprises a body portion defining an internal fluid chamber and an air release orifice, and an internal shuttle valve body comprising an internal float, wherein the internal float is configured to allow the internal shuttle valve body to move relative to the body portion to seal and unseal the air release orifice.

[0222] Example 4 - The underwater drilling system of example 1, 2, or 3, wherein the internal shuttle valve body comprises an internal tube comprising an open bottom in fluid communication with the internal fluid chamber and an upper vent head.

[0223] Example 5 - The underwater drilling system of example 1, 2, 3, or 4, wherein the upper vent head comprises a plug configured to seal and unseal the air release orifice.

[0224] Example 6 - The underwater drilling system of example 1, 2, 3, 4, or 5, wherein the air release orifice is defined in a top plate of the body portion.

[0225] Example 7 - The underwater drilling system of example 1, 2, 3, 4, 5, or 6, further comprising a waste box in fluid communication with the drill cavity, and wherein the automatic vent valve assembly is located upstream of the waste box such that air is configured to be released by the automatic vent valve assembly prior to reaching the waste box.

[0226] Example 8 - A vent assembly for use with an underwater drilling system, the vent assembly comprising an input tube fluidly communicable with a drill cavity and a head assembly, the head assembly comprising: a frame comprising an upper vent; a first float; an internal chamber in fluid communication with the input tube and the upper vent; and a shuttle movable within the internal chamber such that air pressure is configured to push the shuttle away from the upper vent to automatically unseal and escape through the upper vent.

[0227] Example 9 - The exhaust assembly of example 8, wherein the input tube further comprises a tube comprising a fluid pivot coupling configured to allow the first float to bias the head assembly toward an equilibrium pressure position.

[0228] Example 10 - The exhaust assembly of example 8 or 9, wherein the frame comprises a chamber wall defining the interior chamber extending between a lower plate of the frame and an upper plate of the frame.

[0229] Example 11 - The exhaust assembly of example 8, 9, or 10, wherein the shuttle comprises a second float engaged with the chamber wall, and wherein the second float provides an outer seal between an upper portion of the interior chamber and a lower portion of the interior chamber.

[0230] Example 12 - The exhaust assembly of example 8, 9, 10, or 11, wherein the upper vent comprises a first upper vent, wherein the shuttle comprises an interior tube comprising a second upper vent in fluid communication with an upper portion of the interior chamber and an open bottom in fluid communication with a lower portion of the interior chamber.

[0231] Example 13 - The exhaust assembly of example 8, 9, 10, 11, or 12, wherein the upper plate comprises a first upper plate, and wherein the shuttle further comprises a second upper plate configured to seal the first upper vent when the shuttle is in an uppermost position and unseal the first upper vent when the shuttle is not in the uppermost position.

[0232] Example 14 - The exhaust assembly of example 8, 9, 10, 11, 12, or 13, wherein a gap is defined between the second float and the first upper plate when the shuttle is in an uppermost position.

[0233] Example 15 - A method for automatically venting an air from a drill chamber of an underwater drilling assembly, wherein the underwater drilling assembly comprises a frame, a drill assembly mounted to the frame, and a flange assembly through which the drill assembly drills a hole in a ship's hull, wherein the drill chamber is defined in the flange assembly, the method comprising attaching the underwater drilling assembly to the ship's hull; drilling a hole in the ship's hull through the flange assembly; venting air within the drill chamber through an automatic vent valve assembly comprising an outer float, an interior chamber, and a shuttle movable within the interior chamber to seal and unseal a top plate of the automatic vent valve assembly when an air pressure greater than a fluid pressure applied to the shuttle within the interior chamber is generated; and sealing the flange assembly.

[0234] Example 16 - The method of example 15, wherein venting air within the drill chamber further comprises passing air through an interior tube of the shuttle.

[0235] While several forms have been illustrated and described, the scope of the appended claims is not limited to the forms described. Many modifications, changes, alterations, replacements, combinations, and equivalents will be apparent to those skilled in the art and will be adapted to the forms without departing from the scope of the disclosure. Further, the structure of each element associated with the forms described can alternatively be described as means for providing the function performed by that element. Moreover, where the material of certain components is disclosed, other materials can be used. Therefore, it is to be understood that the foregoing description and the appended claims are intended to cover all such modifications, combinations, and changes as fall within the scope of the forms disclosed. The appended claims are intended to cover all such modifications, changes, alterations, replacements, modifications, and equivalents.

[0236] The above detailed description has set forth various forms of the devices and / or processes via the use of block diagrams, flowcharts, and / or examples. Insofar as such block diagrams, flowcharts, and / or examples contain one or more functions and / or operations, it will be understood by those within the art that each function and / or operation within the block diagrams, flowcharts, and / or examples can be implemented, individually and / or collectively, by a wide range of hardware, software, firmware, or virtually any combination thereof. Those skilled in the art will recognize that many aspects of the forms disclosed herein can be implemented equally well in integrated circuits, as one or more computer programs running on one or more computers (e.g., as programs running on one or more computer systems), as software running on multiple processors (e.g., as multiple programs running on one or more microprocessors), firmware, or virtually any combination thereof, and that designing the circuitry and / or writing the software and / or firmware code are well within the capabilities of one of ordinary skill in the art, in light of this disclosure. Further, those skilled in the art will appreciate that the mechanisms of the subject matter described herein are capable of being distributed in various forms across a wide range of program products, and that the illustrative forms described herein apply equally to virtually any signal bearing medium that can represent a program, whether the program is in a machine-readable storage medium, a transmitted program signal, or any other recallable medium.

[0237] Instructions for programming logic to perform various disclosed aspects can be stored within memory in the system, such as dynamic random access memory (DRAM), cache, flash memory, or other memory. Furthermore, instructions can be distributed over network coupled computer readable media. Thus, machine-readable media can include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, floppy diskettes, optical disks, optical fiber disks, Compact Disc Read-Only Memory (CD-ROMs), and Blu-ray® disks, Read-Only Memory (ROM), Random Access Memory (RAM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), magnetic or optical cards, flash memory, or a tangible, machine-readable storage used in the transmission of information over the Internet via electrical, optical, or other forms of

[0238] As used herein in any aspect, the term "control circuitry" can refer to, be part of, or include, for example, hardwired circuitry, programmable circuitry (for example, a computer processor including one or more individual instruction processing cores, processing units, processors, microcontrollers, microcontroller units, controllers, digital signal processors (DSPs), programmable logic devices (PLDs), programmable logic arrays (PLAs), or field-programmable gate arrays (FPGAs)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof. The control circuitry can collectively or individually constitute control circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application- specific integrated circuit (ASIC), a system-on-chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smart phone, etc. Accordingly, as used herein, "control circuitry" includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit (ASIC), electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program that at least partially carries out processes and / or devices described herein, or a microprocessor configured by a computer program that at least partially carries out processes and / or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and / or electrical circuitry forming a communications device (e.g., a modem, a communications switch, or an optical-electrical device). Those having skill in the art will recognize that the subject matter described herein can be implemented in an analog or digital fashion or some combination thereof.

[0239] As used herein in any aspect and embodiment, the term "logic" can refer to an application, software, firmware and / or circuitry configured to perform any of the operations described herein. Software can be embodied as a software package, code, instructions, instruction sets and / or data recorded on non-transitory computer-readable storage medium. Firmware can be embodied as code, instructions or instruction sets and / or data that are hard-coded (e.g., non-volatile) in memory devices.

[0240] As used herein in any aspect and embodiment, the terms "component," "system," "module" and the like can refer to a computer-related entity, either hardware, a combination of hardware and software, software, or software in execution.

[0241] As used herein in any aspect and embodiment, "algorithm" means a self-consistent sequence of steps leading to a desired result, where a "step" refers to a manipulation of physical quantities and / or logical states, which can but need not take the form of electrical, magnetic, or optical signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is convenient to refer to these signals using terms such as digital signals, values, elements, symbols, characters, terms, numbers, or the like. These similar terms can be associated with appropriate physical quantities and are merely convenient labels applied to these quantities.

[0242] The network can include a packet-switched network. The communication devices can be capable of communicating with each other using a selected packet-switched network communication protocol. One example communication protocol can include an Ethernet communication protocol, which can be capable of allowing communication using the Transmission Control Protocol / Internet Protocol (TCP / IP). The Ethernet protocol can conform to or be compatible with the Ethernet standard entitled "IEEE 802.3 Standard," published by the Institute of Electrical and Electronics Engineers (IEEE) in December 2008, and / or a more recent version of this standard. Alternatively or additionally, the communication devices can be capable of communicating with each other using an X.25 communication protocol. The X.25 communication protocol can conform to or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T). Alternatively or additionally, the communication devices can be capable of communicating with each other using a Frame Relay communication protocol. The Frame Relay communication protocol can conform to or be compatible with a standard promulgated by the Consultative Committee International Telegraph and Telephone (CCITT) and / or the American National Standards Institute (ANSI). Alternatively or additionally, the transceivers can be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communication protocol. The ATM communication protocol can conform to or be compatible with the ATM standard entitled "ATM-MPLS Network Interworking 2.0," published by the ATM Forum in August 2001, and / or a more recent version of this standard. Of course, different and / or later-developed connection-oriented network communication protocols are equally contemplated herein.

[0243] Unless otherwise clear from the preceding disclosure, it is to be understood that, in the preceding disclosure, discussions utilizing terms such as "processing," "computing," "calculating," "determining," "displaying," or the like, can refer to actions and processes of a computer system, or similar electronic device, that manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission or display devices.

[0244] One or more components can be referred to herein as being "configured to," "configurable to," "operable / operable when," "adapted to / adaptable to," "capable of," "suitable to / suitable when," and the like. Those skilled in the art will recognize that "configured to" can generally cover active- state components as well as inactive-state components and / or standby state components, unless context requires otherwise.

[0245] Those skilled in the art will recognize that, in general, the terms used herein, and especially in the appended claims (for example, the recitations of the claims), are generally intended as "open" terms (for example, the term "including" should be interpreted as "including but not limited to," the term "having" should be interpreted as "having at least," the term "includes" should be interpreted as "includes but is not limited to," and the like). Those skilled in the art will further recognize that where a specific numerical limitation is intended, the application will specifically recite such limitation, and that no such limitation exists merely because an introductory recitation of a claim recites a phrase such as "at least one" or "one or more." For example, by way of assistance, the following dependent claims can contain the use of the introductory phrases "at least one" and "one or more" to introduce claim recitations. However, the use of such phrases should not be interpreted as implying that a claim recitation introduced by an indefinite article such as "a" or "an" would limit the claim to contain only one such recitation, even if the same claim includes the introductory phrase "one or more" or "at least one" and the indefinite article such as "a" or "an" (for example, "a" and / or "an" should generally be interpreted to mean "at least one" or "one or more"); the same is true for the use of the definite article to introduce claim recitations.

[0246] Further, even if the recitations of numerical ranges are explicitly recited in the claims, those skilled in the art will recognize that such recitations simply are intended to resolve, for the patent to be directed in a sufficiently specific manner, any issue surrounding enablement, but will also recognize that the numerical limits should be construed in light of the specification and may be proximate to the numerical limits recited, unless otherwise indicated. Moreover, unless the context clearly requires otherwise, terms such as "comprise," "comprising," "include," "including," "contain," "containing," "have," "having," "carry," "carrying," "hold," "holding," "compared to," and the like can be used interchangeably with other similar terms such as "comprise," "comprising," "include," "including," "contain," "containing," "have," "having," "carry," "carrying," "hold," "holding," "compared to," and the like. Additionally, the terms "first," "second," "third," "fourth," and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the descriptive terminology can be changed and that the scope of the appended claims should not be limited thereto.

[0247] With regard to the accompanying claims, the person skilled in the art will appreciate that the operations recited therein can be executed in any order. Moreover, although various operational flow diagrams are presented in a sequence, it should be understood that various operations can be executed in different order than shown or can be executed in parallel. Examples of such alternative orderings can include overlap, interleave, interrupt, re-order, increment, pre-wait, supplement, simultaneous, reverse, or other variant orderings unless specified otherwise by the context. Also, terms such as "responsive to," "related to," or other past-tense adjectives are generally not intended to exclude such variant orderings unless the context specifically requires otherwise.

[0248] Notably, any reference to "one aspect," "an aspect," "one example," "an example," etc. means that a particular feature, structure, or characteristic described in connection with this aspect is included in at least one aspect. Thus, appearances of the phrases "in one aspect," "in an aspect," "in one example," and "in an example" in various places in the specification are not necessarily all referring to the same aspect. Further, the particular features, structures, or characteristics can be combined in any suitable manner in one or more aspects.

[0249] Any patent application, patent, non-patent publication, or other disclosure material referred to in this specification, and / or in any application data sheet, is hereby incorporated by reference to the extent that the incorporated material is not inconsistent with the explicit teachings of the present disclosure. Thus, and to the extent necessary, the disclosure as set forth herein supersedes any contradictory or inconsistent teachings of the patents, patent applications, publications, or other material incorporated by reference. Any material, or portion thereof, that is said to be incorporated by reference but which contradicts the present definition, statement, or other disclosure material set forth herein, is only incorporated to the extent that the material is consistent with the existing definition, statement, or other disclosure material that will not conflict.

[0250] In summary, a number of benefits have been described which result from employing the concepts described herein. The foregoing description of one or more forms has been presented for purposes of illustration and description. It is not exhaustive or limiting to the precise forms disclosed. Modifications or changes can occur to one skilled in the art, especially based on the above teaching. Some forms are selected and described in order to provide that which is useful and understood, and in a manner which permits those skilled in the art to gain a thorough and enabling deletion, and / or modification of the nucleic acid sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid sequence is a RNA sequence. In some embodiments, the nucleic acid sequence is a DNA sequence. In some embodiments, the nucleic acid

Claims

1. A method for flushing a drill cavity within an underwater drilling system, wherein the underwater drilling system includes a connecting flange assembly configured to be attached to a hull, wherein the connecting flange assembly includes an upper connecting portion, a lower connecting portion, and a cutter gate, and wherein the method includes: The underwater drilling system was placed against the hull. Secure the underwater drilling system to the hull; Self-tapping studs are drilled into the hull to secure the connecting flange assembly to the hull. The drill cavity was pressurized to test the first seal between the connecting flange assembly and the hull; Advance the main drill pipe toward the hull to drill the main hole in the hull; The main drill pipe retracts through the hull; Close the knife switch of the connecting flange assembly to provide a second seal between the upper and lower connecting portions; as well as The fluid in the drill duct is drained into the waste box.

2. The method according to claim 1 further includes disengaging the upper connecting portion from the lower connecting portion.

3. The method of claim 1, further comprising actuating the main drill pipe to agitate the fluid within the upper connecting portion during the discharge of fluid from the drill cavity.

4. The method of claim 1, wherein pressurizing the drill cavity comprises advancing the main drill pipe into the drill cavity.

5. An underwater drilling system, comprising: The frame includes an upper connecting portion; A connecting flange assembly to be attached to a ship hull, wherein the connecting flange assembly includes a lower connecting portion, the lower connecting portion including a knife gate actuable to provide a seal between the lower connecting portion and an upper connecting portion, wherein the upper connecting portion is detachable from the lower connecting portion; as well as Drill cavity, the drill cavity comprising: The upper drill cavity defined in the upper connecting portion; and The lower drill cavity defined in the lower connecting portion; The waste box, which is fluidly connected to the drill cavity via an upper connecting portion; and A pump configured to discharge fluid from the upper drill chamber into the waste box.

6. The underwater drilling system of claim 5, wherein the pump is configured to pump water into the upper drilling chamber to discharge fluid within the upper drilling chamber.

7. The underwater drilling system of claim 5, wherein the waste container includes a check valve configured to prevent waste fluid contained in the waste container from flowing into the upper drilling chamber.

8. The underwater drilling system according to claim 5 further includes an air purging valve positioned between the upper drilling chamber and the waste box.

9. The underwater drilling system of claim 5, wherein the waste container comprises a transparent housing.

10. The underwater drilling system of claim 5, wherein the upper drilling chamber includes a first capacity, and wherein the waste container includes a second capacity greater than the first capacity.

11. The underwater drilling system of claim 10, wherein the second capacity is at least three times the first capacity.

12. An underwater drilling system, comprising: A frame, the frame including a base; A connecting flange assembly pre-attached to the base, wherein the connecting flange assembly includes: Female connection part; A drill cavity defined in the connecting flange assembly, wherein the drill cavity includes an upper drill cavity and a lower drill cavity; and A knife gate, actuable to provide a seal between the upper and lower drill cavities, wherein the frame is separable from the female connection portion. The waste box is in fluid communication with the upper drill cavity, and A pump is used to discharge fluid from the upper drill chamber into the waste box.

13. The underwater drilling system of claim 12, wherein the pump is used to pump water into the upper drilling chamber to remove fluid from the upper drilling chamber.

14. The underwater drilling system of claim 12, wherein the waste box includes a check valve to prevent waste fluid contained in the waste box from flowing into the upper drilling chamber.

15. The underwater drilling system according to claim 12 further includes an air purging valve, the air purging valve being positioned between the upper drilling chamber and the waste box.

16. The underwater drilling system of claim 12, wherein the waste container comprises a transparent housing.

17. The underwater drilling system of claim 12, wherein the upper drilling chamber includes a first capacity, and wherein the waste container includes a second capacity, the second capacity being greater than the first capacity.

18. The underwater drilling system of claim 17, wherein the second capacity is at least three times the first capacity.

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