Operation of a resident service vehicle from an unmanned production unit

Abstract

A resident service system can include a base station having a vehicle docking feature, where the base station is disposed on an unmanned production unit that is at least partially submerged in water. The resident service system can also include a resident service vehicle (RSV) configured to couple to the vehicle docking feature of the base station, where the RSV is configured to autonomously perform a function in the water while decoupled from the vehicle docking feature.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application Ser. No. 63 / 486,808 titled “Operation Of A Resident Service Vehicle From An Unmanned Production Unit” and filed on Feb. 24, 2023, the entire contents of which are hereby incorporated herein by reference.TECHNICAL FIELD

[0002] The present application is related to underwater service vehicles and, more particularly, to operation of a resident service vehicle from an unmanned production unit.BACKGROUND

[0003] Offshore platforms (also called floating production units or production units herein) are increasingly designed to be unmanned. With no personnel on board these unmanned production units, certain tasks can be difficult to perform. For example, many maintenance tasks (e.g., scheduled maintenance, emergency maintenance) can only be performed when a person is brought to the unmanned production unit for the purpose of performing that task. As another example, inspections that would normally be performed, either by a person or a service vehicle controlled by a person, on a regular schedule may have to be delayed or eliminated because there is no person to perform the inspections.SUMMARY

[0004] In general, in one aspect, the disclosure relates to a resident service system. The resident service system can include a base station having a vehicle docking feature, where the base station is disposed on an unmanned production unit that is at least partially submerged in water. The resident service system can also include a resident service vehicle (RSV) configured to couple to the vehicle docking feature of the base station, where the RSV is configured to autonomously perform a function in the water while physically separated from the vehicle docking feature.

[0005] In another aspect, the disclosure relates to a method for managing a resident service vehicle (RSV) from an unmanned production unit. The method can include obtaining, by a base station, instructions from a network manager. The method can also include dispatching, by the base station, the RSV to perform a function based on the instructions. The method can further include receiving, by the base station, the RSV after the function is performed. The method can also include retrieving, by the base station, data associated with performing the function from the RSV. The method can further include sending, by the base station, the data to the network manager.

[0006] In another aspect, the disclosure relates to a method for performing a function from an unmanned production unit. The method can include obtaining, by a resident service vehicle (RSV), instructions from a base station. The method can also include decoupling the RSV from the base station to perform the function derived from the instructions. The method can further include collecting, by the RSV, data while performing the function. The method can also include finishing the function by the RSV. The method can further include coupling the RSV to the base station. The method can also include transferring the data from the RSV to the base station.

[0007] These and other aspects, objects, features, and embodiments will be apparent from the following description and the appended claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The drawings illustrate only example embodiments and are therefore not to be considered limiting in scope, as the example embodiments may admit to other equally effective embodiments. The elements and features shown in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the example embodiments. Additionally, certain dimensions or positions may be exaggerated to help visually convey such principles. In the drawings, reference numerals designate like or corresponding, but not necessarily identical, elements.

[0009] FIG. 1 shows a system that includes a resident service system according to certain example embodiments.

[0010] FIG. 2 shows a system diagram of a subsystem that includes one or more resident service systems according to certain example embodiments.

[0011] FIG. 3 shows a system diagram of a resident service vehicle of FIG. 2 according to certain example embodiments.

[0012] FIG. 4 shows a system diagram of a controller of a base station of FIG. 2 according to certain example embodiments.

[0013] FIG. 5 shows a computing device in accordance with certain example embodiments.

[0014] FIG. 6 shows a flowchart of a method for managing a resident service vehicle from an unmanned production unit according to certain example embodiments.

[0015] FIG. 7 shows a flowchart of a method for operating a resident service vehicle from an unmanned production unit according to certain example embodiments.

[0016] FIG. 8 shows a diagram of a subsystem that includes a resident service system according to certain example embodiments.

[0017] FIG. 9 shows diagram of a subsystem that includes another resident service system according to certain example embodiments.

[0018] FIG. 10 shows a diagram of a subsystem that includes yet another resident service system according to certain example embodiments.

[0019] FIG. 11 shows a diagram of a subsystem that includes still another resident service system according to certain example embodiments.DESCRIPTION OF THE INVENTION

[0020] The example embodiments discussed herein are directed to operation of a resident service vehicle (RSV) from an unmanned production unit. As defined herein, an unmanned production unit is a structure or vessel that is designed to stand in or float in a body of water. When an unmanned production unit is in water, the unmanned production unit can float in a relatively stationary position, or the unmanned production unit can be in motion in the water. The unmanned production unit can remain in a body of water (e.g., an ocean, a gulf) for an extended period of time (e.g., years, decades). At times, an unmanned production unit can be out of water (e.g., in dry dock). Industries for which unmanned production units can be used can include, but are not limited to, oil and gas (e.g., exploration, production), aquaculture, oceanography, and electric power (e.g., wind generation).

[0021] Example unmanned production units can have any of a number of different structural configurations, including but not limited to spars, semisubmersibles, tension leg platforms (TLPs), Floating Production Storage and Offloading (FPSOs), Floating Storage and Offloading (FSOs), and ships of any kind (e.g., tankers, barges). In some cases, an unmanned production unit can include a hull that has one or more of a number of features, including but not limited to tanks (e.g., filled fully with water, filled partially with water, void of water), columns, pontoons, and voids. As defined herein, an unmanned production unit can be used for production of some process (e.g., oil and gas). In addition, or in the alternative, an unmanned production unit can be used for any of a number of other purposes that are not associated with production of a process.

[0022] An unmanned production unit as defined herein can have no people onboard or a very limited number (e.g., five) of people on board. When an unmanned production unit is minimally staffed with personnel, the production unit may be considered unmanned because the people who are present on the production unit perform tasks that do not overlap with the tasks performed by an RSV discussed herein and that do not involve the operation of an RSV. Example unmanned production units can be rated for use in hazardous environments. As defined herein, “in the water” in terms of a service (also sometimes called an operation or a function herein) performed by an RSV of a resident inspection system can mean that the RSV and / or the associated base station is at the water line and / or in the water under a water line while the RSV performs the service / operation / function.

[0023] Example embodiments can be used in the design and construction of new unmanned production units. In addition, or in the alternative, example embodiments can be retrofitted into existing unmanned production units. Retrofitting an existing unmanned production unit for remote service can involve enlarging and / or adding penetrations (e.g., in bulkheads, in the deck floor of the hull) of the unmanned production units to the extent allowed by applicable regulations.

[0024] An example resident service system includes multiple components that are described herein, where a component (or portion thereof) can be made from a single piece (as from a mold or an extrusion). When a component (or portion thereof) of an example resident service system is made from a single piece, the single piece can be cut out, bent, stamped, and / or otherwise shaped to create certain features, elements, or other portions of the component. Alternatively, a component (or portion thereof) of an example resident service system can be made from multiple pieces that are mechanically coupled to each other. In such a case, the multiple pieces can be mechanically coupled to each other using one or more of a number of coupling methods, including but not limited to adhesives, welding, fastening devices, compression fittings, mating threads, and slotted fittings. One or more pieces that are mechanically coupled to each other can be coupled in one or more of a number of ways, including but not limited to fixedly, hingedly, rotatably, removably, slidably, and threadably.

[0025] Each component and / or feature described herein (including each component of an example resident service system) can be made of one or more of a number of suitable materials, including but not limited to metal (e.g., stainless steel), ceramic, rubber, glass, and plastic. An example resident service system can be designed to comply with certain standards and / or requirements. Examples of entities that set such standards and / or requirements can include, but are not limited to, the Society of Petroleum Engineers, the American Petroleum Institute (API), the International Association of Classification Societies (IACS), the International Standards Organization (ISO), and the Occupational Safety and Health Administration (OSHA).

[0026] If a component of a figure is described but not expressly shown or labeled in that figure, the label used for a corresponding component in another figure can be inferred to that component. Conversely, if a component in a figure is labeled but is not described, the description for such component can be substantially the same as the description for the corresponding component in another figure. The numbering scheme for the various components in the figures herein is such that each component is a three-digit number or a four-digit number, and corresponding components in other figures have the identical last two digits. For any figure shown and described herein, one or more of the components may be omitted, added, repeated, and / or substituted. Accordingly, embodiments shown in a particular figure should not be considered limited to the specific arrangements of components shown in such figure.

[0027] Further, a statement that a particular embodiment (e.g., as shown in a figure herein) does not have a particular feature or component does not mean, unless expressly stated, that such embodiment is not capable of having such feature or component. For example, for purposes of present or future claims herein, a feature or component that is described as not being included in an example embodiment shown in one or more particular drawings is capable of being included in one or more claims that correspond to such one or more particular drawings herein.

[0028] Example embodiments of operation of a resident service vehicle (RSV) from an unmanned production unit will be described more fully hereinafter with reference to the accompanying drawings, in which example embodiments of operation of a resident service vehicle (RSV) from an unmanned production unit are shown. Operation of a resident service vehicle (RSV) from an unmanned production unit may, however, be embodied in many different forms (including variations of a marine vessel with a 2-stage tank filling mechanism) and should not be construed as limited to the example embodiments set forth herein. Rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of operation of a resident service vehicle (RSV) from an unmanned production unit to those of ordinary skill in the art. Like, but not necessarily the same, elements (also sometimes called components) in the various figures are denoted by like reference numerals for consistency.

[0029] Terms such as “first”, “second”, “above”, “below”, “inner”, “outer”, “distal”, “proximal”, “end”, “top”, “bottom”, “upper”, “lower”, “side”, “left”, “right”, “front”, “rear”, and “within”, when present, are used merely to distinguish one component (or part of a component or state of a component) from another. This list of terms is not exclusive. Such terms are not meant to denote a preference or a particular orientation unless explicitly stated, and they are not meant to limit embodiments of operation of a resident service vehicle (RSV) from an unmanned production unit. In the following detailed description of the example embodiments, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description.

[0030] FIG. 1 shows a system 100 that includes a resident service system 190 according to certain example embodiments. The system 100 includes multiple components. In this case, the system 100 includes a network manager 180 and the resident service system 190 located on or proximate to an unmanned production unit 195 (UPU 195). In this case, the UPU 195 is in the form of a semi-submersible pontoon vessel having a topsides 107 (e.g., platform, equipment, buildings, structures) mounted on a hull 109. The UPU 195 floats in a large body of water 194. The topsides 107 and part of the hull 109 of the UPU 195 is in the environment 193 (e.g., in the ambient air) above the water line 192, and the rest of the hull 109 of the UPU 195 is in the water 194 below the water line 192. The UPU 195 in this case is used for subterranean field operations, in which production phases of a field operation can be executed to extract and / or process subterranean resources (e.g., oil, natural gas, water, a basis for hydrogen gas) from and / or inject resources (e.g., carbon monoxide) into the subterranean formation 110.

[0031] In some cases, to help keep the UPU 195 from deviating too far from its position along the water line 192 (in this case, in a horizontal direction), multiple mooring lines 175 may be used. Each mooring line 175 in this case has one end attached to part of the hull 110 of the UPU 195 that is disposed in the water 194, and the other end is anchored, using an anchor device, in the subterranean formation 110 below the surface 102. In addition, or in the alternative, mooring lines 175 can be anchored to other objects and / or have different orientations compared to what is shown in FIG. 1. For example, one or more mooring lines 175 can be laid out on the surface 102 and anchored to other mooring lines 175 that are attached to the UPU 195. In any case, each mooring line 175 can be long, where the length of a mooring line 175 is a function of the water depth at the location of the UPU 195, the size of the hull 109, and environmental conditions under which the UPU 195 is operating. Each mooring line 175 can be a single continuous line or multiple shorter line segments that are coupled end-to-end to each other.

[0032] The network manager 180 of the system 100 is configured to be located a distance (e.g., a mile, a hundred miles, a thousand miles) from the UPU 195. In this case, the network manager 180 is located on land (out of the water 194). The network manager 180 is configured to control the resident service system 190. For example, the network manager 180 may be configured to provide instructions to the resident service system 190 to perform an operation (e.g., perform an inspection, perform a search, collect data) on or proximate to the UPU 195 without intervention or assistance from a human. The network manager 180 may also be configured to receive and use data collected and sent by the resident service system 190 during and / or after an operation has been performed by the resident service system 190.

[0033] The network manager 180 may be substantially similar to a controller 204, as described below with respect to FIGS. 2 and 3. For example, the network manager 180 may include a controller that has one or more components and / or similar functionality to some or all of the controller 204. Alternatively, the network manager 180 may include one or more of a number of features in addition to, or altered from, the features of the controller 204. As described herein, control and / or communication with the network manager 180 may include communicating with one or more other components of the same system 100 or another system. In such a case, the network manager 180 may facilitate such control and / or communication. The network manager 180 may be called by other names, including but not limited to a master controller, a network controller, and an enterprise manager. The network manager 180 may be considered a type of computer device, as discussed below with respect to FIG. 5.

[0034] FIG. 2 shows a system diagram of a subsystem 299 that includes one or more resident service systems 290 according to certain example embodiments. FIG. 3 shows a system diagram of an RSV 202 of FIG. 2 according to certain example embodiments. FIG. 4 shows a system diagram of a controller of a base station of FIG. 2 according to certain example embodiments. Referring to FIGS. 1 through 4, the subsystem 299 of FIG. 2 can include a network manager 280, one or more users 250 (which can include one or more user systems 255), and the one or more resident service systems 290 (e.g., resident service system 290-1, resident service system 290-N). The network manager 280 and the resident service systems 290 of FIG. 2 can be substantially the same as the network manager 180 and the resident service system 190 of FIG. 1.

[0035] A user 250 can be any person or entity that interacts, directly or indirectly, with the network manager 280, including any portions thereof. Examples of a user 250 may include, but are not limited to, a business owner, a research scientist, an engineer, a company representative, an inspector, a consultant, a government representative, a regulator, a network manager, a contractor, and a manufacturer's representative. A user 250 can use one or more user systems 255, which may include a display (e.g., a GUI). A user system 255 of a user 250 can interact with (e.g., send data to, obtain data from) the network manager 280 (or portions thereof) via an application interface (e.g., application interface 426) and using the communication links 205. The user 250 can also interact directly with the network manager 280 (or portions thereof) through a user interface (e.g., keyboard, mouse, touchscreen). Examples of a user system 255 can include, but are not limited to, a cell phone, a laptop computer, an electronic tablet, and a specialized handheld device.

[0036] As discussed above, the network manager 280 can communicate directly with each of the resident service systems 290. The network manager 280 can also communicate directly with each of the users 250, including any associated user systems 255. Such communication can occur using the communication links 205. Each communication link 205 can include wired (e.g., Class 1 electrical cables, Class 2 electrical cables, electrical connectors, Power Line Carrier, RS485) and / or wireless (e.g., Wi-Fi, Zigbee, visible light communication, cellular networking, satellite, Bluetooth, WirelessHART, ISA100) technology. A communication link 205 can be used for the transmission of signals (e.g., communication signals, control signals, data) between the user systems 255, the network manager 280, and the resident service systems 290 (including portions thereof) in the subsystem 299.

[0037] As an example, the network manager 280 can communicate, using the communication links 205, with the base station 201-1 of the resident service system 290-1 to initiate an operation or function to be performed by the RSV 202-1. As another example, the base station 201-N of the resident service system 290-N can use the communication links 205 to send data collected by the RSV 202-N during or after performing a function to the network manager 280.

[0038] Each resident service system 290 can be located on or proximate to a UPU (e.g., UPU 195). Each resident service system 290 can include one or more RSVs 202 and a base station 201. For example, in this case, there may be N resident service systems 290, from resident service system 290-1 through resident service system 290-N. Resident service system 290-1 includes a base station 201-1 and an RSV 202-1. Resident service system 290-N includes a base station 201-N and an RSV 202-N.

[0039] A base station 201 can be used to transport, introduce, support, and / or extricate an RSV 202 on or proximate to the UPU (e.g., UPU 195). As shown in FIG. 2, the base station 201 of a resident service system 290 can include a controller 204, a power supply 240, one or more sensor devices 265, one or more docking features 249, one or more optional mobility features 242, optional equipment kit storage 241, a housing 211, and one or more optional adjustment features 248. For example, the base station 201-1 of the resident service system 290-1 can include a controller 204-1, a power supply 240-1, one or more sensor devices 265-1, one or more docking features 249-1, one or more optional mobility features 242-1, optional equipment kit storage 241-1, a housing 211-1, and one or more optional adjustment features 248-1. As another example, the base station 201-N of the resident service system 290-N can include a controller 204-N, a power supply 240-N, one or more sensor devices 265-N, one or more docking features 249-N, one or more optional mobility features 242-N, optional equipment kit storage 241-N, a housing 211-N, and one or more optional adjustment features 248-N.

[0040] The components shown in FIGS. 2 through 4 are not exhaustive, and in some embodiments, one or more of the components shown in FIGS. 2 through 4 may not be included in the subsystem 299. For example, a base station 201 can act as a base for one or multiple RSVs 202. As another example, a base station 201 can have a controller 204 that also controls the RSV 202, which can lack its own controller 304.

[0041] The base station 201 of a resident service system 290 can include a housing 211. The housing 211 can include one or more walls that house and / or have disposed thereon one or more of the components of the base station 201. For example, the housing 211 can house the controller 204 and have the docking feature 249 disposed thereon. In some cases, the housing 211 can have multiple portions, as when part of the base station 201 is located topsides 107 on the UPU 195 and the remainder of the base station 201 is located between topsides 107 and the water line 192.

[0042] The docking feature 249 (also sometimes called a vehicle docking feature 249 or an RSV docking feature 249 herein) of a base station 201 of a resident service system 290 can be configured to complement the docking feature 239 of the RSV 202. In this way, the RSV 202 can dock to the base station 201. The docking feature 249 can allow for the mechanical and / or electrical coupling between the base station 201 and the RSV 202. When the docking feature 249 allows for electrical coupling, the docking feature 249 can include the capability of physical coupling (e.g., an electrical connector end) or wireless coupling. When the docking feature 249 allows for electrical coupling, the docking feature 249 can include the capability to transfer power (e.g., charging power for a battery of the RSV 202) and / or signals (e.g., data, instructions, software updates, security updates). A docking feature 249 can accommodate one RSV 202 or multiple RSVs 202.

[0043] The optional equipment kit storage 241 of the base station 201 of a resident service system 290 is configured to hold one or more equipment kits 344 that can be used by the RSV 202 to perform a function. As discussed below, in some cases, an RSV 202 can be configured to receive different equipment (e.g., sensor devices 365, mobility features 342), where certain equipment (also referred to as an equipment kit) are used for one function (e.g., inspect the parts of the UPU 195 in the water 194), while another equipment kit is used for another function (e.g., perform a rescue operation).

[0044] The optional adjustment features 248 of the base station 201 of a resident service system 290 is configured to add equipment (e.g., all or part of an equipment kit) to, adjust equipment on, and / or remove equipment from the RSV 202. In addition, or in the alternative, the adjustment features 248 can perform maintenance on parts of the RSV 202. The adjustment features 248 can include components such as mechanical arms, tools (e.g., screwdrivers, wrenches), and diagnostic equipment (e.g., sensor devices). In some cases, the adjustment features 248 are controlled by the controller 204 of the base station 201. In some cases, the adjustment features 248 have their own separate controller, which can be in communication with the controller 204 of the base station 201 or independent of the controller 204.

[0045] The optional mobility features 242 of the base station 201 of a resident service system 290 is configured to allow the RSV 202 and / or the base station 201, or portions thereof, to move. The base station 201 can have one or more of any number and / or type of mobility features 242. Examples of such mobility features 242 can include, but are not limited to, wheels, propellers, caterpillar tracks, grippers, a crane, a crawler, an extending portion, a retractable portion, anchors, an elevator, motors, axels, gears, a heat sink, an electrical conductor or electrical cable, a terminal block, a drive train, and a circuit board. In this way, the base station 201 can move along the topsides 107, through the air, under the topsides 107, in the water 194, up and down stairs, up and down ladders, through doors and hatches, up and down a wall, and along a ceiling.

[0046] The power supply 240 of the base station 201 of a resident service system 290 is configured to provide power to one or more of the other components of the base station 201. The power supply 240 of the base station 201 can include one or more components (e.g., a transformer, a diode bridge, an inverter, a converter) that receives power (for example, through an electrical cable) from a source (e.g., a battery, an electrical generator) and generates power of a type (e.g., alternating current, direct current) and level (e.g., 12V, 24V, 120V) that can be used by one or more of the other components (e.g., the controller 204, the mobility features 242) of the base station 201. In addition, or in the alternative, the power supply 240 can be or include a source of power in itself. For example, the power supply 240 can be or include a battery or some other source of independent power. In some cases, the controller 204 can generate and send a signal to the power supply 240 to control the operation and / or output of the power supply 240.

[0047] Each of the sensor devices 265 of the base station 201 of a resident service system 290 is configured to measure one or more parameters that are associated with the resident service system 290. Each sensor device 265 can include one or more sensors that measure one or more parameters (e.g., pressure, flow rate, temperature, thickness, corrosion, gas composition, magnetic field, proximity). Examples of parameters measured by a sensor device 265 can include, but are not limited to, a voltage, a current, a temperature, a pressure, air speed, speed of an object, fluid level, humidity, wave height, charge level, tension, weight, and an amount of infrared radiation.

[0048] A controller 204 of the base station 201 of a resident service system 290 is configured to control and / or communicate with the other components (e.g., the mobility features 242, the adjustment features 248, the RSV 202), or portions thereof, of the base station 201. A controller 204 performs a number of functions that may include receiving data, evaluating data, following protocols, running algorithms, receiving instructions, and sending instructions. The base station 201 can have a single controller 204 or multiple controllers 204. When there are multiple controllers 204 of the base station 201, each controller 204 can operate independently of each other. Alternatively, one or more of the controllers 204 in the base station 201 can work cooperatively with each other. As yet another alternative, one of the controllers 204 of the base station 201 can control some or all of one or more other controllers 204 of the base station 201.

[0049] A controller 204 of the base station 201 can include multiple components. For example, as shown in FIG. 4, a controller 204 of the base station 201 can include a control engine 406, an analysis module 475, a communication module407, a timer 435, a power module 430, a storage repository 431, a hardware processor 421, memory 422, a transceiver 424, an application interface 426, and a security module 423. The various components of the controller 204 may be centrally located. In addition, or in the alternative, some of the components of the controller 204 may be located remotely from (e.g., in the cloud, at an office building) one or more of the other components of the controller 204. A controller 204 can be a type of computing device discussed below with respect to FIG. 5.

[0050] The storage repository 431 may be a persistent storage device (or set of devices) that stores software and data used to assist the controller 204 in communicating with one or more other components of the subsystem 299, such as the network manager 280, the sensor devices 265, and an RSV 202. In one or more example embodiments, the storage repository 431 stores one or more protocols 432, one or more algorithms 433, and stored data 434.

[0051] The protocols 432 of the storage repository 431 may be any procedures (e.g., a series of method steps) and / or other similar operational processes that the control engine 406 of the controller 204 follows based on certain conditions at a point in time. The protocols 432 may include any of a number of communication protocols that are used to send and / or obtain data between the controller 204 and other components of a system or portion thereof (e.g., the subsystem 299). Such protocols 432 used for communication may be a time-synchronized protocol. Examples of such time-synchronized protocols may include, but are not limited to, a highway addressable remote transducer (HART) protocol, a wirelessHART protocol, and an International Society of Automation (ISA) 100 protocol. In this way, one or more of the protocols 432 may provide a layer of security to the data transferred within a system or portion thereof (e.g., subsystem 299). Other protocols 432 used for communication may be associated with the use of Wi-Fi, Zigbee, visible light communication (VLC), cellular networking, BLE, UWB, and Bluetooth.

[0052] The algorithms 433 may be any formulas, mathematical models, forecasts, simulations, and / or other similar tools that the control engine 406 of the controller 204 uses to reach a computational conclusion. For example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 to equip and deploy an RSV 202 to perform a particular function. As another example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 to receive and interpret a request or instruction from the network manager 280. As yet another example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 to manage an RSV 202 during a function. As yet another example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 to retrieve data collected by an RSV 202 during performance of a function and send the data to the network manager 280.

[0053] Stored data 434 may be any data associated with the UPU 195 to which the base station 201 is assigned, each RSV 202 that is controlled by the base station 201, the environment surrounding the UPU 195, the various components (e.g., the network manager 280, the user systems 255), including associated equipment (e.g., motors, pumps, compressors), of the subsystem 299, measurements made by the sensor devices (e.g., sensor devices 265, sensor devices 365), threshold values, tables, results of previously run or calculated algorithms 433, updates to protocols 432, user preferences, and / or any other suitable data. Such data may be any type of data, including but not limited to historical data, present data, and future data (e.g., forecasts). The stored data 434 may be associated with some measurement of time derived, for example, from the timer 435.

[0054] Examples of a storage repository 431 may include, but are not limited to, a database (or a number of databases), a file system, cloud-based storage, a hard drive, flash memory, some other form of solid-state data storage, or any suitable combination thereof. The storage repository 431 may be located on multiple physical machines, each storing all or a portion of the protocols 432, the algorithms 433, and / or the stored data 434 according to some example embodiments. Each storage unit or device may be physically located in the same or in a different geographic location.

[0055] The storage repository 431 may be operatively connected to the control engine 406. In one or more example embodiments, the control engine 406 includes functionality to communicate with the sensor devices 265, the RSV 202, the network manager 280, and any other components in the subsystem 299. More specifically, the control engine 406 sends information to and / or obtains information from the storage repository 431 in order to communicate with the sensor devices 265, the RSV 202, the network manager 280, and any other components of the subsystem 299. As discussed below, the storage repository 431 may also be operatively connected to the communication module 407 in certain example embodiments.

[0056] In certain example embodiments, the control engine 406 of the controller 204 controls the operation of one or more components (e.g., the communication module 407, the timer 435, the transceiver 424424) of the controller 204. For example, the control engine 406 may activate the communication module 407 when the communication module 407 is in “sleep” mode and when the communication module 407 is needed to send data obtained from another component (e.g., a sensor device 265, a controller 304 of the RSV 202) in the subsystem 299. In addition, the control engine 406 of the controller 204 may control the operation of one or more other components (e.g., a sensor device 265, a controller 304 of the RSV 202), or portions thereof, of the subsystem 299.

[0057] The control engine 406 of the controller 204 may communicate with one or more other components of the subsystem 299. For example, the control engine 406 may use one or more protocols 432 to facilitate communication with the sensor devices 265 to obtain data (e.g., measurements of various parameters, such as temperature, pressure, and flow rate), whether in real time or on a periodic basis and / or to instruct a sensor device 265 to take a measurement. The control engine 406 may use measurements of parameters taken by sensor devices 265 to receive and interpret a request or instruction from the network manager 280. As yet another example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 to manage an RSV 202 during a function. As yet another example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 to retrieve data collected by an RSV 202 during performance of a function and send the data to the network manager 280. As still another example, one or more algorithms 433 may be used, in conjunction with one or more protocols 432, to assist the controller 204 determine the viability of an RSV 202 performing a function.

[0058] Examples of functions that can be performed by an RSV 202 can include, but are not limited to, inspecting mooring lines 175 that stabilize the UPU 195, interdicting an unknown vehicle approaching the UPU 195, identifying and managing a spill of a fluid in the water proximate to the UPU 195, rescuing a person or object in the water in the area of the UPU 195, delivering equipment to neighboring UPUs 195, collecting metocean data, and inspecting underwater portions of the UPU 195.

[0059] The control engine 406 may generate and process data associated with control, communication, and / or other signals sent to and obtained from the sensor devices 265, the RSV 202 (or portions thereof), the network manager 280, and any other components of the subsystem 299. In certain embodiments, the control engine 406 of the controller 204 may communicate with one or more components of a system external to the subsystem 299. For example, the control engine 406 may interact with an inventory management system by ordering replacements for components or pieces of equipment (e.g., a sensor device 265, a valve, a motor) within the subsystem 299 that has failed or is failing. As another example, the control engine 406 may interact with a contractor or workforce scheduling system by arranging for the labor needed to replace a component or piece of equipment in the subsystem 299. In this way and in other ways, the controller 204 is capable of performing a number of functions beyond what could reasonably be considered a routine task.

[0060] In certain example embodiments, the control engine 406 may include an interface that enables the control engine 406 to communicate with the sensor devices 265, the RSV 202, the network manager 280, and any other components of the subsystem 299. For example, if an RSV 202 operates under IEC Standard 62386, then the RSV 202 may have a serial communication interface that will transfer data to the controller 204. Such an interface may operate in conjunction with, or independently of, the protocols 432 used to communicate between the controller 204 and the sensor devices 265, the network manager 280, and any other components of the subsystem 299.

[0061] The control engine 406 (or other components of the controller 204) may also include one or more hardware components and / or software elements to perform its functions. Such components may include, but are not limited to, a universal asynchronous receiver / transmitter (UART), a serial peripheral interface (SPI), a direct-attached capacity (DAC) storage device, an analog-to-digital converter, an inter-integrated circuit (I2C), and a pulse width modulator (PWM).

[0062] The analysis module 475 of the controller 204 of a base station 201 may be configured to data and / or communication signals received from another component of the subsystem 299. For example, the analysis module 475 may be configured to analyze an instruction received by the control engine 406 from the network manager 280 to implement performance of a function. In such a case, the analysis module 475 may be configured to determine if the RSV 202 controlled by the base station 201 is capable of performing that function. Upon making this determination, the analysis module 475 communicate the determination to the control engine 406, which can notify the network manager 280 whether the function can be performed by the RSV 202.

[0063] As another example, the analysis module 475 may be configured to determine that the RSV 202 is capable of performing a requested function, but that additional and / or different equipment must first be installed on the RSV 202 before the RSV 202 can be dispatched to perform the function. In such a case, the analysis module 475 can identify the specific equipment that must be installed and / or replaced, based on the inventory of the equipment kit storage 241 of the base station 201, and notify the control engine 406 so that the control engine 406 can control the appropriate adjustment features 248 to make those changes.

[0064] As yet another example, the analysis module 475 may be configured to analyze and evaluate data collected by the RSV 202 while performing a function. Such data can be measured by one or more sensor devices 365 of the RSV 202, measured by one or more sensor devices 265 of the base station 201, output by one or more algorithms 433, etc. The analysis module 475 may be configured to send a request to the control engine 406 if additional information is needed to complete the analysis and evaluation. When the analysis and evaluation is complete, the analysis module 475 may be configured to send the results to the control engine 406.

[0065] As still another example, the analysis module 475 can be configured to monitor the RSV 202 and data associated with performing a function. In such a case, the analysis module 475 may also be configured to recommend changes to a protocol 432 (request another measurement of a parameter) and / or an algorithm 433, whether in real time and / or on a go-forward basis, so that the RSV 202 is more likely to successfully perform the function. Such changes can be recommended to the control engine 406, which can implement the changes in the storage repository 431 and / or send real-time instructions to the RSV 202.

[0066] In certain example embodiments, some or all of the functionality (e.g., interpreting and / or manipulating raw measurements made by a sensor device 365) of the analysis module 475 may be performed by or shared with one or more of the controllers 304 of an RSV 202. In addition, or in the alternative, some or all of the functionality (e.g., calculating an output of an algorithm 433) of the analysis module 475 may be performed by or shared with the network manager 280. In any case, the collection of data by an RSV 202, the eventual conclusions reached using that raw data, and all intermediary steps may be performed by an RSV 202, a base station 201, and the network manager 280 autonomously without human intervention or control using example embodiments.

[0067] The communication module 407 of the controller 204 determines and implements the communication protocol (e.g., from the protocols 432 of the storage repository 431) that is used when the control engine 406 communicates with (e.g., sends signals to, obtains signals from) the sensor devices 265, the RSV 202, the network manager 280, and any other components of the subsystem 299. In some cases, the communication module 407 accesses the stored data 434 to determine which communication protocol is used to communicate with another component of the subsystem 299. In addition, the communication module 407 may identify and / or interpret the communication protocol of a communication obtained by the controller 204 so that the control engine 406 may interpret the communication. The communication module 407 may also provide one or more of a number of other services with respect to data sent from and obtained by the controller 204. Such services may include, but are not limited to, data packet routing information and procedures to follow in the event of data interruption.

[0068] The timer 435 of the controller 204 may track clock time, intervals of time, an amount of time, and / or any other measure of time. The timer 435 may also count the number of occurrences of an event, whether with or without respect to time. Alternatively, the control engine 406 may perform a counting function. The timer 435 is able to track multiple time measurements and / or count multiple occurrences concurrently. The timer 435 may track time periods based on an instruction obtained from the control engine 406, based on an instruction obtained from the network manager 280, based on an instruction programmed in the software for the controller 204, based on some other condition (e.g., the occurrence of an event) or from some other component, or from any combination thereof. In certain example embodiments, the timer 435 may provide a time stamp for each packet of data obtained from another component (e.g., a sensor device 265) of the subsystem 299.

[0069] The power module 430 of the controller 204 obtains power from a power supply (e.g., the power supply 240) and manipulates (e.g., transforms, rectifies, inverts) that power to provide the manipulated power to one or more other components (e.g., the timer 435, the control engine 406) of the controller 204, where the manipulated power is of a type (e.g., alternating current, direct current) and level (e.g., 12V, 24V, 120V) that may be used by the other components of the controller 204. In some cases, the power module 430 may also provide power to one or more of the sensor devices 265.

[0070] The power module 430 may include one or more of a number of single or multiple discrete components (e.g., transistor, diode, resistor, transformer) and / or a microprocessor. The power module 430 may include a printed circuit board, upon which the microprocessor and / or one or more discrete components are positioned. In addition, or in the alternative, the power module 430 may be a source of power in itself to provide signals to the other components of the controller 204. For example, the power module 430 may be or include an energy storage device (e.g., a battery). As another example, the power module 430 may be or include a localized photovoltaic power system.

[0071] The hardware processor 421 of the controller 204 executes software, algorithms (e.g., algorithms 433), and firmware in accordance with one or more example embodiments. Specifically, the hardware processor 421 may execute software on the control engine 406 or any other portion of the controller 204, as well as software used by the RSV 202, the network manager 280, and / or other components of the subsystem 299. The hardware processor 421 may be an integrated circuit, a central processing unit, a multi-core processing chip, SoC, a multi-chip module including multiple multi-core processing chips, or other hardware processor in one or more example embodiments. The hardware processor 421 may be known by other names, including but not limited to a computer processor, a microprocessor, and a multi-core processor.

[0072] In one or more example embodiments, the hardware processor 421 executes software instructions stored in memory 422. The memory 422 includes one or more cache memories, main memory, and / or any other suitable type of memory. The memory 422 may include volatile and / or non-volatile memory. The memory 422 may be discretely located within the controller 204 relative to the hardware processor 421. In certain configurations, the memory 422 may be integrated with the hardware processor 421.

[0073] In certain example embodiments, the controller 204 does not include a hardware processor 421. In such a case, the controller 204 may include, as an example, one or more field programmable gate arrays (FPGA), one or more insulated-gate bipolar transistors (IGBTs), and / or one or more integrated circuits (ICs). Using FPGAs, IGBTs, ICs, and / or other similar devices known in the art allows the controller 204 (or portions thereof) to be programmable and function according to certain logic rules and thresholds without the use of a hardware processor. Alternatively, FPGAs, IGBTs, ICs, and / or similar devices may be used in conjunction with one or more hardware processors 421.

[0074] The transceiver 424 of the controller 204 may send and / or obtain control and / or communication signals. Specifically, the transceiver 424 may be used to transfer data between the controller 204 and the sensor devices 265, the RSV 202, the network manager 280, and any other components of the subsystem 299. The transceiver 424 may use wired and / or wireless technology. The transceiver 424 may be configured in such a way that the control and / or communication signals sent and / or obtained by the transceiver 424 may be obtained and / or sent by another transceiver that is part of a sensor device 265, an RSV 202, the network manager 280, and / or another component of the subsystem 299. The transceiver 424 may send and / or obtain any of a number of signal types, including but not limited to radio frequency signals.

[0075] When the transceiver 424 uses wireless technology, any type of wireless technology may be used by the transceiver 424 in sending and obtaining signals. Such wireless technology may include, but is not limited to, Wi-Fi, Zigbee, VLC, cellular networking, BLE, UWB, and Bluetooth. The transceiver 424 may use one or more of any number of suitable communication protocols (e.g., ISA100, HART) when sending and / or obtaining signals.

[0076] Optionally, in one or more example embodiments, the security module 423 secures interactions between the controller 204, the sensor devices 265, the RSV 202, the network manager 280, and any other components of the subsystem 299. More specifically, the security module 423 authenticates communication from software based on security keys verifying the identity of the source of the communication. For example, user software may be associated with a security key enabling the software of the network manager 280 to interact with the controller 204. Further, the security module 423 may restrict receipt of information, requests for information, and / or access to information.

[0077] The sensor devices 265, the RSV 202, the network manager 280, and the other components of the subsystem 299 may interact with the controller 204 of the base station 201 using the application interface 426. Specifically, the application interface 426 of the controller 204 obtains data (e.g., information, communications, instructions, updates to firmware) from and sends data (e.g., information, communications, instructions) to the sensor devices 265, the RSV 202, the network manager 280, and / or the other components of the subsystem 299. Examples of an application interface 426 may be or include, but are not limited to, an application programming interface, a web service, a data protocol adapter, some other hardware and / or software, or any suitable combination thereof. Similarly, the sensor devices 265, the RSV 202, the network manager 280, and / or the other components of the subsystem 299 may include an interface (similar to the application interface 426 of the controller 204) to obtain data from and send data to the controller 204 in certain example embodiments.

[0078] An RSV 202 (e.g., RSV 202-1, RSV 202-N) of a residential service system 290 is configured to perform, at least in part, the function (e.g., inspect, search, measure) requested by the network manager 280. Each RSV 202 in this case operates autonomously without human intervention or control. An RSV 202 is dispatched from a base station 201 of the residential service system 290 to perform the function, and when the function is complete (or a stage of the function is complete), the RSV 202 returns to the base station 201 to transfer data, refuel / recharge, receive new or different instructions, and / or for any other suitable purpose.

[0079] As shown in FIG. 3, an RSV 202 of a resident service system 290 can include one or more controllers 304, a power supply 340, one or more sensor devices 365, one or more mobility features 342, one or more equipment kits 344, a housing 311, one or more optional equipment kit receivers 343, one or more docking features 239, one or more optional secondary RSV receivers 347, and one or more optional secondary RSVs 302. As discussed above, a residential service system 290 can include a single RSV 202 or multiple RSVs 202.

[0080] The docking feature 239 (also sometimes called a base station docking feature 239 herein) of an RSV 202 of a resident service system 290 can be configured to complement the docking feature 249 of the base station 201 of the resident service system 290. In this way, the RSV 202 can dock to the base station 201. The docking feature 239 can allow for the mechanical and / or electrical coupling between the base station 201 and the RSV 202. When the docking feature 239 allows for electrical coupling, the docking feature 239 can include the capability of physical coupling (e.g., an electrical connector end) or wireless coupling. When the docking feature 239 allows for electrical coupling, the docking feature 239 can include the capability to transfer power (e.g., charging power for a battery of the RSV 202) and / or signals (e.g., data, instructions, software updates, security updates).

[0081] The optional equipment kit receiver 343 of the RSV 202 of a resident service system 290 is configured to receive one or more equipment kits 344 that can be used by the RSV 202 to perform a function. As discussed above, in some cases, an RSV 202 can be configured to receive different equipment (e.g., sensor devices 365, mobility features 342), where certain equipment (also referred to as an equipment kit 344) are used for one function (e.g., inspect the parts of the UPU 195 in the water 194), while another equipment kit 344 is used for another function (e.g., perform a rescue operation).

[0082] An optional equipment kit receiver 343 can have any of a number of configurations that are suitable for receiving an equipment kit 344 from an adjustment feature 248 of the base station 201. Examples of portions of an equipment kit receiver 343 can include, but are not limited to, a slot, an electrical connector, a protrusion, a recess, mating threads, and a clip. In any case, the various portions of the equipment kit receiver 343 may be configured to complement some aspect (e.g., a shape, a connector end) of the equipment kit 344 that is received. An equipment kit receiver 343 can be centralized on or near some part of the housing 311 of the RSV 202. Alternatively, an equipment kit receiver 343 can be distributed over multiple parts of the housing 311 of the RSV 202.

[0083] The equipment kit 344 of an RSV 202 includes all of the equipment used by the RSV 202 to perform a particular function. The equipment kit 344 can be or include one or more of a number of components. Examples of components of an equipment kit 344 can include, but are not limited to, a sensor device 365, a mobility feature 342, a secondary RSV 302, and a software update. If an RSV 202 is configured to receive and use different equipment kits 344, one or more components (e.g., a sensor device 365, a mobility feature 342) can be common across multiple equipment kits 344. In some cases, some or all of an equipment kit 344 of an RSV 202 cannot be changed, modified, or replaced without the intervention of a human being.

[0084] The optional secondary RSV receiver 347 of the RSV 202 of a resident service system 290 is configured to receive a secondary RSV 302. The secondary RSV receiver 347 of an RSV 202 of a resident service system 290 can be configured to receive one or more secondary RSVs 302. In this way, the one or more secondary RSVs 302 can dock to and be deployed from the RSV 202. The secondary RSV receiver 347 can allow for the mechanical and / or electrical coupling between a secondary RSV 302 and the RSV 202. When the secondary RSV receiver 347 allows for electrical coupling, the secondary RSV receiver 347 can include the capability of physical coupling (e.g., an electrical connector end) or wireless coupling. When the secondary RSV receiver 347 allows for electrical coupling, the secondary RSV receiver 347 can include the capability to transfer power (e.g., charging power for a battery of the secondary RSV 302) and / or signals (e.g., data, instructions, software updates, security updates). A secondary RSV receiver 347 can accommodate one secondary RSV 302 or multiple secondary RSVs 302.

[0085] An optional secondary RSV 302 of an RSV 202 is configured to perform, at least in part, the function (e.g., inspect, search, measure) requested by the network manager 280. In some cases, a secondary RSV 302 complements the RSV 202 in performing the function. Each secondary RSV 302 operates autonomously without human intervention or control. A secondary RSV 302 is dispatched from the RSV 202 to perform part of the function, and when the part of the function is complete (or a stage of the part of the function is complete), the secondary RSV 302 returns to the RSV 202 to transfer data, refuel / recharge, receive new or different instructions, and / or for any other suitable purpose.

[0086] A secondary RSV 302 can include one or more of the features of an RSV 202. Examples of such features may include, but are not limited to, one or more mobility features, a controller, a power supply, one or more sensor devices, an equipment kit, and an equipment kit receiver. These features of a secondary RSV 302 may be substantially the same as the corresponding features of an RSV 202. An example of a secondary RSV 302 is an unmanned aerial vehicle. To the extent that a secondary RSV 302 includes an equipment kit receiver (similar to an equipment kit receiver 343 of an RSV 202), the RSV 202 may include equipment kit storage (similar to the equipment kit storage 241 of a base station 201 discussed above) and / or one or more adjustment features (similar to the adjustment features 248 of a base station 201 discussed above) to add, remove, modify, and / or maintain equipment on a secondary RSV 302.

[0087] The mobility features 342 of an RSV 202 of a resident service system 290 is configured to allow the RSV 202, or portions thereof, to move. An RSV 202 can have one or more of any number and / or type of mobility features 342. Examples of such mobility features 342 can include, but are not limited to, wheels, propellers, caterpillar tracks, grippers, a crane, a crawler, an extending portion, a retractable portion, anchors, motors, axels, gears, a heat sink, an electrical conductor or electrical cable, a terminal block, a drive train, and a circuit board. In this way, an RSV 202 can move in any of a number of ways appropriate to depart from the base station 201, perform a function (or portion thereof) assigned to it, and return to the base station 201.

[0088] The power supply 340 of an RSV 202 of a resident service system 290 is configured to provide power to one or more of the other components of the RSV 202. The power supply 340 of an RSV 202 can include one or more components (e.g., a transformer, a diode bridge, an inverter, a converter) that receives power (for example, through an electrical cable) from a source (e.g., a battery, an electrical generator) and generates power of a type (e.g., alternating current, direct current) and level (e.g., 12V, 24V, 120V) that can be used by one or more of the other components (e.g., a controller 304, the mobility features 342) of the RSV 202. In addition, or in the alternative, the power supply 340 can be or include a source of power in itself. For example, the power supply 340 can be or include a battery or some other source of independent power. In some cases, the controller 304 can generate and send a signal to the power supply 340 to control the operation and / or output of the power supply 340.

[0089] Each of the sensor devices 365 of an RSV 202 of a resident service system 290 is configured to measure one or more parameters that are associated with the RSV 202 and / or a function performed by the RSV 202. Each sensor device 365 can include one or more sensors that measure one or more parameters (e.g., pressure, flow rate, temperature, thickness, corrosion, gas composition, magnetic field, proximity). Examples of parameters measured by a sensor device 365 can include, but are not limited to, a voltage, a current, a temperature, a pressure, air speed, speed of an object, fluid level, humidity, wave height, charge level, tension, weight, and an amount of infrared radiation.

[0090] A controller 304 of an RSV 202 of a resident service system 290 is configured to control and / or communicate with the other components (e.g., the mobility features 342, the sensor devices 365, the secondary RSV 302), or portions thereof, of the RSV 202. A controller 304 performs a number of functions that may include receiving data, evaluating data, following protocols, running algorithms, receiving instructions, and sending instructions. An RSV 202 can have a single controller 304 or multiple controllers 304. When there are multiple controllers 304 of an RSV 202, each controller 304 can operate independently of each other. Alternatively, one or more of the controllers 304 of the RSV 202 can work cooperatively with each other. As yet another alternative, one of the controllers 304 of an RSV 202 can control some or all of one or more other controllers 304 of the RSV 202.

[0091] A controller 304 of an RSV 202 can include multiple components. Examples of such components can include, but are not limited to, a control engine, an analysis module, a communication module, a timer, a power module, a storage repository, a hardware processor, memory, a transceiver, an application interface, and a security module, all of which may be substantially the same as the corresponding components of a controller 204 of a base station 201 discussed above. The various components of the controller 304 may be centrally located. In addition, or in the alternative, some of the components of the controller 304 may be located remotely from (e.g., in the cloud, at an office building) one or more of the other components of the controller 304. A controller 304 can be a type of computing device discussed below with respect to FIG. 5.

[0092] FIG. 5 illustrates one embodiment of a computing device 518 that implements one or more of the various techniques described herein, and which is representative, in whole or in part, of the elements described herein pursuant to certain example embodiments. For example, a controller 204 (including components thereof, such as a control engine 406, a hardware processor 421, a storage repository 431, a power module 430, and a transceiver 424) may be considered a computing device 518. Computing device 518 is one example of a computing device and is not intended to suggest any limitation as to scope of use or functionality of the computing device and / or its possible architectures. Neither should the computing device 518 be interpreted as having any dependency or requirement relating to any one or combination of components illustrated in the example computing device 518.

[0093] The computing device 518 includes one or more processors or processing units 514, one or more memory / storage components 515, one or more input / output (I / O) devices 516, and a bus 517 that allows the various components and devices to communicate with one another. The bus 517 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. The bus 517 includes wired and / or wireless buses.

[0094] The memory / storage component 515 represents one or more computer storage media. The memory / storage component 515 includes volatile media (such as random access memory (RAM)) and / or nonvolatile media (such as read only memory (ROM), flash memory, optical disks, magnetic disks, and so forth). The memory / storage component 515 includes fixed media (e.g., RAM, ROM, a fixed hard drive, etc.) as well as removable media (e.g., a Flash memory drive, a removable hard drive, an optical disk, and so forth).

[0095] One or more I / O devices 516 allow a user 250 to enter commands and information to the computing device 518, and also allow information to be presented to the user 250 (including an associated user system 255) and / or other components or devices. Examples of input devices 516 include, but are not limited to, a keyboard, a cursor control device (e.g., a mouse), a microphone, a touchscreen, and a scanner. Examples of output devices include, but are not limited to, a display device (e.g., a monitor or projector), speakers, outputs to a lighting network (e.g., DMX card), a printer, and a network card.

[0096] Various techniques are described herein in the general context of software or program modules. Generally, software includes routines, programs, objects, components, data structures, and so forth that perform particular tasks or implement particular abstract data types. An implementation of these modules and techniques are stored on or transmitted across some form of computer readable media. Computer readable media is any available non-transitory medium or non-transitory media that is accessible by a computing device. By way of example, and not limitation, computer readable media includes “computer storage media”.

[0097] “Computer storage media” and “computer readable medium” include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, computer recordable media such as RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which is used to store the desired information and which is accessible by a computer.

[0098] The computer device 518 (also sometimes called a computer system 518) is connected to a network (not shown) (e.g., a LAN, a WAN such as the Internet, cloud, or any other similar type of network) via a network interface connection (not shown) according to some example embodiments. Those skilled in the art will appreciate that many different types of computer systems exist (e.g., desktop computer, a laptop computer, a personal media device, a mobile device, such as a cell phone or personal digital assistant, or any other computing system capable of executing computer readable instructions), and the aforementioned input and output means take other forms, now known or later developed, in other example embodiments. Generally speaking, the computer system 518 includes at least the minimal processing, input, and / or output means necessary to practice one or more embodiments.

[0099] Further, those skilled in the art will appreciate that one or more elements of the aforementioned computer device 518 is located at a remote location and connected to the other elements over a network in certain example embodiments. Further, one or more embodiments is implemented on a distributed system having one or more nodes, where each portion of the implementation (e.g., a base station 201, an RSV 202) is located on a different node within the distributed system. In one or more embodiments, the node corresponds to a computer system. Alternatively, the node corresponds to a processor with associated physical memory in some example embodiments. The node alternatively corresponds to a processor with shared memory and / or resources in some example embodiments.

[0100] FIG. 6 shows a flowchart 658 of a method for managing an RSV 202 from a UPU 195 according to certain example embodiments. While the various steps in this flowchart 658 are presented sequentially, one of ordinary skill will appreciate that some or all of the steps may be executed in different orders, may be combined or omitted, and some or all of the steps may be executed in parallel. Further, in one or more of the example embodiments, one or more of the steps shown in this example method may be omitted, repeated, and / or performed in a different order.

[0101] In addition, a person of ordinary skill in the art will appreciate that additional steps not shown in FIG. 6 may be included in performing this method. Accordingly, the specific arrangement of steps should not be construed as limiting the scope. Further, a particular computing device, such as the computing device 518 discussed above with respect to FIG. 5, may be used to perform or facilitate performance of one or more of the steps (or portions thereof) for the method shown in FIG. 6 in certain example embodiments. Any of the functions (or portions thereof) performed below by a controller 204 may involve the use of one or more protocols 432, one or more algorithms 433, and / or stored data 434 stored in a storage repository 431. In some cases, one or more of the various steps in the method of FIG. 6 can be performed automatically, as by a controller 204 of a base station 201.

[0102] The method shown in FIG. 6 is merely an example that may be performed by using an example system described herein. In other words, systems for managing an RSV 202 from a UPU 195 may perform other functions using other methods in addition to and / or aside from those shown in FIG. 6. Referring to FIGS. 1 through 6, the method shown in the flowchart 658 of FIG. 6 begins at the START step and proceeds to step 681, where instructions are obtained from the network manager 280. As used herein, the term “obtaining” may include receiving, retrieving, accessing, generating, etc. or any other manner of obtaining the instructions. In certain example embodiments, the instructions may be associated with, at least in part, a function that is to be performed by an RSV 202. The instructions may be specifically addressed to and received by a controller 204 of a base station 201 of a resident service system 290. Alternatively, the instructions may be broadcast to controllers 204 of base stations 201 of multiple resident service systems 290.

[0103] The instructions may be obtained, and the contents of the instructions may be interpreted, by a controller (or an obtaining component thereof), which may include the controller 204 of FIG. 4 above, using one or more algorithms 433, one or more protocols 432, the communication module 407, the transceiver 424, and / or the application interface 426. The instructions may be obtained from the network manager 280. The instructions may be transmitted by using one or more of the communication links 205. The instructions may originate from the network manager 280 (e.g., for a routine or regularly scheduled inspection) and / or from a user 250, including an associated user system 255 (e.g., for an emergency rescue search, for an emergency inspection). In certain example embodiments, the instructions are obtained from the network manager 280 autonomously and without any human interaction or intervention.

[0104] In step 682, a determination is made as to whether an RSV 202 is capable of performing the function included in the instructions. For example, a determination may be made as to whether the RSV 202 has the equipment to perform the function included in the instructions. If the RSV 202 has the equipment to perform the function included in the instructions, then a determination may be made as to whether the RSV 202 is capable of receiving the proper equipment (e.g., whether the RSV 202 includes an equipment kit receiver 343), and if so whether the associated base station 201 has the needed equipment (e.g., in equipment kit storage 241) and the capabilities (e.g., adjustment features 248) to install the needed equipment kit 344 and / or remove unneeded equipment from the RSV 202. As another example, a determination may be made as to whether an RSV 202 is sufficiently proximate to the location where the function is to be performed.

[0105] The capabilities of an RSV 202 can be assessed by a controller (or an assessing component thereof, such as the analysis module 475), which may include the controller 204 of FIG. 4 above, using one or more algorithms 433, one or more protocols 432, and / or stored data 434. In such a case, the controller 204 of a base station 201 may communicate with the controller 304 of one or more RSVs 202 using communication links 205 to collect information that may be needed to make the determination. The determination can be based, at least in part, on factors such as the composition of equipment kit storage 241 of the base station 201, the adjustment features 248 of the base station 201, the contents of the equipment kit 344 of the RSV 202, and the capability of the equipment kit receiver 343 of the RSV 202. If the base station 201 has multiple RSVs 202, the controller 204 can assess each RSV 202. If the base station 201 is among multiple base stations 201 on a UPU 195, the controller 204 of one base station 201 can communicate with the controller 204 of one or more of the other base stations 201 to assess the capabilities of the RSVs of those other base stations 201.

[0106] Similarly, if the UPU 195 on which the base station 201 is positioned is relatively proximate to one or more other UPUs 195, the controller 204 of the base station 201 may communicate with the controller 204 of one or more other base stations 201 on one or more of the other UPUs 195. In other words, the controller 204 of an RSV 202 can be configured to identify other RSVs 202 and assess the capabilities of those other RSVs 202 if the RSV 202 associated with the base station 201 to which the controller 204 belong is assessed as not being capable of performing the requested function. In certain example embodiments, the determination as to whether the RSV 202 is capable of performing the function can be made autonomously and without any human interaction or intervention. If an RSV 202 is capable of performing the function, the process proceeds to step 684. If an RSV 202 is not capable of performing the function, the process proceeds to step 683.

[0107] In step 683, the network manager 280 is notified that an RSV 202 is not capable of performing the requested function. The network manager 280 may be notified by a controller (or an obtaining component thereof), which may include the controller 204 of FIG. 4 above, using one or more algorithms 433, one or more protocols 432, the communication module 407, the transceiver 424, and / or the application interface 426. The instructions may be transmitted by using one or more of the communication links 205. Part of the communication to the network manager 280 can include identification of the one or more particular RSVs that were assessed and considered incapable of performing the function. In certain example embodiments, the network manager 280 is notified that the RSV 202 is not capable of performing the function autonomously and without any human interaction or intervention. When step 683 is complete, the process proceeds to the END step.

[0108] In step 684, a determination is made as to whether the RSV 202 identified as being capable of performing the function is currently equipped to perform the function. The determination can be made by a controller (or a determining component thereof, such as the analysis module 475), which may include the controller 204 of FIG. 4 above, using one or more algorithms 433, one or more protocols 432, and / or stored data 434. In such a case, the controller 204 of a base station 201 may communicate with the controller 304 of one or more RSVs 202 using communication links 205 to collect information that may be needed to make the determination. The determination can be based, at least in part, on factors such as the composition of equipment kit storage 241 of the base station 201, the adjustment features 248 of the base station 201, the contents of the equipment kit 344 of the RSV 202, and the capability of the equipment kit receiver 343 of the RSV 202. In certain example embodiments, the determination as to whether the RSV 202 is capable of performing the function can be made autonomously and without any human interaction or intervention. If the RSV 202 is currently equipped to perform the function, the process proceeds to step 686. If the RSV 202 is not currently equipped to perform the function, the process proceeds to step 685.

[0109] In step 685, equipping the RSV 202 to perform the function is controlled. In certain example embodiments, a controller (or portion thereof, such as the control engine 406), which may include the controller 204 of FIG. 4 above, may control equipping the RSV 202. In such a case, the controller 204 can control equipping the RSV 202 using one or more algorithms 433, one or more protocols 432, and / or stored data 434. The controller may control the adjustment features 248 and / or the mobility features 242 of the base station 201 to equip the RSV 202. Equipping the RSV 202 can involve one or more of a number of actions that include, but are not limited to, adding an item to the equipment kit 344 of the RSV 202, removing an item from the equipment kit 344 of the RSV 202, repairing an item of the equipment kit 344 of the RSV 202, and providing energy (e.g., charging a battery, filling a tank with gasoline) to the power supply 340 of the RSV 202. In certain example embodiments, the RSV 202 is equipped autonomously and without any human interaction or intervention. When step 685 is complete, the process proceeds to step 686.

[0110] In step 686, the RSV 202 is dispatched to perform the function. For the RSV 202 to be dispatched, the docking feature 239 of the RSV 202 and the docking feature 249 of the base station 201 may be decoupled from each other. The RSV 202 may be dispatched by the controller 204 of the base station 201 using one or more algorithms 433, one or more protocols 432, and / or stored data 434. In some cases, the controller 204 of the base station 201 may dispatch the RSV 202 by controlling or facilitating control of the mobility features 242 and / or the adjustment features 248 of the base station 201. In some cases, a secondary RSV 302 is dispatched to perform the function while the RSV 202 remains docked to the base station 201.

[0111] In certain example embodiments, dispatching the RSV 202 includes providing instructions, using the communication links 205, to the RSV 202 as to, for example, the function to be performed, the operating parameters (e.g., the equipment among the equipment kit 344 to be used, whether a secondary RSV 302 is to be used, how often measurements are taken by sensor devices 365, the path that the RSV 202 is to travel while performing the function) to follow while performing the function, loading the most recent version of software to the controller 304 of the RSV 202, and how long the function is to take to perform. In certain example embodiments, the RSV 202 is dispatched autonomously and without any human interaction or intervention.

[0112] In step 687, the RSV 202 is received after performing the function. The RSV 202 may be received using the controller 204 of the base station 201 using one or more algorithms 433, one or more protocols 432, and / or stored data 434. In some cases, the controller 204 of the base station 201 may receive or facilitate receiving the RSV 202 by controlling or facilitating control of the mobility features 242 and / or the adjustment features 248 of the base station 201. In certain example embodiments, receiving the RSV 202 includes communicating, using the communication links 205, with the RSV 202 until the RSV 202 is received. The RSV 202 may be received when the docking feature 239 of the RSV 202 and the docking feature 249 of the base station 201 become coupled to each other. In certain example embodiments, the RSV 202 is received autonomously and without any human interaction or intervention.

[0113] In step 688, data is retrieved from the RSV 202. The data can be any information (e.g., measurements, images, travel log, calculations) collected by the RSV 202 while the RSV 202 performed the function. The data can be retrieved from the controller 304 of the RSV 202 using the communication links 205. The data can be retrieved by the controller 204 of the base station 201 using one or more algorithms 433, one or more protocols 432, and / or stored data 434. Once the data is retrieved, the controller 204 of the base station 201 may process the data (e.g., executed one or more algorithms 433 using some of the data). In some cases, the RSV 202 may be tethered to the base station 201 (e.g., by an umbilical cable) when the RSV 202 is performing the function. In such cases, the base station 201 may retrieve the data from the RSV 202 on a continuous or periodic basis while the RSV 202 is performing the function and not docked to the base station 201. In certain example embodiments, the data is retrieved from the RSV 202 autonomously and without any human interaction or intervention.

[0114] In step 689, the retrieved data is sent to the network manager 280. The data may be sent to the network manager 280 by the controller 204 of the base station 201 using the communication links 205, one or more algorithms 433, one or more protocols 432, the communication module 407, the transceiver 424, and / or the application interface 426. The data that is sent to the network manager 280 can be identical to the data retrieved from the RSV 202 in step 688. Alternatively, some or all of the data retrieved from the RSV 202 in step 688 may be manipulated (e.g., filtered, used for algorithms, edited) by the controller 204 of the base station 201. In such a case, the manipulated data may be sent to the network manager 280 in place of the raw data (or those portions thereof) retrieved from the RSV 202. In certain example embodiments, the data is sent to the network manager 280 autonomously and without any human interaction or intervention. When step 689 is complete, the process proceeds to the END step.

[0115] FIG. 7 shows a flowchart 758 of a method for performing a function from a UPU 195 according to certain example embodiments. While the various steps in this flowchart 758 are presented sequentially, one of ordinary skill will appreciate that some or all of the steps may be executed in different orders, may be combined or omitted, and some or all of the steps may be executed in parallel. Further, in one or more of the example embodiments, one or more of the steps shown in this example method may be omitted, repeated, and / or performed in a different order.

[0116] In addition, a person of ordinary skill in the art will appreciate that additional steps not shown in FIG. 7 may be included in performing this method. Accordingly, the specific arrangement of steps should not be construed as limiting the scope. Further, a particular computing device, such as the computing device 518 discussed above with respect to FIG. 5, may be used to perform or facilitate performance of one or more of the steps (or portions thereof) for the method shown in FIG. 7 in certain example embodiments. In some cases, one or more of the various steps in the method of FIG. 7 can be performed automatically, as by a controller 304 of the RSV 202. Any of the functions (or portions thereof) performed below by a controller 304 of an RSV 202 may involve the use of one or more protocols (e.g., protocols 432), one or more algorithms (e.g., algorithms 433), and / or stored data (e.g., stored data 434) stored in a storage repository (e.g., storage repository 431).

[0117] The method shown in FIG. 7 is merely an example that may be performed by using an example system described herein. In other words, systems for performing a function from a UPU 195 may perform other functions using other methods in addition to and / or aside from those shown in FIG. 7. Referring to FIGS. 1 through 7, the method shown in the flowchart 758 of FIG. 7 begins at the START step and proceeds to step 751, where instructions are obtained from the base station 201. In certain example embodiments, the instructions may be associated with, at least in part, a function that is to be performed by the RSV 202. The instructions may be sent by a controller 204 of the base station 201. The instructions may be sent to a controller 304 of a specific RSV 202 by a controller 204 of the base station 201 of a resident service system 290. Alternatively, the instructions may be broadcast to multiple RSVs 202 by a controller 204 of the base station 201.

[0118] The instructions may be obtained, and the contents of the instructions may be interpreted, by a controller 304 (or an obtaining component thereof), which may include one or more of the components of the controller 204 of FIG. 4 above, using one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), the communication module (e.g., communication module 407), the transceiver (e.g., transceiver 424), and / or the application interface (e.g., application interface 426). The instructions may be transmitted by using one or more of the communication links 205.

[0119] In certain example embodiments, the instructions obtained from the base station 201 can also include, for example, the function to be performed, the operating parameters (e.g., the equipment among the equipment kit 344 to be used, whether a secondary RSV 302 is to be used, how often measurements are taken by sensor devices 365, the path that the RSV 202 is to travel while performing the function) to follow while performing the function, receiving the most recent version of software to the controller 304 of the RSV 202, and how long the function is to take to perform. In certain example embodiments, the instructions are obtained from the base station 201 autonomously and without any human interaction or intervention.

[0120] In optional step 752, an equipment kit 344 is obtained from the base station 201. In certain example embodiments, a controller 304 (or portion thereof, such as the control engine), which may include one or more of the components of the controller 204 of FIG. 4 above, may control obtaining the equipment kit 344. In addition, or in the alternative, a controller 204 of the base station 201 may control providing the equipment kit 344 to the RSV 202. In any case, the controller 204 and / or the controller 304 can control the RSV 202 obtaining the equipment kit 344 from the base station using one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), and / or stored data (e.g., stored data 434). The controller 204 may control the adjustment features 248 and / or the mobility features 242 of the base station 201 to equip the RSV 202. In addition, or in the alternative, the controller 304 of the RSV 202 may control the mobility features 342 and / or the equipment kit receiver 343 in order to obtain the equipment kit 344.

[0121] Obtaining the equipment kit 344 can involve one or more of a number of actions that include, but are not limited to, adding an item to the equipment kit 344 of the RSV 202, removing an item from the equipment kit 344 of the RSV 202, repairing an item of the equipment kit 344 of the RSV 202, and providing energy (e.g., charging a battery, filling a tank with gasoline) to the power supply 340 of the RSV 202. In certain example embodiments, the RSV 202 obtains the equipment kit 344 from the base station 201 autonomously and without any human interaction or intervention. If the RSV 202 is not capable of having its equipment kit 344 autonomously modified or maintained to prevent the RSV 202 from obtaining an equipment kit 344, and / or if the base station 201 does not include equipment kit storage 241, mobility features 242, and / or adjustment features 248 to prevent the base station 201 from providing the equipment kit 344, step 752 is omitted.

[0122] In step 753, the RSV 202 is dispatched from the base station 201 to perform the function based on the instructions. For the RSV 202 to be dispatched, the docking feature 239 of the RSV 202 and the docking feature 249 of the base station 201 may be decoupled from each other. The RSV 202 may be dispatched by the controller 304 of the RSV 202 using one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), and / or stored data (e.g., stored data 434). In some cases, the controller 304 of the RSV 202 may dispatch the RSV 202 by controlling or facilitating control of the mobility features 342 of the RSV 202. In some cases, a secondary RSV 302 is dispatched to perform the function while the RSV 202 remains docked to the base station 201.

[0123] In addition, or in the alternative, in some cases, the controller 204 of the base station 201 may dispatch the RSV 202 by controlling or facilitating control of the mobility features 242 and / or the adjustment features 248 of the base station 201. In yet another alternative, the controller 304 of the RSV 202 may dispatch the RSV 202 by controlling or facilitating control of the mobility features242 and / or the adjustment features 248 of the base station 201, essentially overriding the controller 204. In certain example embodiments, the RSV 202 is dispatched autonomously and without any human interaction or intervention.

[0124] In step 754, data is collected while performing the function. The data may be any information (e.g., measurements, images, travel log, calculations) collected by the RSV 202 while the RSV 202 performs the function. The data can be collected by, or the data collection can be facilitated by, the controller 304 of the RSV 202 using one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), and / or stored data (e.g., stored data 434). Some or all of the data may originate from one or more of the sensor devices 365 of the RSV 202. In some cases, the controller 304 uses raw data to generate some or all of the data (e.g., using one or more algorithms 433). In certain example embodiments, the data is collected autonomously and without any human interaction or intervention.

[0125] In step 756, performance of the function finishes. Finishing the function can be based on what the function is. For example, if the function is trying to find a person in the water 194 near the UPU 195, the function can be finished either when the person is found by the RSV 202 or when the RSV 202 receives a subsequent instruction from the base station 201 to stop searching and return to the base station 201. As another example, if the function is inspecting mooring lines 175 attached to the UPU 195, then the function may be finished when the RSV 202 completes the inspection of the mooring lines 175. A determination that the performance of the function is finished can be made, directly or indirectly, by the controller 304 of the RSV 202 using one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), and / or stored data (e.g., stored data 434). In certain example embodiments, the determination that the performance of the function is finished can be made autonomously and without any human interaction or intervention.

[0126] In step 757, the RSV 202 is docked to the base station 201. The RSV 202 may be docked to the base station using, in whole or in part, the controller 304 of the RSV 202 using one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), and / or stored data (e.g., stored data 434). In some cases, the controller 304 of the RSV 202 may dock or facilitate docking the RSV 202 to the base station 201 by controlling or facilitating control of the mobility features 242 of the RSV 202. In addition, or in the alternative, the controller 304 of the RSV 202 may dock or facilitate docking the RSV 202 to the base station 201 by controlling or facilitating control of the mobility features 242 and / or the adjustment features 248 of the base station 201. In certain example embodiments, docking the RSV 202 to the base station 201 includes communicating, using the communication links 205, with the base station 201 until the RSV 202 is docked to the base station 201. The RSV 202 may be docked to the bases station 201 when the docking feature 239 of the RSV 202 and the docking feature 249 of the base station 201 become coupled to each other. In certain example embodiments, the RSV 202 is docked to the base station 201 autonomously and without any human interaction or intervention.

[0127] In step 759, data is transferred to the base station 201. The data can be any information (e.g., measurements, images, travel log, calculations) collected by the RSV 202 while the RSV 202 performed the function. The data can be transferred by the controller 304 of the RSV 202 using the communication links 205, one or more algorithms (e.g., algorithms 433), one or more protocols (e.g., protocols 432), and / or stored data (e.g., stored data 434). The data can be received by the controller 204 of the base station 201. Before the data is transferred, the controller 304 of the RSV 202 may process the data (e.g., executed one or more algorithms using some of the raw data).

[0128] In some cases, the RSV 202 may be tethered to the base station 201 (e.g., by an umbilical cable) when the RSV 202 is performing the function. In such cases, the RSV 202 can transfer the data to the base station 201 on a continuous or periodic basis while the RSV 202 is performing the function and not docked to the base station 201. In certain example embodiments, the data is transferred from the RSV 202 to the base station 201 autonomously and without any human interaction or intervention. When step 759 is complete, the process proceeds to the END step.

[0129] FIG. 8 shows a diagram of a subsystem 899 that includes a resident service system 890 according to certain example embodiments. Referring to FIGS. 1 through 8, the subsystem 899 of FIG. 8 includes a UPU 895 floating in water 894 with a topsides 807 above the water line 892 in air 893. In addition, the subsystem 899 includes a resident service system 890 attached to and / or disposed on the UPU 895. In this case, the base station 801 of the resident service system 890 is located on the topsides 807. When the RSV 802 of the resident service system 890 is docked to the base station 801, the RSV 802 is also located on the topsides 807.

[0130] When the RSV 802 is deployed to perform a function in the water 894 (e.g., at the water line 892, in the water 894 under the water line 892), the base station 801 can lower (e.g., using one or more adjustment features (e.g., adjustment features 248), using one or more mobility features (e.g., mobility features 242)) the RSV 802 into the water 894 (e.g., at the water line 892, in the water 894 under the water line 892). Similarly, when the RSV 802 has finished performing a function and / or needs to return to the base station 801 (e.g., for refueling / recharging, to change the equipment kit (e.g., equipment kit 344)), the base station 801 can retrieve (e.g., using one or more adjustment features (e.g., adjustment features 248), using one or more mobility features (e.g., mobility features 242)) the RSV 802 from the water 894 (e.g., at the water line 892, in the water 894 under the water line 892) and dock the RSV 802 to the base station 801. The components (e.g., the base station 801, the RSV 802) of the resident service system 890 may operate autonomously and without any human interaction or intervention.

[0131] FIG. 9 shows diagram of a subsystem 999 that includes another resident service system 990 according to certain example embodiments. Referring to FIGS. 1 through 9, the subsystem 999 of FIG. 9 includes a UPU 995 floating in water 994 with a topsides 907 above the water line 992 in air 993. In addition, the subsystem 999 includes a resident service system 990 attached to and / or disposed on the UPU 995. In this case, the base station 901 of the resident service system 990 is located in the water 994 (e.g., at the water line 992, in the water 994 under the water line 992). When the RSV 902 of the resident service system 990 is docked to the base station 901, the RSV 902 is also located in the water 994 (e.g., at the water line 992, in the water 994 under the water line 992).

[0132] When the RSV 902 is deployed to perform a function in the water 994 (e.g., at the water line 992, in the water 994 under the water line 992), the RSV 902 is released from the docking feature (e.g., docking feature 249) of the base station 901. In such a case, the base station 901 may be without any adjustment features (e.g., adjustment features 248) and / or mobility features (e.g., mobility features 242)). The components (e.g., the base station 901, the RSV 902) of the resident service system 990 may operate autonomously and without any human interaction or intervention.

[0133] FIG. 10 shows a diagram of a subsystem 1099 that includes yet another resident service system 1090 according to certain example embodiments. Referring to FIGS. 1 through 10, the subsystem 1099 of FIG. 10 includes a UPU 1095 floating in water 1094 with a topsides 1007 above the water line 1092 in air 1093. In addition, the subsystem 1099 includes a resident service system 1090 attached to and / or disposed on the UPU 1095. In this case, at least some of the base station 1001 of the resident service system 1090 is located below the topsides 1007 but above the water line 1092. When the RSV 1002 of the resident service system 1090 is docked to the base station 1001, the RSV 1002 can be located out of the water (under the topsides 1007) or in the water 1094 (e.g., at the water line 1092, in the water 1094 under the water line 1092).

[0134] When the RSV 1002 is deployed to perform a function in the water 1094 (e.g., at the water line 992, in the water 994 under the water line 992), the base station 1001 can lower (e.g., using one or more adjustment features (e.g., adjustment features 248), using one or more mobility features (e.g., mobility features 242)) the RSV 1002, as well as itself (or a portion thereof) into the water 1094 (e.g., at the water line 1092, in the water 1094 under the water line 1092). Similarly, when the RSV 1002 has finished performing a function and / or needs to return to the base station 1001 (e.g., for refueling / recharging, to change the equipment kit (e.g., equipment kit 344)), the base station 1001 (or a portion thereof) can be located in the water 1094 so that the RSV 1002 can dock to the base station 1001. Once the RSV 1002 is docked to the base station 1001, the portion of the base station 1001 and the RSV 1002 can be raised out of the water (e.g., using one or more adjustment features (e.g., adjustment features 248), using one or more mobility features (e.g., mobility features 242)) to join the rest of the base station 1001 under the topsides 1007. The components (e.g., the base station 1001, the RSV 1002) of the resident service system 1090 may operate autonomously and without any human interaction or intervention.

[0135] FIG. 11 shows a diagram of a subsystem 1199 that includes still another resident service system 1190 according to certain example embodiments. Referring to FIGS. 1 through 11, the subsystem 1199 of FIG. 11 includes a UPU 1195 floating in water 1194 with a topsides 1107 above the water line 1192 in air 1193. In addition, the subsystem 1199 includes a resident service system 1190 that floats in the water 1194 at the water line 1193 or is submerged in the water 1194. In such a case, the resident service system 1190 can be tethered to the UPU 1195 by a tether line 1191 that is attached to and / or disposed on the UPU 1195. In some cases, the tether line 1191 can also serve as a communication link (e.g., communication link 205).

[0136] When the RSV 1102 is deployed to perform a function in the water 1194 (e.g., at the water line 1193, in the water 1194 under the water line 1193), the base station 1101 can release (e.g., using one or more adjustment features (e.g., adjustment features 248), using one or more mobility features (e.g., mobility features 242)) the RSV 1102, away from the base station 1101 into the water 1194 (e.g., at the water line 1193, in the water 1194 under the water line 1193). Similarly, when the RSV 1102 has finished performing a function and / or needs to return to the base station 1101 (e.g., for refueling / recharging, to change the equipment kit (e.g., equipment kit 344)), the base station 1101 (or a portion thereof) can retrieve and dock the RSV 1102 to the base station 1101 in the water 1194 or at the water line 1193 using one or more mobility features (e.g., mobility features 242)) and / or one or more adjustment features (e.g., adjustment features 248). Once the RSV 1102 is docked to the base station 1101, the base station 1101 and the RSV 1102 can remain floating in the water 1194 (e.g., at the water line 1193). The components (e.g., the base station 1101, the RSV 1102) of the resident service system 1190 may operate autonomously and without any human interaction or intervention.

[0137] Example embodiments can be used to perform one or more functions from UPUs autonomously and without any human interaction or intervention. Such functions can include, but are not limited to, inspecting mooring lines that stabilize the UPU, interdicting an unknown vehicle approaching the UPU, identifying and managing a spill of a fluid in the water proximate to the UPU, rescuing a person or object in the water in the area of the UPU, delivering equipment to neighboring UPUs, collecting metocean data, and inspecting underwater portions of the UPU. Example embodiments eliminate the need for human involvement in the performance of a function by an RSV. Example embodiments also provide a number of other benefits. Such other benefits can include, but are not limited to, less use of resources, greater operational flexibility, time savings, improved personnel safety, and compliance with applicable industry standards and regulations.

[0138] Although embodiments described herein are made with reference to example embodiments, it should be appreciated by those skilled in the art that various modifications are well within the scope and spirit of this disclosure. Those skilled in the art will appreciate that the example embodiments described herein are not limited to any specifically discussed application and that the embodiments described herein are illustrative and not restrictive. From the description of the example embodiments, equivalents of the elements shown therein will suggest themselves to those skilled in the art, and ways of constructing other embodiments using the present disclosure will suggest themselves to practitioners of the art. Therefore, the scope of the example embodiments is not limited herein.

Claims

1. A resident service system comprising:a base station comprising a vehicle docking feature, wherein the base station is disposed on an unmanned production unit that is at least partially submerged in water; anda resident service vehicle (RSV) configured to couple to the vehicle docking feature of the base station, wherein the RSV is configured to autonomously perform a function in the water while physically separated from the vehicle docking feature.

2. The resident service system of claim 1, wherein the function comprises at least one of a group consisting of inspecting mooring lines that stabilize the unmanned production unit, interdicting an unknown vehicle approaching the unmanned production unit, identifying and managing a spill of a fluid in the water proximate to the unmanned production unit, rescuing a person or object in the water in the area of the unmanned production unit, delivering equipment to neighboring platforms, collecting metocean data, and inspecting underwater portions of the unmanned production unit.

3. The resident service system of claim 1, wherein the base unit is located topsides on the unmanned production unit.

4. The resident service system of claim 3, wherein the base unit is configured to position the RSV in the water to perform the function.

5. The resident service system of claim 3, wherein the base unit is configured to retrieve the RSV from the water after the RSV performs the function.

6. The resident service system of claim 5, wherein the base unit is further configured to retrieve data from the RSV after the RSV performs the function, wherein the data is associated with performance of the function.

7. The resident service system of claim 6, wherein the base unit is further configured to send the data to a network manager.

8. The resident service system of claim 1, wherein the base unit is configured to install an equipment kit on the RSV so that the RSV can perform the function.

9. The resident service system of claim 1, wherein the RSV is configured to receive a plurality of equipment kits that are installed by the base station.

10. The resident service system of claim 1, wherein the base unit is located below topsides of the unmanned production unit.

11. The resident service system of claim 1, wherein the equipment of the RSV comprises a secondary RSV that decouples from and works independently of the RSV in performing the function.

12. The resident service system of claim 1, wherein the base unit and the RSV communicate with each other using an umbilical cable.

13. The resident service system of claim 1, wherein the base unit and the RSV communicate with each other using wireless communication.

14. A method for managing a resident service vehicle (RSV) from an unmanned production unit, the method comprising:obtaining, by a base station, instructions from a network manager;dispatching, by the base station, the RSV to perform a function based on the instructions;receiving, by the base station, the RSV after the function is performed;retrieving, by the base station, data associated with performing the function from the RSV; andsending, by the base station, the data to the network manager.

15. The method of claim 14, further comprising:determining that the RSV is capable of performing the function after receiving the instructions.

16. The method of claim 15, further comprising:determining that the RSV is requires an equipment kit to perform the function; andinstalling the equipment kit on the RSV.

17. The method of claim 14, further comprising:controlling the RSV while the RSV is performing the function.

18. The method of claim 14, further comprising:providing energy to the RSV before dispatching the RSV, wherein the RSV uses the energy to perform the function.

19. A method for performing a function from an unmanned production unit, the method comprising:obtaining, by a resident service vehicle (RSV), instructions from a base station;decoupling the RSV from the base station to perform the function derived from the instructions;collecting, by the RSV, data while performing the function;finishing the function by the RSV;coupling the RSV to the base station; andtransferring the data from the RSV to the base station.

20. The method of claim 19, further comprising:obtaining an equipment kit from the base station before decoupling from the base station.

Images