Systems, devices, and methods for performing inspections

Abstract

Embodiments relate to systems and methods for performing an inspection, particularly an inspection of an underwater structure. The system includes a probe assembly having a main body, main base member, rotatable shaft assembly, spring assembly, rotary drive assembly, and a probe unit for performing measurements. The main body includes an interior channel. The main base member is secured to the main body. The rotatable shaft assembly includes a rotatable shaft assembly body secured to a probe unit and a rotary driven assembly. The rotary driven assembly includes a helical-shaped channel. The spring assembly is provided between the main base member and rotatable shaft assembly. The rotary drive assembly includes a drive member that protrudes into the helical-shaped channel. When the drive member is driven to move, the drive member drives the helical-shaped channel so as to cause the rotatable shaft assembly body to rotate.

Description

SYSTEMS, DEVICES, AND METHODS FOR PERFORMING INSPECTIONS Technical Field

[0001] The present disclosure relates generally to systems, methods, and devices for performing inspections, and more specifically, to systems, methods, and devices for performing inspections for underwater structures. Background

[0002] Various systems have been developed to manage, monitor, and / or protect structures. Cathodic protection systems, for example, are widely used to monitor offshore and / or underwater structures, moorings, pipelines, storage tanks, underwater instrumentation, or the like. Inspections of such structures and / or systems generally need to be performed regularly and / or periodically. For example, as underwater structures are subject to a variety of factors, including corrosion, mineral buildup, marine growth, etc., which can affect the integrity, strength, operation, etc. of the structure, regular inspection and maintenance are necessary to maintain its efficiency, performance, and condition. Brief Summary

[0003] Regular inspection and maintenance of structures, including underwater structures, are necessary to ensure continued operation, efficiency, performance, and condition of the structure. Inspections of structures can be performed in a variety of ways. For underwater structures, a vehicle (e.g., a manned underwater vehicle, remote controlled underwater vehicle, autonomous underwater vehicle (AUV), etc.) or operator (e.g., a diver) will use a probe, measurement tool, sensor, or the like (referred to herein as a "probe", "probe unit", or the like) to obtain measurements or readings.

[0004] In a cathodic protection system for underwater structures, the underwater structures are connected to metals that will function as measurement or metallic contact portions, or anodes, (referred to herein as "metallic contact portions", or the like) and the underwater structures themselves will function as a cathode. The metallic contact portions are usually attached to the underwater structure by one or more conductors and are connected to power sources that provides power in the system. As the system provides protection against (or minimizes the rate of) corrosion, the metallic contact portions should be regularly inspected (and replaced as needed). Inspections are commonly performed by instrumentations (e.g., a probe, etc.) that are operated by operators (e.g., divers) and / or installed on underwater vehicles.

[0005] Inspections are typically challenging for a variety of reasons. For example, if the probes are manually operated by an operator (e.g., a diver), there is a possibility that they may be susceptible to user handling dangers or issues such as underwater pressure and currents, alignment issues, or the like, causing possible harm to the diver, difficulties in obtaining accurate measurements, and / or undesirable damage to the probes and / or measurement or metallic contact portions and / or the underwater structures. In addition, the readings (e.g., cathodic protection values, voltages, electromagnetic field gradient, etc.) obtained may not be accurate if the probe is not managed correctly due to human error or performance limitations when underwater. In addition, these probes may require significant force / energy to be applied (e.g., to penetrate marine growth on the measurement or metallic contact (or anodes), mineral buildup on the measurement or metallic contact (or anodes), other buildups on the measurement or metallic contact (or anodes), etc., hereinafter also referred to as "buildup", "marine growth", "mineral buildup", "blockage", or the like), and the operator must be able to operate in a challenging and hazardous environment. As another example, underwater visibility may result in difficulties for the operator(s) and / or underwater vehicle to determine a precise location and / or to perform readings or measurements.

[0006] Present example embodiments related generally to and / or include, among other things, systems, subsystems, processors, devices, methods, and processes for addressing conventional problems, including those described above and in the present disclosure, and more specifically, example embodiments relate to underwater vehicles and systems, subsystems, processors, devices, methods, and processes for performing inspection of underwater structures particularly performing inspections on cathodic protection for underwater structures.

[0007] In an embodiment, a system for performing an inspection is described. The system includes a probe assembly. The probe assembly includes a main body. The main body includes proximal and distal ends, and a cylindrical interior channel formed by an interior surface of the main body. The cylindrical interior channel includes a central axis that is coaxial to the first central axis. The probe assembly may also include a main base member. Alternatively or in addition, the main body may be secured directly to a vehicle (e.g., underwater vehicle). The main base member includes proximal and distal ends wherein at least a portion of the distal end of the main base member is secured to the proximal end of the main body. The probe assembly includes a probe unit that is configured to perform a voltage measurement. The probe assembly further includes a rotatable shaft assembly. Therotatably shaft assembly includes a rotatable shaft assembly body formed as an elongated cylindrical body with a central axis that is coaxial to the first central axis. The rotatable shaft assembly body is secured at a distal end to the probe unit in such a way that, when the rotatable shaft assembly body is rotated relative to the first central axis, the rotatable shaft assembly body drives the probe unit to correspondingly rotate relative to the first central axis. The rotatably shaft assembly also includes a rotary driven assembly. The rotary driven assembly including a helical-shaped channel formed on an exterior surface of the rotatable shaft assembly body and having a central axis that is coaxial to the first central axis wherein at least a portion of the helical-shaped channel is housed in the cylindrical interior channel of the main body. The probe assembly may also include a spring assembly. For example, the spring assembly may be provided between the main base member and the rotatable shaft assembly, but can also be provided in one or more other parts of the system. The probe assembly also includes a rotary drive assembly that includes a drive member that protrudes inwardly towards the first central axis and into the helical-shaped channel. The drive member is driven to move in a direction that is parallel to the first central axis. The drive member is also configured to drive the helical-shaped channel so as to cause the rotatable shaft assembly body to rotate relative to the first central axis.

[0008] In another embodiment, a system for performing an inspection is described. The system includes a probe assembly. The probe assembly includes a main body. The main body includes proximal and distal ends, and a cylindrical interior channel formed by an interior surface of the main body, the cylindrical interior channel having a central axis that is coaxial to the first central axis. The main body also includes a rotary drive assembly with a helical-shaped channel formed on the interior surface of the main body that forms the cylindrical interior channel and the helical-shaped channel having a central axis that is coaxial to the first central axis. The probe assembly also includes a main base member. The main base member includes proximal and distal ends wherein at least a portion of the distal end of the main base member is secured to the proximal end of the main body. The probe assembly includes a probe unit that is configured to perform a voltage measurement. The probe assembly further includes a rotatable shaft assembly. The rotatably shaft assembly includes a rotatable shaft assembly body formed as an elongated cylindrical body with a central axis that is coaxial to the first central axis. The rotatable shaft assembly body is secured at a distal end to the probe unit in such a way that, when the rotatable shaft assembly body is rotated relative to the first central axis. The rotatable shaft assembly also includes a rotary driven assembly. The rotary driven assembly is secured to the elongated cylindricalbody of the rotatable shaft assembly body. The rotary driven assembly also includes a driven member that protrudes outwardly away the first central axis and into the helical-shaped channel. The rotary drive assembly is configured to rotate the rotatable shaft assembly body relative to the first central axis by displacing the driven member of the rotary driven assembly along the helical-shaped channel. The probe assembly also includes a spring assembly that is provided between the main base member and the rotatable shaft assembly.

[0009] In another embodiment, a system for performing an inspection is also described. The system includes a probe assembly, the probe assembly having a first central axis. The probe assembly includes a main body. The main body includes proximal and distal ends, and a cylindrical interior channel formed by an interior surface of the main body. The probe assembly includes a probe unit that is configured to perform a contact measurement. The probe assembly also includes a rotatable shaft assembly that is secured at a distal end to the probe unit. The rotatably shaft assembly also includes a rotary driven assembly. The rotary driven assembly includes a driven channel formed around an exterior surface of the rotatable shaft assembly body. The drive member is configured to drive the driven channel so as to cause the probe unit to rotate relative to the first central axis when the drive member is driven to move relative to the rotatable shaft assembly. Brief Description of the Figures

[0010] For a more complete understanding of the present disclosure, example embodiments, and their advantages, reference is now made to the following description taken in conjunction with the accompanying figures, in which like reference numbers indicate like features, and:

[0011] Figure 1 is an illustration of a side view of an example embodiment of a system for performing an inspection of a pipeline having metallic contact portions;

[0012] Figure 2A is an illustration of a perspective view of a probe assembly;

[0013] Figure 2B is another illustration of a perspective view of a probe assembly;

[0014] Figure 2C is an illustration of a perspective view of an example embodiment of a probe unit;

[0015] Figure 2D is an illustration of a perspective view of another example embodiment of a probe unit;

[0016] Figure 2E is an illustration of a perspective view of another example embodiment of a probe unit;

[0017] Figure 2F is an illustration of a perspective view of another example embodiment of a probe unit;

[0018] Figure 2G is an illustration of a perspective view of another example embodiment of a probe unit;

[0019] Figure 2H is an illustration of a perspective view of another example embodiment of a probe unit;

[0020] Figure 3A is an illustration of a side view of an example embodiment of a probe assembly at a default or resting position, in which no force is applied by a vehicle or operator to the probe assembly;

[0021] Figure 3B is an illustration of a side view of an example embodiment of a probe assembly when a force is applied by a vehicle or operator to the probe assembly;

[0022] Figure 3C is an illustration of a side view of another example embodiment of a probe assembly at a default or resting position, in which no force is applied by a vehicle or operator to the probe assembly;

[0023] Figure 3D is an illustration of a side view of another example embodiment of a probe assembly when a force is applied by a vehicle or operator to the probe assembly;

[0024] Figure 3E is an illustration of a perspective view of an example embodiment of the main body;

[0025] Figure 3F is an illustration of a cross-sectional view of an example embodiment of the main body, in which the main body includes drive members formed on an interior surface of the main body;

[0026] Figure 3G is an illustration of a cross-sectional view of another example embodiment of the main body, in which the main body includes a helical-shaped channel formed on an interior surface of the main body; and

[0027] Figure 4 is an illustration of system view of an example embodiment of the vehicle.

[0028] Although similar reference numbers may be used to refer to similar elements in the figures for convenience, it can be appreciated that each of the various example embodiments may be considered to be distinct variations. Example embodiments will now be described with reference to the accompanying figures, which form a part of the present disclosure and which illustrate example embodiments which may be practiced. As used in the present disclosure and the appended claims, the terms "embodiment", "example embodiment", "exemplary embodiment", and "present embodiment" do not necessarily refer to a single embodiment, although they may, and various example embodiments may be readily combined and / or interchanged without departing from the scope or spirit of example embodiments.

[0029] Furthermore, the terminology as used in the present disclosure and the appended claims is for the purpose of describing example embodiments only and is not intended to be limitations. In this respect, as used in the present disclosure and the appended claims, the term "in" may include "in" and "on", and the terms "a", "an", and "the" may include singular and plural references. Furthermore, as used in the present disclosure and the appended claims, the term "by" may also mean "from," depending on the context. Furthermore, as used in the present disclosure and the appended claims, the term "if" may also mean "when" or "upon", depending on the context. Furthermore, as used in the present disclosure and the appended claims, the words "and / or" may refer to and encompass any and all possible combinations of one or more of the associated listed items. Detailed Description

[0030] Inspections of underwater structures are commonly performed manually by operators (e.g., divers) and / or via underwater vehicles. Regularly performing inspections of cathodic protection systems of underwater structures are oftentimes challenging for a variety of reasons. For example, if the probes used for the inspections are manually operated by a diver, there is a possibility that the divers may be susceptible to user handling dangers or issues such as underwater pressure, alignment issues, or the like, causing possible harm to the diver and / or undesirable damage to the metallic contact portions and / or the underwater structures. In addition, the readings (e.g., cathodic protection values, voltages, electromagnetic field gradient, etc.) obtained may not be accurate if the probes are not managed correctly due to human error or performance limitations when underwater. In addition, conventional probes may require significant energy to be applied to penetrate marine growth, mineral buildup, etc. on the anode of the cathodic protection system. As a result, the operator must be able to operate such conventional probes in a challenging and hazardous environment. As another example, underwater visibility may result in difficulties for operators and / or underwater vehicles to determine a precise location, make sufficient contact with anodes, and / or gather readings or measurements.

[0031] A conventional probe operated manually by an operator (e.g., a diver, a technician, etc.) may be used to assess, monitor, determine, manage, or inspect underwater structures or a cathodic protection of underwater structures. When inspecting underwater structures or a cathodic protection system using underwater vehicles, the underwater vehicle will first determine the location of a metallic contact portions (or anodes) of the underwater structures at an underwater location (e.g., bottom of the body of water, surface bed, etc.). Once the locations or target locations are determined, the underwater vehicle will transport one ormore conventional probes to the determined location and obtain one or more readings (e.g., voltage reading) from the anode.

[0032] It is recognized in the present disclosure that problems arise when such conventional applications or approaches are applied. For example, the probes used during inspection are typically stabbed onto or into the metallic contact portions or anodes to obtain one or more readings or measurements. The surfaces of the metallic contact portions or anodes are usually covered by scale, limestone and marine growth which may require the probe to stab and embed itself with force in order to come in contact with the metallic contact portions. The probes on its own do not have a mechanism to drive or provide force to the probe tip for stabbing action. If the probes are attached to underwater vehicles, the underwater vehicles may not be able to provide sufficient power, force or energy to drive the probes too. In addition, the limited movements of the underwater vehicle will also hinder effective and precise stabbing of the probes onto the surfaces which may also lead to damage to the metallic contact portions, underwater structures or probes. Further, there is also a possibility that the probes used during inspections (or other operations) may be susceptible to alignment issues. If the probes are not aligned properly with the target (in this case, either the metallic contact portions or the underwater structures), the readings or the results obtained are inaccurate. The readings may be inaccurate or the probes may not be sensitive to obtain readings as the probes were not able to properly contact or embed the surfaces, or part thereof, of the metallic contact portions. Further, the misalignment may also cause may cause unwanted damage to the probes, the metallic contact portions or the underwater structures. In addition, the underwater visibility may result in difficulties for the operators and / or underwater vehicle or the probe system to determine the precise location and / or to gather readings or measurements. Further, these probes require energy to be driven and the operators must be able to operate the probes under such challenging and hazardous environment.

[0033] Present example embodiments relate generally to and / or include systems, subsystems, processors, devices, methods, and processes for addressing conventional problems, including those described above and in the present disclosure, and more specifically, example embodiments relate to performing inspections on cathodic protection for underwater structures, and systems, subsystems, processors, devices, methods, and processes for performing inspections on cathodic protection for underwater structures.

[0034] As used in the present disclosure, the term "response" may also be referred to as an "output", or the like, and may include, but is not limited to, "determination", “measurement”,"result" or “target”, which may be construed as a reaction, data or a signal that one or more processors, subsystems, and / or elements generated as feedback or response to a process, processing, receipt of data / information, action, or the like, in the system. The response may include, but is not limited to, whether the system receives readings or measurements pertaining voltages, readings or measurements pertaining to an electromagnetic field gradient, a depth of the metallic contact portions, a depth of the underwater structures, and / or a distance (e.g., distance between the underwater vehicle and / or the probe assembly and the bottom surface of the body of water), whether the system performs a configuration process, whether the system performs an inspection, whether the system performs a voltage measurement process, whether the system rotates the probe assembly or the one or more elements of the probe assembly (e.g., shaft assembly, etc.), whether the probe assembly (e.g., probe unit) embeds in the blocking layer of the metallic contact portions, whether the probe assembly obtains a voltage measurement, etc.

[0035] Present example embodiments are directed to systems (e.g., system 100, as illustrated in Figure 1) and methods for performing such actions as described above.

[0036] Example embodiments of a system for performing inspections (e.g., system 100).

[0037] As illustrated in at least FIGURE 1, an example embodiment of a system (e.g., system 100) for performing inspections is disclosed. The system 100 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes using one or more of the elements described in the present disclosure.

[0038] To perform the actions, functions, processes, and / or methods described above and in the present disclosure, the system 100 for performing inspections for underwater structures includes one or more underwater vehicles (e.g., underwater vehicle 200, as illustrated in Figure 1). The system 100 may also include one or more probe assemblies (e.g., probe assembly 300, as illustrated in Figure 1). The probe assembly 300 is configured or configurable to be secured or operatively secured to the underwater vehicle 200 via an attachment or to one or more components of the underwater vehicle 200. Alternatively or in addition, the probe assembly 300 may also be configurable or configured to be operated or to be incorporated in a hand held unit and to be managed as a standalone instrument by an operator (e.g., diver, technician, etc.) without needing to be attached to vessel (e.g., an underwater vehicle 200, umbilical, line, structures, etc.).

[0039] In an example embodiment, the underwater vehicle 200 may be deployed from a vessel (not shown) by placing on sea-surface beside the vessel. The underwater vehicle 200 together with the probe assembly 300 is configurable or configured to first determine thelocation of an underwater structure (e.g., underwater structures 20, as illustrated in Figure 1) that is constructed at the bottom of the ocean floor or at any other target locations (e.g., a bottom 10 of the body of water, as illustrated in Figure 1). The underwater vehicle 200 together with the probe assembly 300 is configurable or configured to first determine the location of one or more metallic contact portions (e.g., metallic contact portions 30, as illustrated in Figure 1). The metallic contact portions 30 are typically placed near the underwater structures 20 to be protected. Alternatively or in addition, the metallic contact portions 30 may also be placed on the underwater structures 20 itself. Alternatively or in addition, the metallic contact portions may be a sacrificial anode. When the location(s) of the underwater structures 20 and / or the metallic contact portions 30 have been determined, the underwater vehicle 200 with the probe assembly 300 navigates (or move, transports, etc.) to the target location(s) based on the determinations.

[0040] In an example embodiment, the probe assembly 300 is also a configurable or configured to perform inspections, particularly inspections on underwater structures 20 or to obtain one or more measurements of voltage using one or more elements, as will be described further and in detail in the present disclosure. For example, the probe assembly 300 is configurable or configured to include a securing assembly (e.g., securing assembly 310, as illustrated in a t least FIGURE 2B). The probe assembly 300 includes a main body (e.g., main body 320, as illustrated in at least FIGURES 3A and 3B). The main body 320 further includes having a central axis that is coaxial to the first central axis (e.g., first central axis A, as illustrated in at least Figures 3A and 3B) in the main body 320. The main body 320 includes a proximal end (e.g., proximal end, 320a as illustrated in at least Figures 3A and 3B) and a distal end (e.g., distal end 320b, as illustrated in at least Figures 3A and 3B). The main body 320 also includes a cylindrical interior channel formed by an interior surface of the main body 320. The main body 320 further having a central axis A that is coaxial to the (first) central axis A in the main body 320. The probe assembly 300 also includes a main base member (e.g., main base member 330, as illustrated in at least Figures 3A and 3B). The main base member 330 includes a proximal end (e.g., proximal end 330a, as illustrated in at least Figures 3A and 3B) and a distal end (e.g., distal end 330b, as illustrated in at least Figures 3A and 3B), wherein the main base member 330 is secured to the proximal end 320a of the main body 320. The probe assembly 300 further includes a spring assembly (e.g., spring assembly 340, as illustrated in at least Figures 3A and 3B). The spring assembly 340 is secured to the distal end 330b of the main base member 330. The spring assembly 340 is configurable or configured to manage or control the movement of the probe assembly 300as the probe assembly 300 rotates and / or moves upwards or downwards. Alternatively or in addition, the spring assembly 340 may also manage a force that is provided by a power subsystem 250 or any other force providing means to the probe assembly 300.

[0041] The probe assembly 300 also includes a rotatable shaft assembly (e.g., rotatable shaft assembly 350, as illustrated in at least Figures 3A and 3B). The rotatable shaft assembly 350 is comprised of elements that operatively connected to each other. For example, the rotatable shaft assembly 350 includes a rotatable shaft assembly body (e.g., rotatable shaft assembly body 350', as illustrated in at least Figures 3A and 3B). The main rotatable shaft assembly 350 further includes a rotary driven assembly (e.g., rotary driven assembly 352, as illustrated in at least Figures 3A and 3B). The rotary driven assembly 354 includes a helical- shaped channel (e.g., helical-shaped channel 354, as illustrated in at least Figures 3A and 3B) formed on an exterior surface of the rotatable shaft assembly body 350'. The probe assembly 300 further includes a rotary drive assembly (e.g., rotary drive assembly 360, as illustrated in at least Figures 3A and 3B). The rotary drive assembly 360 includes a drive member (e.g., drive member 362, as illustrated in at least Figures 3A and 3B, and FIGURE 3F) that protrudes inwardly towards the central axis A and into the helical-shaped channel 354 formed on the exterior surface of the rotatable shaft assembly body 350'. The drive member 362 is configured or configurable to drive the helical-shaped channel 354 so as to cause the rotatable shaft assembly 350 to rotate (as illustrated in at least Figure 3b).

[0042] In yet another embodiment, the probe assembly 1300 includes a main body (e.g., main body 1320, as illustrated in at least FIGURES 3C and 3D). The main body 1320 further having a central axis that is coaxial to the first central axis (e.g., first central axis A, as illustrated in at least Figures 3C and 3D) in the main body 1320. The main body 1320 includes a proximal end (e.g., proximal end 1320a, as illustrated in Figures 3C and 3D) and a distal end (e.g., distal end 1320b, as illustrated in Figures 3C and 3D). The main body 1320 also includes a cylindrical interior channel formed by an interior surface of the main body 1320. The main body 1320 further having a central axis A that is coaxial to the (first) central axis A in the main body 1320. The main body 1320 also includes a rotary drive assembly 1360. The rotary drive assembly 1360 includes a helical-shaped channel (e.g., helical-shaped channel 1362, as illustrated in at least Figures 3C and 3D, and FIGURE 3G) formed on an interior surface of the main body 1320 that forms the cylindrical interior channel. The probe assembly 1300 also includes a main base member (e.g., main base member 1330, as illustrated in at least Figures 3C and 3D). The main base member 1330 includes a proximal end (e.g., proximal end 1330a, as illustrated in at least Figures 3C and3D) and a distal end (e.g., distal end 1330b, as illustrated in at least Figures 3C and 3D), wherein the main base member 1330 is secured to the proximal end 1320a of the main body 1320. The probe assembly 1300 further includes a spring assembly (e.g., spring assembly 1340, as illustrated in at least Figures 3C and 3D). The spring assembly 1340 is secured to the distal end 1330b of the main base member 1330. The spring assembly 1340 is configurable or configured to manage or control the movement of the probe assembly 1300 as the probe assembly 1300 rotates and / or moves upwards or downwards. Alternatively or in addition, the spring assembly 1340 may also manage a force that is provided by a power subsystem 250 or any other force providing means to the probe assembly 300.

[0043] The probe assembly 1300 includes a rotatable shaft assembly (e.g., rotatable shaft assembly 1350, as illustrated in at least Figures 3C and 3D). The rotatable shaft assembly 1350 is comprised of elements that operatively connected to each other. For example, the rotatable shaft assembly 1350 includes a rotatable shaft assembly body (e.g., rotatable shaft assembly body 1350', as illustrated in at least Figures 3C and 3D). The rotatable shaft assembly 1350 further includes a rotary driven assembly (e.g., rotary driven assembly 1352, as illustrated in at least Figures 3C and 3D). The rotary driven assembly 1352 includes a driven member (e.g., driven member 1354, as illustrated in at least Figures 3C and 3D) that protrudes outwardly away from the first central axis A and into the helical-shaped channel 1362 formed on the interior surface of the main body 1320. The driven member 1354 is configured or configurable to rotate the rotatable shaft assembly 1350.

[0044] The probe assembly 300, 1300 also further includes a probe unit (e.g., probe unit 370, 1370, as illustrated in at least Figures 3A, 3B, 3C and 3D). The probe unit 370, 1370 is configured or configurable to perform (e.g., obtain, measure, etc.) one or more voltage measurements. The probe unit 370, 1370 includes one or more probe tips (e.g., probe tips 372, 1372, as illustrated in at least Figures 3A, 3B, 3C and 3D) that are configured or configurable to be placed in contact with the one or more surfaces (e.g., blocking layers) accumulated on the metallic contact portions 30 and driven to rotate relative to the first central axis A.

[0045] Upon arriving at the target location(s), the probe assembly 300, 1300 is configurable or configured to be transported (e.g., lowered) to the underwater structures 20 and / or the metallic contact portions 30. As the probe assembly 300, 1300 is lowered (with or without the underwater vehicle 200) and arrives at the location of the metallic contact portions 30 (or target location, target depth, etc.), the rotatable part of the probe assembly 300, 1300 (e.g., rotatable shaft assembly 350, 1350, rotary drive assembly 360, 1360, and probe unit370, 1370) is configurable or configured to come into contact and embed into the surface of the metallic contact portions 30. The surface of the metallic contact portions 30 are typically covered, have or comprised of a blocking layer. The blocking layer are growth and scale such as, but not limited to, marine growth, calcium carbonate, metal chloride, etc. that accumulated on the surface of the metallic contact portions 30 after some time. As the probe assembly 300, 1300 (or with the underwater vehicle 200) is lowered towards the metallic contact portions 30, the rotatable part of the probe assembly 300, 1300 (e.g., rotatable shaft assembly 350, 1350, rotary drive assembly 360, 1360 and probe unit 370, 1370) rotates at the same time and stabs (or penetrates) into the surface (e.g., blocking layer) of the metallic contact portions 30. The rotating movement coupled by the probe tips 372, 1372 of the probe unit 370, 1370 (e.g., the lowering and the rotation of the rotatable part of the probe assembly 300, 1300) creates friction and breaks the blocking layer on the metallic contact portions 30. The probe assembly 300, 1300 is configurable or configured to obtain one or more measurements or readings of the voltages of the metallic contact portions 30.

[0046] Although the figures may illustrate one underwater structure 20, one metallic contact portion 30, one underwater vehicle 200, and one probe assembly 300, 1300 it is to be understood that the system 100 may include more or less than one underwater structures 20, more or less than one metallic contact portions, more or less than one underwater vehicles 200, and / or more or less than one probe assemblies 300, 1300 without departing from the teachings of the present disclosure.

[0047] Example embodiments will now be described below with reference to the accompanying figures, which form a part of the present disclosure.

[0048] An example embodiment of the probe assembly (e.g., probe assembly 300).

[0049] As illustrated in FIGURES 3A, 3B, 3E, and 3F, an example embodiment of the system 100 includes one or more probe assemblies (e.g., probe assembly 300). The probe assembly 300 includes several elements, as further described in the present disclosure, and is formed so as to include a central axis A (e.g., first central axis A). The probe assembly 300 may be configurable or configured to perform a variety of functions and / or operations, as described in the present disclosure, including managing, measuring, monitoring, or the like, of measurement or metallic contact portions 30 (e.g., anodes 30) of protection systems (e.g., cathodic protection systems) of underwater structures, etc. For example, when the system 100 is for use in underwater measurement applications and the vehicle 200 is an underwater vehicle 200 (e.g., an autonomous underwater vehicle 200), the probe assembly 300 is configurable or configured to communicate with one or more elements of theunderwater vehicle 200 so as to remove any buildup that may prevent an accurate measurement (e.g., marine growth on the measurement or metallic contact portions 30 (e.g., anodes 30), mineral buildup on the measurement or metallic contact portions 30 (e.g., anodes 30), other buildups on the measurement or metallic contact portions 30 (e.g., anodes 30), etc.). Once removed, the probe assembly 300 is configurable or configured to obtain one or more measurements (e.g., voltage measurement, and / or other measurements from the metallic contact portions 30 (e.g., anodes 30) and / or underwater structures 20, and to communicate such measurements with one or more elements of the system 100 (e.g., one or more elements of the underwater vehicle 200).

[0050] Alternatively or in addition, the probe assembly 300 may also be configurable or configured to be used as a standalone instrument by an operator (e.g., diver, technician, etc.) by providing a portion of the probe assembly 300 (e.g., main base member 330) for use as a handle.

[0051] When in operation, the probe assembly 300 is brought into contact with a surface of a metallic contact portion 30. In situations in which there exists buildup on the metallic contact portion 30 that may prevent a measurement (and / or an accurate measurement) of the metallic contact portion, the probe assembly 300 is configurable or configured to actuate (e.g., transition the probe unit 370 to rotate) so as to penetrate through such buildup and reach a surface of the metallic contact portion 30. Such rotating movement of the probe unit 370 includes lowering and rotating a rotatable shaft assembly (e.g., rotatable shaft assembly 350), which is secured to the probe unit 370. Once the probe unit 370 has penetrated through the buildup and made contact with the surface of the metallic contact portion 30, the probe assembly 300 is configurable or configured to perform a measurement of the one or more metallic contact portions 30.

[0052] To perform the actions, functions, processes, and / or methods described above and in the present disclosure, the probe assembly 300 includes one or more elements. As an example, for applications in which a vehicle 200 (e.g., underwater vehicle 200) is used, the probe assembly 300 may include on or more securing assemblies (e.g., securing assembly 310) to secure the probe assembly 300 to the vehicle 200.

[0053] The probe assembly 300 includes one or more main bodies (e.g., main body 320), which is used to transfer, translate, convert, or the like, a downward force, motion, push, or the like, received from a vehicle 200 or operator (see, for example, downward force applied in Direction D in Figure 3B) to a rotational force, motion, push, or the like, to the rotatable shaft assembly 350 and probe unit 370. As will be further described in the present disclosure,such transfer, translation, conversion, or the like, of a downward force, motion, push, or the like, to a rotational force, motion, push, or the like, is performed by the combined cooperation of example embodiments of a rotary driven assembly 352, 354 and example embodiments of a rotary drive assembly 360, 362. The main body 320 includes at least one cylindrical interior channel (e.g., cylindrical interior channel 320') formed by an interior surface of the main body 320 and having a central axis (e.g., central axis A or first central axis A). The central axis A of the cylindrical interior channel 320' may be coaxial to the overall first central axis A of the probe assembly 300 in example embodiments. The central axis A of the cylindrical interior channel 320' may be parallel (but not necessarily coaxial) to the overall first central axis A of the probe assembly 300 in example embodiments (e.g., in example embodiments in which the probe assembly 300 includes one base member 330, two or more main bodies 320 formed adjacent and parallel to one another and secured to the one base member 330, corresponding two or more rotatable shaft assemblies 350 (one rotatable shaft assembly 350 provided in a cylindrical interior channel 320' of each main body 320), corresponding two or more rotary driven assemblies 352 and rotary drive assemblies 360, and corresponding two or more probe units 370 (one or more probe units 370 secured to a distal end 350b of each rotatable shaft assembly 350)).

[0054] The probe assembly 300 may also include one or more main base members (e.g., main base member 330) for use in securing to a vehicle 200 (e.g., directly to the vehicle 200 and / or via one or more securing assemblies 310) or for use in enabling an operator to grip and operate the probe assembly 300.

[0055] The probe assembly 300 may also include one or more spring assemblies (e.g., spring assembly 340), or the like, which may be configurable or configured to enable the rotatable shaft assembly 350 to return to an original or default position (i.e., a position in which the probe assembly 300 is ready to penetrate buildup and perform measurement of a metallic contact portion 30) after the rotatable shaft assembly 350 has penetrated buildup and performed measurement of a metallic contact portion 30.

[0056] The probe assembly 300 may also include one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 350), which receives a downward force, motion, push, or the like, from one or more other elements of the system (e.g., from the main body 320, which receives same from the main base member 330, which receives same from either a vehicle 200 or an operator) (see, for example, downward force applied in Direction D in Figure 3B) and translates, transfers, converts, or the like, such force, motion, push, or the like, to arotational force, motion, push, or the like, to (or onto) the rotatable shaft assembly 350 and probe unit 370.

[0057] The probe assembly 300 may also include one or more rotary drive assemblies (e.g., rotary drive assembly 360) and one or more corresponding rotary driven assemblies (e.g., rotary driven assembly 352). The rotary drive assembly 360 and rotary driven assembly 352 cooperate to enable a translation, transfer, conversion, or the like, of the above-mentioned downward force, motion, push, or the like, to a rotational force, motion, push, or the like.

[0058] The probe assembly 300 further includes one or more probe units (e.g., probe unit 370). The probe unit 370 is configurable or configured to perform a variety of functions, including receiving a driving force, or the like (or being driven) by the rotary driven assembly 352 so as to penetrate, clear, move, or the like, buildup on a metallic contact portion 30 and perform measurements (e.g., voltage measurement) on the metallic contact portion 30.

[0059] Although the figures may illustrate one securing assembly 310, one main body 320, one main base member 330, one spring assembly 340, one rotatable shaft assembly 350, one rotary drive assembly 360, one rotary driven assembly 352, and one probe assembly 370, it is to be understood that the probe assembly 300 may include more or less than one securing assembly 310, more or less than one main body 320, more or less than one main base member 330, more or less than one spring assembly 340, more or less than one rotatable shaft assembly 350, more or less than one rotary drive assembly 360, more or less than one rotary driven assembly 352, and / or more or less than one probe unit 370, without departing from the teachings of the present disclosure. These and the other one or more elements of the probe assembly 300 will now be further described with reference to the accompanying figures, which form a part of the present disclosure.

[0060] The securing assembly (e.g., securing assembly 310).

[0061] In an example embodiment, the probe assembly 300 includes one or more securing assemblies (e.g., securing assembly 310) for use in securing the vehicle 200 to the probe assembly 300. The securing assembly 310 may be formed in any shape, form, size, configuration, or the like, and using any one or more materials so long as the securing assembly is configurable or configured to function as an attachment mechanism 310, securing mechanism 310, connecting mechanism 310, actuating mechanism 310, or the like, that enables the probe assembly 300 to, among other things, secure to at least a portion of the vehicle 200.

[0062] In example embodiments in which the vehicle 200 is an underwater vehicle 200 (e.g., autonomous underwater vehicle, or AUV), the securing assembly 310 may be configured to secure the probe assembly 300 to a bottom portion of the underwater vehicle 200. In example embodiments, the securing assembly 310 may also be configurable or configured to actuate and / or transition (and / or be actuated and / or transitioned along with) the probe assembly 300 between a stored or default position (e.g., a position in which the probe assembly 300 is stored, stowed, retracted, kept, or the like, into a portion of the underwater vehicle 200) and a measurement position (e.g., a position in which the probe assembly 300 is ready to perform a measurement, such as a voltage measurement on a metallic contact portion 30; an example of such measurement position is illustrated in at least Figure 1). For such actuating and / or transitioning between the stored position and the measurement position, the securing assembly 310 may retract and extend the probe assembly 300 by transitioning the probe assembly 300 inwardly and outwardly, respectively, along the central axis A. Alternatively or in addition, the securing assembly 310 may retract and extend the probe assembly 300 by rotating the probe assembly 300 relative to an axis that is perpendicular or orthogonal (or substantially perpendicular or orthogonal) to the central axis A (e.g., rotate relative to the axis A; e.g., rotate from a position that is parallel to the axis A (i.e., stored position) to a position that is perpendicular to the axis A (i.e., measurement position)).

[0063] An example embodiment of the main body (e.g., main body 320), rotary drive assembly (e.g., rotary drive assembly 360), and drive member (e.g., drive member 362).

[0064] As illustrated in at least FIGURES 3A and 3B, the probe assembly 300 includes one or more main bodies (e.g., main body 320). An example embodiment of the main body 320 is fixedly secured to (either directly or indirectly) and / or fixedly secured relative to the main base member 330 (and / or relative to vehicle 200, or grip if operated by an operator / diver) in such a way that, when the main base member 330 (and / or the main body 320 itself) receives a downward force, motion, push, or the like, (e.g., from the main base member 330 and / or the vehicle 200) (see, for example, downward force applied in Direction D in Figure 3B), such downward force, motion, push, or the like, is provided directly to (and / or passed directly to) the main body 320. The main body 320 is then configurable or configured to translate, convert, transform, or the like, such downward force, motion, push, or the like, into a rotational (or helically-directed) force, motion, push, or the like, to rotate the rotary shaft assembly 350 (e.g., rotation R around or relative to axis A). The main body 320 may also be configurable or configured to perform one or more other functions, operations,actions, methods and / or processes including, but not limited to, providing or serving as a structure, outer / upper backbone, support, or the like, for the probe assembly 300; providing or serving as a protective sleeve or a cover for at least a portion of the rotatable shaft assembly 350; and / or to house one or more elements of the probe assembly 300.

[0065] As illustrated in at least FIGURE 3E, an example embodiment of the main body 320 includes a cylindrical interior channel 320', a proximal end 320a, and a distal end 320b opposite to the proximal end 320a. The proximal end 320a of the main body 320 may be secured to and / or relative to the main base member 330 and / or a portion of the vehicle 200. The distal end 320b may include an opening, or the like, for receiving at least a portion of the rotary shaft assembly 350 into the cylindrical interior channel 320' and for enabling at least a portion of the rotary shaft assembly 350 to be housed in and extend outwardly away (or protrude) from the cylindrical interior channel 320'. The cylindrical interior channel 320' is formed by an interior surface of the main body 320, and extends from the distal end 320b of the main body 320 towards the proximal end 320a of the main body 320. The cylindrical interior channel 320' includes a central axis that is coaxial to the first central axis A. In example embodiments, cylindrical interior channel 320' is configurable or configured to house at least a portion of the spring assembly 340, at least a portion of the rotatable shaft assembly 350 (including at least the proximal end 350a of the rotatable shaft assembly 350), the rotary drive assembly 360, and at least a portion of the rotary driven assembly 352.

[0066] In example embodiments, the main body 320 may also include a rotary drive assembly (e.g., rotary drive assembly 360) (e.g., formed on an interior surface of the cylindrical interior channel 320'). Alternatively or in addition, the main body 320 may be secured to a rotary drive assembly 360 (e.g., secured to an interior surface of the cylindrical interior channel 320' and / or to a distal end 320a of the main body 320). The rotary drive assembly 360 may include and / or be formed as one or more drive members (e.g., drive member 362). Each drive member 362 may be or include a member that protrudes inwardly towards the first central axis A and into a helical-shaped channel 354 that is formed on the outer or exterior surface of the rotatable shaft assembly 350. Alternatively or in addition, in example embodiments when one or more drive members 362 are formed as protrusions on the interior surface forming the cylindrical interior channel 320' (see, for example, Figures 3A and 3B, and FIGURE 3F), the drive member 362 is configurable or configured to protrude outwardly away from the interior surface forming the cylindrical interior channel 320' (and / or inwardly towards the central axis A) when viewed from the perspective of the interior surface forming the cylindrical interior channel 320'. The drive member 362 iscorrespondingly housed in at least a portion of the helical-shaped channel 354. In this regard, when a downward force, motion, push, or the like, is exerted onto the main body 320 (e.g., from the vehicle 200 and / or main base member 330) (see, for example, downward force applied in Direction D in Figure 3B), such downward force, motion, push, or the like, is exerted or passed to the drive member 362, which correspondingly causes the drive member 362 to move downward along the helical-shaped channel 354 towards the distal end 350b of the rotatable shaft assembly 350. In example embodiments, the main body 320 is fixedly secured to the main base member 330 and / or the vehicle 200 in such a way that the main body 320 does not rotate relative to the vehicle 200. In this regard, such downward movement of the drive member 362 will not cause the main body 320 to rotate relative to the central axis A, but such downward movement will instead drive the helical-shaped channel 354 (e.g., drive a bottom side wall forming the helical-shaped channel 354; whereas a top side wall forming the helical-shaped channel 354 will be driven by an upward movement of the drive member 362 to rotate the rotary shaft assembly 350 in a opposite direction (opposite rotation R), such as when the vehicle 200 makes an upward movement away from the metallic contact portion 30 and the spring assembly 340 releases its stored spring energy) so as to cause the rotary shaft assembly 350 (and correspondingly, the probe unit 370) to rotate (rotation R) relative to the central axis A. Such driving of the drive member 362 downward along the helical-shaped channel 354 so as to rotate the rotary shaft assembly 350 (and correspondingly, rotate the probe unit 370) is illustrated in Figure 3A (position before the downward force, motion, push, or the like, is exerted onto the drive member 362) and Figure 3B (position after the downward force, motion, push, or the like, has been exerted onto the drive member 362).

[0067] Although Figures 3A and 3B may illustrate one main body 320, it is to be understood that the probe assembly 300 and / or the system 100 may include more than one main body 320 without departing from the teachings of the present disclosure.

[0068] An example embodiment of the main base member (e.g., main base member 330).

[0069] As illustrated in at least Figures 3A and 3B, the probe assembly 300 includes a main base member (e.g., main base member 330). The main base member 330 is configurable of configured to perform one or more plurality of functions, operations, actions, methods and / or processes, including, but not limited to, providing an internal channel to house one or more elements of the probe assembly 300 (e.g., cables, wires, etc. between the probe unit 370 and the vehicle 200), securing or attaching the rest of the probe assembly 300 to the vehicle 200 and / or securing assembly 310, etc.

[0070] In an example embodiment, the main base member 330 includes a proximal end 330a and a distal end 330b. The distal end 330b or at least a portion of the distal end 330b of the main base member 330 is secured to at least a portion of the proximal end 320a of the main body 320. The main base member 330 may also include, be secured to, and / or house a main base shaft (e.g., main base shaft 332). The main base shaft 332 is an elongated member with at least a portion housed within the main base member 330, and may include one or more internal channels for housing, among other things, cables, wires, etc. for transmitting data communication, power, etc. between one or more elements of the probe assembly 300 (e.g., the probe unit 370) and the vehicle 200. The main base shaft 332 may also be configurable or configured to serve as a support structure for the probe assembly 300, securing or connecting the probe assembly 300 to the underwater vehicle 300, or the like.

[0071] The main base member 330 may be formed in any shape, size, configuration, or form. For example, the main base member 330 may be formed in a cubical, rectangular, or cylindrical shape, but may also be formed in any other shape, size, configuration, etc. so long as it can perform the functions described above and in the present disclosure, including securing or attaching the rest of the probe assembly 300 to the vehicle 200 and housing cables, wires, etc.

[0072] Although Figures 3A and 3B may illustrate one main base member 330, it is to be understood that the probe assembly 300 and / or the system 100 may include more or less than one main base member 330 without departing from the teachings of the present disclosure.

[0073] An example embodiment of the spring assembly (e.g., spring assembly 340).

[0074] As illustrated in at least Figure 3A and 3B, an example embodiment of the probe assembly 300 includes one or more spring assemblies (e.g., spring assembly 340). The spring assembly 340 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, managing or controlling one or more movements of one or more elements of the probe assembly 300.

[0075] In an example embodiment, the spring assembly 340 is provided between a proximal end 350a of the rotatable shaft assembly 350 and a distal end 330b of the main base member 330 in such a way that, when the main base member 330 is being moved, pushed, urged, or the like, towards and / or relative to the rotatable shaft assembly 350, the spring assembly 340 (e.g., one or more compression spring coils of the spring assembly 340) is configurable or configured to be correspondingly compressed (e.g., so as to be loaded or store spring energy) (e.g., the main base member 330 and / or rotatable shaft assembly 350 are moved from adefault or "resting" position (e.g., the position illustrated in Figure 3A), in such a way that a distance between the proximal end 350a of the rotatable shaft assembly 350 and the distal end 330b of the main base member 330 is reduced (e.g., as illustrated in Figure 3A), such as when a downward force, motion, push, or the like, is being exerted by vehicle 200 onto the main base member 330 (and / or main body 320) (see, for example, downward force applied in Direction D in Figure 3B), and when the probe unit 370 is in contact with a metallic contact portion 30). Similarly, after a force has been applied such that the main base member 330 has been moved, pushed, urged, or the like, relative to and / or towards the rotatable shaft assembly 350 and when such applied force is subsequently removed, the spring assembly 340 (e.g., one or more compression spring coils of the spring assembly 340) is configurable or configured to correspondingly release or uncompress (e.g., so as to unload or release stored spring energy) (e.g., the main base member 330 and / or rotatable shaft assembly 350 are moved from the compressed or loaded position towards the default or "resting" position in such a way that a distance between the proximal end 350a of the rotatable shaft assembly 350 and the distal end 330b of the main base member 330 is increased, such as when a downward force, motion, push, or the like, is released or no longer being exerted by vehicle 200 onto the main base member 330 (and / or main body 320) and / or when the probe unit 370 is no longer in contact with a metallic contact portion 30).

[0076] Although the spring assembly 340 may be mostly illustrated and / or described above and in the present disclosure as including one or more compression springs, or the like, it is to be understood that the spring assembly 340 may include one or more other elements (in addition to or in replacement of the one or more compression springs) to achieve similar or the same functionalities without departing from the teachings of the present disclosure, including one or more of the following functionalities: storing energy when a probe assembly 300 is provided (or "sandwiched") between a vehicle 200 (or operator) and a metallic contact portion 30 and when a force is applied (e.g., by a vehicle 200 or operator) onto the probe assembly 300 (see, for example, downward force applied in Direction D in Figure 3B); and releasing such stored energy when such force is released and / or no longer applied (e.g., by a vehicle 200 or operator) onto the probe assembly 300. Furthermore, although the spring assembly 340 may be mostly illustrated and / or described above and in the present disclosure as being provided or positioned between the main base member 330 and the rotatable shaft assembly 350, it is to be understood that the spring assembly 340 may also be provided or positioned in one or more other locations and / or between one or more other elements of the probe assembly 300 (in addition to or in replacement of being providedor positioned between the main base member 330 and the rotatable shaft assembly 350) without departing from the teachings of the present disclosure. For example, in some example embodiments in which the main base member 330 is fixedly secured in position relative to the rotatable shaft assembly 350 (such that a distance between both elements do not change, but the rotatable shaft assembly 350 may rotate around central axis A relative to the main base member 330) and the main body 320 is not fixedly secured in position relative to the main base member 330 (such that a distance between the main body 320 and the main base member 330 changes when a force is applied and / or released, such as from vehicle 200 or operator, to the main body 320), the spring assembly 340 may be provided between the main body 320 (and / or one or more other elements of the probe assembly 300 that are fixedly secured to the main body 320) and a portion of the vehicle 200 (and / or one or more other elements of the probe assembly 300 that are fixedly secured to the vehicle 200). Other example embodiments are also contemplated without departing from the teachings of the present disclosure.

[0077] It is recognized in the present disclosure that such functionality of example embodiments of the spring assembly 340 enables a vehicle 200 (or operator) to perform consecutive, multiple, repeated, and / or continuous operations of the probe assembly 300, that is, consecutive, multiple, repeated, and / or continuous attempts of removing buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.).

[0078] In example embodiments, the spring assembly 340 may also include one or more elements (including those described in the present disclosure), such as the main base shaft 332, which may (or may not) be provided or housed within one or more of the spring coils of the spring assembly 340. As described in the present disclosure, the main base shaft 332 may be a hollow channel, tube, space, or the like, configurable or configured to allow one or more cables, wires, or the like, to run between one or more elements of the probe assembly 300 (e.g., the probe unit 370) and the vehicle 200. In example embodiments, the main base shaft 332 may also be configurable or configured to secure and / or connect the main base member 330 to the rotatable shaft assembly 350.

[0079] Although the Figure 3A and 3B may illustrate one spring assembly 340, it is to be understood that the probe assembly 300 and / or the system 100 may include more or less than one spring assembly 340 without departing from the teachings of the present disclosure.

[0080] An example embodiment of the rotatable shaft assembly (e.g., rotatable shaft assembly 350), rotary driven assembly (e.g., rotary driven assembly 352), and helical-shaped channel (e.g., helical-shaped channel 354).

[0081] As illustrated in at least FIGURES 3A and 3B, an example embodiment of the probe assembly 300 includes one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 350). The rotatable shaft assembly 350 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, receiving a driving force (or being driven) from one or more other elements of the probe assembly 300 (e.g., receiving a driving force from the drive member 362 of the rotary drive assembly 360 via the helical-shaped channel 354 of the rotary driven assembly 352) so as to rotate (e.g., in rotation direction R, or opposite to rotation direction R) relative to central axis A. The rotatable shaft assembly 350 may also be configurable or configured to drive the probe unit 370 to rotate in rotation R relative to central axis A (e.g., once the rotatable shaft assembly 350 is driven to rotate). In this regard, at least a portion of the rotatable shaft assembly 350 may be fixedly secured to the probe unit 370 such that the probe unit 370 is not rotatable relative to such at least one portion of the rotatable shaft assembly 350.

[0082] In an example embodiment, the rotatable shaft assembly 350 includes one or more rotatable shaft assembly bodies (e.g., a rotatable shaft assembly body 350'). The rotatable shaft assembly body 350' is secured at a distal end 350b to a probe unit 370. The rotatable shaft assembly body 350' may also be secured at a proximal end 350a to the spring assembly 340 and / or the main base member 330 (e.g., via the main base shaft 332). The rotatable shaft assembly body 350' may be formed as an elongated cylindrical body with a central axis A that is coaxial to the first central axis A. The elongated cylindrical body of the rotatable shaft assembly body 350' may include one or more interior channels, tubes, hollow spaces, or the like, for housing one or more cables, wires, etc., including those between the probe unit 370 and the vehicle 200, and such one or more interior channels, tubes, hollow spaces, or the like, may be connected to, in communication with, or formed as part of the main base shaft 332 in example embodiments.

[0083] The rotatable shaft assembly 350 also includes one or more rotary driven assemblies (e.g., rotary driven assembly 352). The rotary driven assembly 352 is configurable or configured to receive a driving force from (or be driven by) one or more elements of the probe assembly 300, such as the drive member 362 of the rotary drive assembly 360. More specifically, the rotary driven assembly 352 includes one or more helical-shaped channels(e.g., helical-shaped channel 354) configurable or configured to be driven by the drive member 362 of the rotary drive assembly 360. The helical-shaped channel 354 may be any helical, spiral, curved, or the like, channel that is formed on (and / or into) an exterior surface (or wall) of the rotatable shaft assembly body 350'. The helical-shaped channel 354 includes and / or is formed along a central axis A that is coaxial to the first central axis A. The helical- shaped channel 354 includes a start section (e.g., at, near or around proximal end 350a) and an end section (e.g., between the start section and the distal end 350b). Further, the helical- shaped channel 354 of the rotary driven assembly 352 may be formed as, but not limited to, a channel, indentation, groove, cavity, protrusion, and / or pattern on (and / or in) the exterior surface of the elongated cylindrical body of the rotatable shaft assembly body 350'. In an example embodiment, the curvature, overall length (between the start section and end section), spacing between sections along the central axis A, number of rotations / curves, etc. of the helical-shaped channel 354 may be selected based on, among other things, the quantum of rotations (e.g., rotations per unit time or rotations per distance travelled along the central axis A) desired for the probe unit 370, expected or predicted buildup conditions on the metallic contact portions 30, underwater current conditions around or at the metallic contact portions 30, size of, weight of, and / or force applied by the vehicle 200 (or operator), etc.

[0084] In operation, when the rotatable shaft assembly body 350' is driven to rotate around or relative to central axis A (e.g., when a vehicle 200 applies a force to the main base member 330 and / or main body 320 such that the probe assembly 300 is "sandwiched" between the vehicle 200 and a metallic contact portion 30), the rotatable shaft assembly body 350' is configurable or configured to cooperate with one or more other elements of the probe assembly 300 to drive the probe unit 370 to correspondingly rotate (e.g., in rotation direction R) relative to the first central axis A. More specifically, when a force is applied (e.g., by vehicle 200 or operator) (see, for example, downward force applied in Direction D in Figure 3B) to move the main body 320 (and / or main base member 330) towards the rotatable shaft assembly 350, the drive member 362 of the rotary drive assembly 360 (which may (or may not) remain housed in the helical-shaped channel 354, such as nearby or at the start section, at a default state (e.g., a state when no force is applied by a vehicle 200 or operator)) engages with or pushes against at least a portion of the helical-shaped channel 354 of the rotary driven assembly 352. In doing so, the drive member 362 is driven downward (towards the distal end 350b) and caused to be displaced along the helical-shaped channel 354 toward the end section of the helical-shaped channel 354. In example embodiments, the rotary drivenassembly 352 (and correspondingly, the helical-shaped channel 354) is rotatable relative to the drive member 362, and as such the downward drive of the drive member 362 causes or drives: the drive member 362 to travel or move along the helical-shaped channel 354 towards the end section of the helical-shaped channel 354; and the rotatable shaft assembly body 350' to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A, which in turn causes or drives the probe unit 370 to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A.

[0085] When a force is no longer applied to move the main body 320 (and / or main base member 330) towards the rotatable shaft assembly 350, an example embodiment of the spring assembly 340 causes or drives the drive member 362 to be displaced along the helical- shaped channel 354 back towards the start section of the helical-shaped channel 354 (i.e., its default state), which also drives the rotatable shaft assembly body 350' to correspondingly rotate relative to the first central axis A.

[0086] Although the probe assembly 300 may be illustrated and / or described in the present disclosure as including one rotatable shaft assembly 350, one rotary driven assembly 352, one helical-shaped channel 354, one rotary drive assembly 360, and one drive member 362, it is to be understood in the present disclosure that the probe assembly 300 may have more than one rotatable shaft assembly 350, more than one rotary driven assembly 352, more than one helical-shaped channel 354, more than one rotary drive assembly 360, and / or more than one drive member 362 without departing from the teachings of the present disclosure.

[0087] For example, the probe assembly 300 may include more than one rotary drive assemblies 360 (each with one or more than one drive member 362) arranged along the central axis A. In such example, if the probe assembly 300 includes one rotary driven assembly 352 (with one helical-shaped channel 354), each of the drive members 362 may be staggered in position such that each of the drive members 362 are housed or provided in at least a portion of the helical-shaped channel 354.

[0088] As another example, the probe assembly 300 may include one rotary drive assembly 360 having a plurality of drive members 362 arranged along the central axis A. In such example, if the probe assembly 300 includes one rotary driven assembly 352 (with one helical-shaped channel 354), each of the drive members 362 may be staggered in position such that each of the drive members 362 are housed or provided in at least a portion of the helical-shaped channel 354.

[0089] As another example, the probe assembly 300 may include more than one rotary drive assemblies 360 having a plurality of drive members 362 arranged along the central axis A.In such example, if the probe assembly 300 includes a plurality of rotary driven assemblies 352 (each with one or more helical-shaped channels 354), each of the drive members 362 may be staggered in position such that each of the drive members 362 are housed or provided in at least a portion of one of the helical-shaped channels 354. Of course, other configurations, quantities, and permutations of rotary driven assembly (or assemblies) 352, helical-shaped channel (or channels) 354, rotary drive assembly (or assemblies) 360, and drive member (or members) 362 are contemplated without departing from the teachings of the present disclosure.

[0090] An example embodiment of the probe unit (e.g., probe unit 370).

[0091] As illustrated in at least FIGURES 2C, 2D, 2E, 2F, 2G and 2H, an example embodiment of the probe assembly 300 includes one or more probe units (e.g. probe unit 370). The probe unit 370 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, performing stabbing, penetrating, clearing, removing, or the like, of buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.). The probe unit 370 is also configurable or configured to perform measurements (e.g., voltage measurements, electromagnetic field gradient measurements, etc. via the distal end 370b of the probe unit 370) when placed in contact with a metallic contact portion 30 of an underwater structure 20.

[0092] In an example embodiment, the probe unit 370 is fixedly secured to at least a portion of the rotatable shaft assembly 350 (e.g., a distal end 350b of the rotatable shaft assembly body 350') in such a way that the probe unit 370 is not rotatable (in rotation direction R or opposite) around or relative to the rotatable shaft assembly 350. Put differently, the probe unit 370 is configurable or configured to rotate around or relative to the central axis A when the rotatable shaft assembly 350 (as driven by and / or rotating along with the helical-shaped channel 354 and / or the rotary driven assembly 352, which is driven by the drive member 362 of the rotary drive assembly 360 to rotate) is correspondingly driven to rotate (in rotation direction R, or opposite) relative to the central axis A.

[0093] In operation, when the probe unit 370 is placed in contact with buildup (e.g., marine growth, mineral buildup, other buildups, etc.) on a metallic contact portion 30 of an underwater structure 20, the probe unit 370 is driven to rotate relative to the central axis A when the vehicle 200 (or operator) applies force to "sandwich" the probe assembly 300 such that the main base member 330 and / or main body 320 drives the drive member 362 of the rotary drive assembly 360 along the helical-shaped channel 354, which drives the rotatableshaft assembly 350 to rotate (in rotation direction R, or opposite) around or relative to central axis A, which correspondingly drives the probe unit 370 to rotate (in rotation direction R, or opposite) around or relative to central axis A. Such rotating movement of the probe unit 370 (when in contact with the buildup), which may require repeated cycles of movement of the drive member 362 between the start section and end section of the helical-shaped channel 354, generates friction and results in eventual breakage of the buildup on the metallic contact portions 30. Once the buildup is cleared (or partially cleared), the distal end 370b of the probe unit 370 is then configurable or configured to perform a measurement (e.g., voltage measurement) of the metallic contact portion 30.

[0094] In an example embodiment, the distal end 370b of the probe unit 370 may be configurable or configured to include one or more probe tips 370b, which may be formed in any one or more shapes, sizes, forms, configurations, and / or quantities of tips. For example, Figure 2C illustrates an example embodiment of a probe tip 370b having a sharp pointed tip; Figure 2D illustrates an example embodiment of a probe tip 370b having a plurality of flat ends resembling a blade, scooper, or the like; Figure 2E illustrates an example embodiment incorporating the features of example embodiments illustrated in Figures 2C and 2D; Figure 2F illustrates an example embodiment of a probe tip 370b similar to that of Figure 2D, but including sharp pointed tips similar to that of Figure 2C; Figure 2G illustrates an example embodiment of a probe tip 370b having a relatively uniformly flat end; and Figure 2H illustrates an example embodiment of a probe tip 370b having a plurality of sharp pointed tips, including a central pointed tip. It is to be understood in the present disclosure that other shapes, sizes, forms, configurations, quantities, or the like, of probe tips 370b are also contemplated without departing from the present disclosure.

[0095] In an example embodiment, the probe unit 370 may also include one or more elements (including those described in the present disclosure), such as the main base shaft 332, which may be provided or housed within the probe unit 370. As described in the present disclosure, the main base shaft 332 may be a hollow channel, tube, space, or the like, configurable or configured to allow one or more cables, wires, or the like, to run between the probe unit 370 and one or more elements of the probe assembly 300 and / or the vehicle 200. In example embodiments, the main base shaft 332 may also be configurable or configured to secure to the main base shaft 332 in or of the rotatable shaft assembly 350, the spring assembly 340, and / or the main base member 330. In example embodiments, the main base shaft 332 may be a single element that extends from the probe unit 370 to the rotatable shaft assembly 350, the spring assembly 340, and / or the main base member 330.

[0096] The probe unit 370 may also include and / or be fitted or connected to one or more sensors, actuators, transducers, imaging systems (e.g., camera), and / or any other components of the probe unit 370. For example, the one or more sensors on the probe unit 370 may be configurable or configured to be connected to the vehicle 200 and / or the sensor subsystem 230 via one or more connections or network to make available or provide the obtained measurements or readings. The one or more sensors are then further configurable or configured to obtain one or more measurements including a cathodic protection value measurement, an electromagnetic field gradient measurement, a depth measurement and / or any other parameters required for the performance of the system 100. Such measurements may be determined or obtained by one or more sensors of the sensor subsystem (e.g., sensor subsystem 230) for measuring or determining one or more parameters. Examples of sensors may include, but not limited to, voltmeters, electromagnetic sensors, gaussmeters, multimeters, depth sensors, sonars, potential difference probe or sensors, potentiometers, or the like.

[0097] Although the Figures may illustrate one probe unit 370, it is to be understood that the probe assembly 300 and / or the system 100 may include more or less than one probe unit 370 without departing from the teachings of the present disclosure.

[0098] Another example embodiment of the probe assembly (e.g., probe assembly 1300).

[0099] As illustrated in FIGURES 3C, 3D, 3E, and 3G, an example embodiment of the system 100 includes one or more probe assemblies (e.g., probe assembly 1300). Similar to the probe assembly 300, the probe assembly 1300 includes several elements and is formed so as to include a central axis A (e.g., first central axis A). The probe assembly 1300 is also configurable or configured to manage, measure, monitor, or the like, measurement or metallic contact portions 30 (e.g., anodes 30) of protection systems (e.g., cathodic protection systems) of underwater structures, etc.

[0100] When in operation, the probe assembly 1300 is brought into contact with a surface of a metallic contact portion 30. In situations in which there exists buildup on the metallic contact portion 30 that may prevent a measurement (and / or an accurate measurement) of the metallic contact portion, the probe assembly 300 is configurable or configured to actuate (e.g., transition the probe unit 1370 to rotate) so as to penetrate through such buildup and reach a surface of the metallic contact portion 30. Such rotating movement of the probe unit 1370 includes lowering and rotating a rotatable shaft assembly (e.g., rotatable shaft assembly 1350), which is secured to the probe unit 1370. Once the probe unit 1370 has penetratedthrough the buildup and made contact with the surface of the metallic contact portion 30, the probe assembly 1300 is configurable or configured to perform a measurement of the one or more metallic contact portions 30.

[0101] To perform the actions, functions, processes, and / or methods described above and in the present disclosure, the probe assembly 1300 includes one or more elements. As an example, for applications in which a vehicle 200 (e.g., underwater vehicle 200) is used, the probe assembly 1300 may include on or more securing assemblies (e.g., securing assembly 310) to secure the probe assembly 1300 to the vehicle 200.

[0102] The probe assembly 1300 includes one or more main bodies (e.g., main body 1320), which is used to transfer, translate, convert, or the like, a downward force, motion, push, or the like, received from a vehicle 200 or operator (see, for example, downward force applied in Direction D in Figure 3D) to a rotational force, motion, push, or the like, to the rotatable shaft assembly 1350 and probe unit 1370. Such transfer, translation, conversion, or the like, of a downward force, motion, push, or the like, to a rotational force, motion, push, or the like, is performed by the combined cooperation of example embodiments of a rotary driven assembly 1352 and example embodiments of a rotary drive assembly 1360. The main body 1320 includes at least one cylindrical interior channel (e.g., cylindrical interior channel 1320') formed by an interior surface of the main body 1320 and having a central axis (e.g., central axis A or first central axis A). The central axis A of the cylindrical interior channel 1320' may be coaxial to the overall first central axis A of the probe assembly 1300 in example embodiments. The central axis A of the cylindrical interior channel 1320' may be parallel (but not necessarily coaxial) to the overall first central axis A of the probe assembly 1300 in example embodiments (e.g., in example embodiments in which the probe assembly 1300 includes one base member 1330, two or more main bodies 1320 formed adjacent and parallel to one another and secured to the one base member 1330, corresponding two or more rotatable shaft assemblies 1350 (one rotatable shaft assembly 1350 provided in a cylindrical interior channel 1320' of each main body 1320), corresponding two or more rotary driven assemblies and rotary drive assemblies, and corresponding two or more probe units 1370 (one or more probe units 1370 secured to a distal end of each rotatable shaft assembly 1350)).

[0103] The probe assembly 1300 may also include one or more main base members (e.g., main base member 1330) for use in securing to a vehicle 200 (e.g., directly to the vehicle 200 and / or via one or more securing assemblies 310) or for use in enabling an operator to grip and operate the probe assembly 1300.

[0104] The probe assembly 1300 may also include one or more spring assemblies (e.g., spring assembly 1340), or the like, which may be configurable or configured to enable the rotatable shaft assembly 1350 to return to an original or default position (i.e., a position in which the probe assembly 1300 is ready to penetrate buildup and perform measurement of a metallic contact portion 30) after the rotatable shaft assembly 1350 has penetrated buildup and performed measurement of a metallic contact portion 30.

[0105] The probe assembly 1300 may also include one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 1350), which receives a downward force, motion, push, or the like, from one or more other elements of the system (e.g., from the main body 1320, which receives same from the main base member 1330, which receives same from either a vehicle 200 or an operator) (see, for example, downward force applied in Direction D in Figure 3D) and translates, transfers, converts, or the like, such force, motion, push, or the like, to a rotational force, motion, push, or the like, to (or onto) the rotatable shaft assembly 1350 and probe unit 1370.

[0106] The probe assembly 1300 may also include one or more rotary drive assemblies (e.g., rotary drive assembly 1360) and one or more corresponding rotary driven assemblies (e.g., rotary driven assembly 1352). The rotary drive assembly 1360 and rotary driven assembly 1352 cooperate to enable a translation, transfer, conversion, or the like, of the above-mentioned downward force, motion, push, or the like, to a rotational force, motion, push, or the like.

[0107] The probe assembly 1300 further includes one or more probe units (e.g., probe unit 1370). The probe unit 1370 is configurable or configured to perform a variety of functions, including receiving a driving force, or the like (or being driven) by the rotary driven assembly 1352 so as to penetrate, clear, move, or the like, buildup on a metallic contact portion 30 and perform measurements (e.g., voltage measurement) on the metallic contact portion 30.

[0108] Although the figures may illustrate one securing assembly 310, one main body 1320, one main base member 1330, one spring assembly 1340, one rotatable shaft assembly 1350, one rotary drive assembly 1360, one rotary driven assembly 1352, and one probe assembly 1370, it is to be understood that the probe assembly 1300 may include more or less than one securing assembly 310, more or less than one main body 1320, more or less than one main base member 1330, more or less than one spring assembly 1340, more or less than one rotatable shaft assembly 1350, more or less than one rotary drive assembly 1360, more or less than one rotary driven assembly 1352, and / or more or less than one probe unit 1370,without departing from the teachings of the present disclosure. These and the other one or more elements of the probe assembly 1300 will now be further described with reference to the accompanying figures, which form a part of the present disclosure.

[0109] The securing assembly (e.g., securing assembly 310).

[0110] In an example embodiment, the probe assembly 1300 includes one or more securing assemblies (e.g., securing assembly 310) for use in securing the vehicle 200 to the probe assembly 1300. The securing assembly 310 may be similar to or the same as the securing assembly 310 of the probe assembly 300.

[0111] Another example embodiment of the main body (e.g., main body 1320), rotary drive assembly (e.g., rotary drive assembly 1360), and helical-shaped channel (e.g., helical-shaped channel 1362).

[0112] As illustrated in at least FIGURES 3C and 3D, the probe assembly 1300 includes one or more main bodies (e.g., main body 1320). An example embodiment of the main body 1320 is fixedly secured to (either directly or indirectly) and / or fixedly secured relative to the main base member 1330 (and / or relative to vehicle 200, or grip if operated by an operator / diver) in such a way that, when the main base member 1330 (and / or the main body 1320 itself) receives a downward force, motion, push, or the like, (e.g., from the main base member 1330 and / or the vehicle 200) (see, for example, downward force applied in Direction D in Figure 3D), such downward force, motion, push, or the like, is provided directly to (and / or passed directly to) the main body 1320. The main body 1320 is then configurable or configured to translate, convert, transform, or the like, such downward force, motion, push, or the like, into a rotational (or helically-directed) force, motion, push, or the like, to rotate the rotary shaft assembly 1350 (e.g., rotation direction R, or opposite). The main body 1320 may also be configurable or configured to perform one or more other functions, operations, actions, methods and / or processes including, but not limited to, providing or serving as a structure, outer / upper backbone, support, or the like, for the probe assembly 1300; providing or serving as a protective sleeve or a cover for at least a portion of the rotatable shaft assembly 1350; and / or to house one or more elements of the probe assembly 1300.

[0113] As illustrated in at least Figure 3E, an example embodiment of the main body 1320 includes a cylindrical interior channel 1320', a proximal end 1320a, and a distal end 1320b opposite to the proximal end 1320a. The proximal end 1320a of the main body 1320 may be secured to and / or relative to the main base member 1330 and / or a portion of the vehicle 200. The distal end 1320b may include an opening, or the like, for receiving at least aportion of the rotary shaft assembly 1350 into the cylindrical interior channel 1320' and for enabling at least a portion of the rotary shaft assembly 1350 to be housed in and extend outwardly away (or protrude) from the cylindrical interior channel 1320'. The cylindrical interior channel 1320' is formed by an interior surface of the main body 1320, and extends from the distal end 1320b of the main body 1320 towards the proximal end 1320a of the main body 1320. The cylindrical interior channel 1320' includes a central axis A that is coaxial to the first central axis A. In example embodiments, cylindrical interior channel 1320' is configurable or configured to house at least a portion of the spring assembly 1340, at least a portion of the rotatable shaft assembly 1350 (including at least the proximal end 1350a of the rotatable shaft assembly 1350), the rotary drive assembly 1360, and at least a portion of the rotary driven assembly 1352.

[0114] In example embodiments, the main body 1320 may also include one or more rotary drive assemblies (e.g., rotary drive assembly 1360). The rotary drive assembly 1360 is configurable or configured to receive a driving force from (or be driven by) a vehicle 200 (or operator) via one or more elements of the probe assembly 300 (e.g., the main body 1320 and / or main base member 1330). More specifically, the rotary drive assembly 1360 includes one or more helical-shaped channels (e.g., helical-shaped channel 1362) configurable or configured to drive the driven member 1354 of the rotary driven assembly 1352. The helical- shaped channel 1362 may be any helical, spiral, curved, or the like, channel that is formed on (and / or into) an interior surface (or wall) of the main body 1320 (e.g., the interior surface of the main body 1320 that forms the cylindrical interior channel 1320'). The helical-shaped channel 1362 includes and / or is formed along a central axis A that is coaxial to the first central axis A. The helical-shaped channel 1362 includes a start section (e.g., at, near or around distal end 1320b) and an end section (e.g., between the start section and the proximal end 1320a). Further, the helical-shaped channel 1362 of the rotary drive assembly 1360 may be formed as, but not limited to, a channel, indentation, groove, cavity, protrusion, and / or pattern on (and / or in) the interior surface of the main body 1320. In an example embodiment, the curvature, overall length (between the start section and end section), spacing between sections along the central axis A, number of rotations / curves, etc. of the helical-shaped channel 1362 may be selected based on, among other things, the quantum of rotations (e.g., rotations per unit time or rotations per distance travelled along the central axis A) desired for the probe unit 1370, expected or predicted buildup conditions on the metallic contact portions 30, underwater current conditions around or at the metallic contact portions 30, size of, weight of, and / or force applied by the vehicle 200 (or operator), etc.

[0115] The helical-shaped channel 1362 is configurable or configured to house at least a portion of the driven member 1354 of the rotary driven assembly 1352. In this regard, when a downward force, motion, push, or the like, is exerted onto the main body 1320 (e.g., from the vehicle 200 and / or main base member 1330) (see, for example, downward force applied in Direction D in Figure 3D), such downward force, motion, push, or the like, is exerted or passed to the helical-shaped channel 1362, which correspondingly causes the driven member 1354 to move "upward" along the helical-shaped channel 1362 towards the proximal end 1320a of the main body 1320 (i.e., towards the end section of the helical-shaped channel 1362). In example embodiments, the main body 1320 is fixedly secured to the main base member 1330 and / or the vehicle 200 in such a way that the main body 1320 does not rotate relative to the vehicle 200. In this regard, such downward movement of the helical-shaped channel 1362 (or "upward" movement of the driven member 1354 relative to the helical- shaped channel 1362) will not cause the main body 1320 to rotate relative to the central axis A, but will instead drive the driven member 1354 (e.g., a top side wall forming the helical- shaped channel 1362 will drive the driven member 1354 to rotate) so as to cause the rotary shaft assembly 1350 (and correspondingly, the probe unit 1370) to rotate (in rotation direction R, or opposite) relative to the central axis A. Such driving of the driven member 1354 "upward" along the helical-shaped channel 1362 so as to rotate the rotary shaft assembly 1350 (and correspondingly, rotate the probe unit 1370) is illustrated in Figure 3C (position before the downward force, motion, push, or the like, is exerted onto the main base member 1330 and / or main body 1320 by a vehicle 200 (or operator)) and Figure 3D (position after the downward force, motion, push, or the like, has been exerted onto the main base member 1330 and / or main body 1320 by a vehicle 200 (or operator)).

[0116] Although Figures 3C-D may illustrate one main body 1320, it is to be understood that the probe assembly 1300 and / or the system 100 may include more than one main body 1320 without departing from the teachings of the present disclosure.

[0117] Another example embodiment of the main base member (e.g., main base member 1330).

[0118] As illustrated in at least Figures 3C and 3D, the probe assembly 1300 includes a main base member (e.g., main base member 1330). The main base member 1330 is configurable of configured to perform one or more plurality of functions, operations, actions, methods and / or processes, including, but not limited to, providing an internal channel to house one or more elements of the probe assembly 1300 (e.g., cables, wires, etc. betweenthe probe unit 1370 and the vehicle 200), securing or attaching the rest of the probe assembly 1300 to the vehicle 200 and / or securing assembly 310, etc.

[0119] In an example embodiment, the main base member 1330 includes a proximal end 1330a and a distal end 1330b. The distal end 1330b or at least a portion of the distal end 1330b of the main base member 1330 is secured to at least a portion of the proximal end 1320a of the main body 1320. The main base member 1330 may also include, be secured to, and / or house a main base shaft (e.g., main base shaft 1332). The main base shaft 1332 is an elongated member with at least a portion housed within the main base member 1330, and may include one or more internal channels for housing, among other things, cables, wires, etc. for transmitting data communication, power, etc. between one or more elements of the probe assembly 1300 (e.g., the probe unit 1370) and the vehicle 200. The main base shaft 1332 may also be configurable or configured to serve as a support structure for the probe assembly 1300, securing or connecting the probe assembly 10300 to the underwater vehicle 300, or the like.

[0120] The main base member 1330 may be formed in any shape, size, configuration, or form. For example, the main base member 1330 may be formed in a cubical, rectangular, or cylindrical shape, but may also be formed in any other shape, size, configuration, etc. so long as it can perform the functions described above and in the present disclosure, including securing or attaching the rest of the probe assembly 1300 to the vehicle 200 and housing cables, wires, etc.

[0121] Although Figure 3G may illustrate one main base member 1330, it is to be understood that the probe assembly 1300 and / or the system 100 may include more or less than one main base member 1330 without departing from the teachings of the present disclosure.

[0122] Another example embodiment of the spring assembly (e.g., spring assembly 1340).

[0123] As illustrated in at least Figures 3C and 3D, an example embodiment of the probe assembly 1300 includes one or more spring assemblies (e.g., spring assembly 1340). The spring assembly 1340 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, managing or controlling one or more movements of one or more elements of the probe assembly 1300.

[0124] In an example embodiment, the spring assembly 1340 is provided between a proximal end 1350a of the rotatable shaft assembly 1350 and a distal end 1330b of the main base member 1330 in such a way that, when the main base member 1330 is being moved,pushed, urged, or the like, towards and / or relative to the rotatable shaft assembly 1350, the spring assembly 1340 (e.g., one or more compression spring coils of the spring assembly 1340) is configurable or configured to be correspondingly compressed (e.g., so as to be loaded or store spring energy) (e.g., the main base member 1330 and / or rotatable shaft assembly 1350 are moved from a default or "resting" position (e.g., as illustrated in Figure 3C) in such a way that a distance between the proximal end 1350a of the rotatable shaft assembly 1350 and the distal end 1330b of the main base member 1330 is reduced (e.g., as illustrated in Figure 3D), such as when a downward force, motion, push, or the like, is being exerted by vehicle 200 onto the main base member 1330 (and / or main body 1320), and when the probe unit 1370 is in contact with a metallic contact portion 30). Similarly, after a force has been applied such that the main base member 1330 has been moved, pushed, urged, or the like, relative to and / or towards the rotatable shaft assembly 1350 and when such applied force is subsequently removed, the spring assembly 1340 (e.g., one or more compression spring coils of the spring assembly 1340) is configurable or configured to correspondingly release or uncompress (e.g., so as to unload or release stored spring energy) (e.g., the main base member 1330 and / or rotatable shaft assembly 1350 are moved from the compressed or loaded position towards the default or "resting" position in such a way that a distance between the proximal end 1350a of the rotatable shaft assembly 1350 and the distal end 1330b of the main base member 1330 is increased, such as when a downward force, motion, push, or the like, is released or no longer being exerted by vehicle 200 onto the main base member 1330 (and / or main body 1320) and / or when the probe unit 1370 is no longer in contact with a metallic contact portion 30).

[0125] Although the spring assembly 1340 may be mostly illustrated and / or described above and in the present disclosure as including one or more compression springs, or the like, it is to be understood that the spring assembly 1340 may include one or more other elements (in addition to or in replacement of the one or more compression springs) to achieve similar or the same functionalities without departing from the teachings of the present disclosure, including one or more of the following functionalities: storing energy when a probe assembly 1300 is provided (or "sandwiched") between a vehicle 200 (or operator) and a metallic contact portion 30 and when a force is applied (e.g., by a vehicle 200 or operator) onto the probe assembly 1300; and releasing such stored energy when such force is released and / or no longer applied (e.g., by a vehicle 200 or operator) onto the probe assembly 1300. Furthermore, although the spring assembly 1340 may be mostly illustrated and / or described above and in the present disclosure as being provided or positioned between the main basemember 1330 and the rotatable shaft assembly 1350, it is to be understood that the spring assembly 1340 may also be provided or positioned in one or more other locations and / or between one or more other elements of the probe assembly 1300 (in addition to or in replacement of being provided or positioned between the main base member 1330 and the rotatable shaft assembly 1350) without departing from the teachings of the present disclosure. For example, in some example embodiments in which the main base member 1330 is fixedly secured in position relative to the rotatable shaft assembly 1350 (such that a distance between both elements do not change, but the rotatable shaft assembly 1350 may rotate around central axis A relative to the main base member 1330) and the main body 1320 is not fixedly secured in position relative to the main base member 1330 (such that a distance between the main body 1320 and the main base member 1330 changes when a force is applied and / or released, such as from vehicle 200 or operator, to the main body 1320), the spring assembly 1340 may be provided between the main body 1320 (and / or one or more other elements of the probe assembly 1300 that are fixedly secured to the main body 1320) and a portion of the vehicle 200 (and / or one or more other elements of the probe assembly 1300 that are fixedly secured to the vehicle 200). Other example embodiments are also contemplated without departing from the teachings of the present disclosure.

[0126] It is recognized in the present disclosure that such functionality of example embodiments of the spring assembly 1340 enables a vehicle 200 (or operator) to perform consecutive, multiple, repeated, and / or continuous operations of the probe assembly 1300, that is, consecutive, multiple, repeated, and / or continuous attempts of removing buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.).

[0127] In example embodiments, the spring assembly 1340 may also include one or more elements (including those described in the present disclosure), such as the main base shaft 1332, which may (or may not) be provided or housed within one or more of the spring coils of the spring assembly 1340. As described in the present disclosure, the main base shaft 1332 may be a hollow channel, tube, space, or the like, configurable or configured to allow one or more cables, wires, or the like, to run between one or more elements of the probe assembly 1300 (e.g., the probe unit 1370) and the vehicle 200. In example embodiments, the main base shaft 1332 may also be configurable or configured to secure and / or connect the main base member 1330 to the rotatable shaft assembly 1350.

[0128] Although the Figures may illustrate one spring assembly 1340, it is to be understood that the probe assembly 1300 and / or the system 100 may include more or less than one spring assembly 1340 without departing from the teachings of the present disclosure.

[0129] Another example embodiment of the rotatable shaft assembly (e.g., rotatable shaft assembly 1350), rotary driven assembly (e.g., rotary driven assembly 1352), and driven member (e.g., driven member 1354).

[0130] As illustrated in at least FIGURES 3C and 3D, an example embodiment of the probe assembly 1300 includes one or more rotatable shaft assemblies (e.g., rotatable shaft assembly 1350). The rotatable shaft assembly 1350 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, receiving a driving force (or being driven) from one or more other elements of the probe assembly 1300 (e.g., receiving a driving force from the helical- shaped channel 1362 of the rotary drive assembly 1360 via the driven member 1354 of the rotary driven assembly 1352) so as to rotate (e.g., in rotation direction R, or opposite to rotation direction R) relative to central axis A. The rotatable shaft assembly 1350 may also be configurable or configured to drive the probe unit 1370 to rotate in rotation R relative to central axis A (e.g., once the rotatable shaft assembly 1350 is driven to rotate). In this regard, at least a portion of the rotatable shaft assembly 1350 may be fixedly secured to the probe unit 1370 such that the probe unit 1370 is not rotatable relative to such at least one portion of the rotatable shaft assembly 1350.

[0131] In an example embodiment, the rotatable shaft assembly 1350 includes one or more rotatable shaft assembly bodies (e.g., a rotatable shaft assembly body 1350'). The rotatable shaft assembly body 1350' is secured at a distal end 1350b to a probe unit 1370. The rotatable shaft assembly body 1350' may also be secured at a proximal end 1350a to the spring assembly 1340 and / or the main base member 1330 (e.g., via the main base shaft 1332). The rotatable shaft assembly body 1350' may be formed as an elongated cylindrical body with a central axis A that is coaxial to the first central axis A. The elongated cylindrical body of the rotatable shaft assembly body 1350' may include one or more interior channels, tubes, hollow spaces, or the like, for housing one or more cables, wires, etc., including those between the probe unit 1370 and the vehicle 200, and such one or more interior channels, tubes, hollow spaces, or the like, may be connected to, in communication with, or formed as part of the main base shaft 1332 in example embodiments.

[0132] In example embodiments, the rotatable shaft assembly body 1350' may also include a rotary driven assembly (e.g., rotary driven assembly 1352) (e.g., formed on an exteriorsurface of the rotatable shaft assembly body 1350'). Alternatively or in addition, the rotatable shaft assembly body 1350' may be secured to a rotary driven assembly 1352 (e.g., secured to an exterior surface of the rotatable shaft assembly body 1350').

[0133] The rotary driven assembly 1352 may include and / or be formed as one or more driven members (e.g., driven member 1354). Each driven member 1354 may be or include a member that protrudes outwardly away from the first central axis A and into a portion of the helical-shaped channel 1362 that is formed on the inner or interior surface of the main body 1320. Alternatively or in addition, in example embodiments when one or more driven members 1354 are formed as protrusions on the exterior surface of the rotatable shaft assembly body 1350' (see, for example, Figure 3C), the driven member 1354 is configurable or configured to protrude outwardly away from the exterior surface forming the rotatable shaft assembly body 1350' when viewed from the perspective of the exterior surface forming the rotatable shaft assembly body 1350'. The driven member 1354 is correspondingly housed or received in at least a portion of the helical-shaped channel 1362. In this regard, when a downward force, motion, push, or the like, is exerted onto the main body 1320 (e.g., from the vehicle 200 and / or main base member 1330) (see, for example, downward force applied in Direction D in Figure 3D), such downward force, motion, push, or the like, is exerted or passed to the helical-shaped channel 1362, which correspondingly causes the helical-shaped channel 1362 to move downward and causes the driven member 1354 to move "upward" along the helical-shaped channel 1362 (that is, move towards the proximal end 1320a of the main body 1320 and / or end section of the helical-shaped channel 1362). In example embodiments, the main body 1320 is fixedly secured to the main base member 1330 and / or the vehicle 200 in such a way that the main body 1320 does not rotate relative to the vehicle 200. In this regard, such downward movement of the helical-shaped channel 1362 will not cause the main body 1320 to rotate relative to the central axis A, but such downward movement will instead drive the driven member 1354 (e.g., a top side wall forming the helical-shaped channel 1362 drives the driven member 1354) so as to cause the rotary shaft assembly 1350 (and correspondingly, the probe unit 1370) to rotate (in rotation direction R) relative to the central axis A. Such driving of the helical-shaped channel 1362 downward such that the driven member 1354 travels or moves along the helical-shaped channel 354 so as to rotate the rotary shaft assembly 1350 (and correspondingly, rotate the probe unit 1370) is illustrated in Figure 3C (position before the downward force, motion, push, or the like, is exerted onto the helical-shaped channel 1362) and Figure 3D (positionafter the downward force, motion, push, or the like, has been exerted onto the helical-shaped channel 1362).

[0134] In operation, when the rotatable shaft assembly body 1350' is driven to rotate around or relative to central axis A (e.g., when a vehicle 200 applies a force to the main base member 1330 and / or main body 1320 such that the probe assembly 1300 is "sandwiched" between the vehicle 200 and a metallic contact portion 30), the rotatable shaft assembly body 1350' is configurable or configured to cooperate with one or more other elements of the probe assembly 1300 to drive the probe unit 1370 to correspondingly rotate (e.g., in rotation direction R) relative to the first central axis A. More specifically, when a force is applied (e.g., by vehicle 200 or operator) to move the main body 1320 (and / or main base member 1330) towards the rotatable shaft assembly 1350 (see, for example, downward force applied in Direction D in Figure 3D), the driven member 1354 of the rotary driven assembly 1352 (which may (or may not) remain housed in the helical-shaped channel 1362, such as nearby or at the start section, at a default state (e.g., a state when no force is applied by a vehicle 200 or operator)) engages with or is pushed by at least a portion of the helical-shaped channel 1362 of the rotary drive assembly 1360. In doing so, the driven member 1354 is driven "upwards" (towards the proximal end 1320a) and caused to be displaced along the helical- shaped channel 1362 toward the end section of the helical-shaped channel 1362. In example embodiments, the rotary driven assembly 1352 (and correspondingly, the driven member 1354) is rotatable relative to the helical-shaped channel 1362 and the main body 1320, and as such the downward drive of the helical-shaped channel 1362 causes or drives: the driven member 1354 to travel or move along the helical-shaped channel 1362 towards the end section of the helical-shaped channel 1362; and the rotatable shaft assembly body 1350' to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A, which in turn causes or drives the probe unit 1370 to correspondingly rotate (in rotation direction R, or opposite) around or relative to the central axis A.

[0135] When a force is no longer applied to move the main body 1320 (and / or main base member 1330) towards the rotatable shaft assembly 1350, an example embodiment of the spring assembly 1340 causes or drives the driven member 1354 to be displaced along the helical-shaped channel 1362 back towards the start section of the helical-shaped channel 1362 (i.e., its default state), which also drives the rotatable shaft assembly body 1350' to correspondingly rotate relative to the first central axis A.

[0136] Although the probe assembly 1300 may be illustrated and / or described in the present disclosure as including one rotatable shaft assembly 1350, one rotary drivenassembly 1352, one helical-shaped channel 1362, one rotary drive assembly 1360, and one driven member 1354, it is to be understood in the present disclosure that the probe assembly 1300 may have more than one rotatable shaft assembly 1350, more than one rotary driven assembly 1352, more than one helical-shaped channel 1362, more than one rotary drive assembly 1360, and / or more than one driven member 1354 without departing from the teachings of the present disclosure.

[0137] For example, the probe assembly 1300 may include more than one rotary drive assemblies 1360 (each with one or more than one helical-shaped channel 1362) arranged along the central axis A. In such example, the probe assembly 1300 includes more than one rotary driven assembly 1352 (with more than one driven member 1354) such that each of the driven members 1354 are housed or provided in at least a portion of one of the helical- shaped channels 1362.

[0138] As another example, the probe assembly 300 may include one rotary drive assembly 1360 having one helical-shaped channel 1362. In such example, the probe assembly 1300 may include a plurality of driven members 1354 arranged along the central axis A staggered in position such that each of the driven members 1354 are housed or provided in at least a portion of the helical-shaped channel 1362.

[0139] Other configurations, quantities, and permutations of rotary driven assembly (or assemblies) 1352, helical-shaped channel (or channels) 1362, rotary drive assembly (or assemblies) 1360, and driven member (or members) 1354 are contemplated without departing from the teachings of the present disclosure.

[0140] Another example embodiment of the probe unit (e.g., probe unit 1370).

[0141] As illustrated in at least FIGURES 2C, 2D, 2E, 2F, 2G, and 2H, an example embodiment of the probe assembly 300 includes one or more probe units (e.g. probe unit 1370). The probe unit 1370 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, performing stabbing, penetrating, clearing, removing, or the like, of buildup on metallic contact portions 30 that may prevent an accurate measurement (e.g., marine growth, mineral buildup, other buildups, etc.). The probe unit 1370 is also configurable or configured to perform measurements (e.g., voltage measurements, electromagnetic field gradient measurements, etc. via the distal end 1370b of the probe unit 1370) when placed in contact with a metallic contact portion 30 of an underwater structure 20.

[0142] In an example embodiment, the probe unit 1370 may be similar to or the same as example embodiments of the probe unit 370 of the probe assembly 300 described above and in the present disclosure.

[0143] The underwater vehicle (e.g., underwater vehicle 200).

[0144] As illustrated in FIGURE 1, an example embodiment of the system (e.g., system 100) includes one or more underwater vehicle (e.g., underwater vehicle 200). The underwater vehicle 200 may be configurable or configured to communicate with one or more elements of the system 100. The underwater vehicle 200 is configurable or configured to perform a plurality of actions, functions, operations, methods, and / or processes, including transporting the probe assembly (e.g., probe assembly 300), carrying out its underwater mission (e.g., performing inspections, measuring one or more voltages, managing and monitoring the cathodic protection of the underwater structure, etc.), locating one or more metallic contact portions (e.g., metallic contact portions 30) placed on or near underwater structures (e.g., underwater structures 20), finding a path or trajectory to the underwater structures 20 and / or metallic contact portions 30, and to communicate with one or more elements of the system 100.

[0145] For example, the underwater vehicle 200 is configured or configurable to communicate with one or more elements of the underwater vehicle 200. Further, the underwater vehicle 200 is also configured or configurable to communicate with one or more probe assemblies 300. The underwater vehicle 200 is also configured or configurable to communicate with one or more elements of the probe assembly 300.

[0146] In example embodiments, the underwater vehicle 200 may be an remotely operated underwater vehicle (ROV), autonomous underwater vehicle (AUV) and / or any other underwater vehicle which may be applicable that is configurable or configured to navigate, ascend, descend, rotate, change orientation, and / or otherwise transport itself in a generated or determined trajectory and / or path. As used in the present disclosure, the underwater vehicle 200 may be and / or include an underwater vehicle that is guided autonomously (e.g., ROV, AUV, MUV, UUV, etc.) and / or remotely, underwater drones or robots, and / or any other forms of underwater vehicle 200 which may be applicable.

[0147] The underwater vehicle 200 is configurable or configured to maneuver, navigate, ascend, descend, rotate, change orientate and otherwise based on one or more commands and / or information received and / or communicated to the underwater vehicle 200 by the one or more elements of the system 100. For example, the underwater vehicle 200 may establish a connection with the assembly probe 300 and / or one or more other elements of the system100 via one or more channels and / or one or more forms of underwater communication, including sonar, analog voltage, and / or other communication protocols to share, receive, and / or communicate the commands and / or information. The one or more commands and / or information communicated by and / or to the underwater vehicle 200 may be one or more real-time information determined or received from one or more elements of the probe assembly 300. Such information may include one or more electromagnetic field gradient measurements from the underwater structures 20 (or area surrounding the underwater structures 20) that is constructed underwater (e.g., on surface 10), one or more electromagnetic field gradient measurements from the metallic contact portions 30 (or area surrounding the metallic contact portions 30) and / or both. Further, the information may also include one or more images of the one or more metallic contact portions 30 and / or the underwater structures 20. The underwater vehicle may also be configurable or configured to receive information such including one or more voltage measurements from the probe assembly 300.

[0148] The one or more commands and / or information communicated by and / or to the underwater vehicle 200 may also be one or more information (or determination) on the location of the metallic contact portions 30 placed near or placed on the underwater structures 20 based on real-time information received (e.g., electromagnetic field gradient measurements, images, etc.). The one or more commands and / or information communicated by and / or to the underwater vehicle 200 may also be one or more information (or determination) on the depth of the metallic contact portions 30 and / or the underwater structures 20 based on real-time information received (e.g., electromagnetic field gradient measurements, images, etc.). The one or more depth measurements may also be determined directly by one or more elements of the system 100, one or more elements of the underwater vehicle 200 and / or one or more elements the probe assembly 300 without the real-time information received. As described above in the present disclosure, the metallic contact portions 30 are typically placed near the underwater structures 20. Alternatively or in addition, the metallic contact portions 30 may also be placed on the underwater structures 20 itself at appropriate locations or positions.

[0149] In another example, the one or more commands and / or information communicated by and / or to the underwater vehicle 200 may include those pertaining to one or more trajectories generated by and / or for the underwater vehicle 200 to navigate towards the underwater structure 20, a particular destination and / or points of interest, or the like. The commands and / or information may include information pertaining to location, trajectory,orientation information, distance, directions, a target location or a point of interest, a geolocation of the target location or point of interest and any other which may be applicable.

[0150] Before navigation or during navigation along a trajectory, the underwater vehicle 200 may also be configurable or configured to continuously, periodically, on demand, etc. receive and / or generate one or more information and / or commands pertaining to one or more objects, items, structures, obstacles, or the likes that is / are present along the trajectory of the underwater vehicle 200 and / or the surrounding areas of the underwater vehicle 200. The commands and / or information may include details on the objects, items, structures, obstacles, or the likes such as geometries, shapes, dimensions, etc., and any other which may be applicable.

[0151] Further, the underwater vehicle 200 is configurable or configured to capture one or more images of the underwater structure 20 and / or the metallic contact portions 30 on the underwater structures 20 or near the underwater structures 20. The underwater vehicle 200 is configurable or configured to capture one or more images of one or more surrounding areas (or regions, directions, etc.) of the underwater structures 20 and / or the surrounding areas (or regions, directions, etc.) of the metallic contact portions 30. The underwater vehicle 200 is also configurable or configured to process, analyze, provide, send, transmit and / or make available the captured images to the main controller 260 to determine and / or assist in determining a location (and / or position, direction, etc.) of the metallic contact portions 30 and to subsequently generate one or more trajectories for the underwater vehicle 200 based on the location (and / or position, direction, etc.) determined. Further, the underwater vehicle 200 is also configurable or configured to generate one or more new trajectories, if required, for the underwater vehicle 200 based on real-time or almost real- time commands and / or information received.

[0152] Alternatively or in addition, the underwater vehicle 200 may include an attachment (not shown) that is configurable or configured to secure the probe assembly 300 to the underwater vehicle 300. The attachment may be a structure that is fixedly or removably attached to the underwater vehicle 200 and / or the probe assembly 300. Alternatively or in addition, the underwater vehicle 200 may also include a line (not shown) that secures the assembly probe 300 to the underwater vehicle 200. This enables the probe assembly 300 to be transported (e.g., lowered or raised) to or from the location of the metallic contact portions 30 and / or target location or point of interest to lower or when lowering the probe assembly 300. The underwater vehicle 200 may also include one or more power subsystem 250 or any other force providing means that is configurable or configured to provide power, forceor energy to drive the probe assembly 300. Besides propelling the underwater vehicle 200 through the water, the power subsystem 250 (or any other force providing means) may also be configurable or configured to provide a driving force to the probe assembly 300 for movements and / or to perform a variety of tasks (e.g., stabbing or penetrating surface of the metallic contact portions 30, obtaining measurements, collecting samples, etc.), as will be further described in the present disclosure.

[0153] To perform the actions, functions, processes, and / or methods described above and in the present disclosure, the underwater vehicle 200 includes one or more elements. As an example, the underwater vehicle 200 may include one or more transceivers (e.g., transceiver 210). The underwater vehicle 200 may also include one or more imaging subsystems (e.g., imaging subsystem 220). The underwater vehicle 200 may also include one or more sensor subsystems (e.g., sensor subsystem 230). The underwater vehicle 200 may also include one or more navigation subsystems (e.g., navigation subsystem 240). The underwater vehicle 200 may also include one or more main controllers (e.g., main controller 260).

[0154] Although the figures may illustrate one transceiver 210, one imaging subsystem 220, one sensor subsystem 230, one navigation subsystem 240, and one main controller 260, it is to be understood that the underwater vehicle 200 may include more or less than one transceivers 210, more or less than one imaging subsystems 220, more or less than one sensors 230, more or less than one navigation subsystems 240, and more or less than one main controllers 250 without departing from the teachings of the present disclosure.

[0155] These and other elements of the underwater vehicle 200 will now be further described with reference to the accompanying figures.

[0156] The transceiver (e.g., transceiver 210).

[0157] As illustrated in FIGURE 4, an example embodiment of the underwater vehicle 200 includes one or more transceivers (e.g., transceiver 210). The transceiver 210 is configurable or configured to communicate with one or more elements of the system 100. In an example embodiment, the transceiver 210 is configurable or configured to enable one or more elements of the underwater vehicle 200 to receive and / or obtain information and communicate such information to one or more other elements of the underwater vehicle 200 and / or one or more elements of the probe assembly 300. In yet another example embodiment, the transceiver 210 is configurable or configured to enable one or more elements of the underwater vehicle 200 (e.g., the imaging subsystem 220, the sensor subsystem 230, the navigation subsystem 240) to communicate with the probe assembly300, the one or more elements of the probe assembly 300 and other one more elements of the system 100, if any.

[0158] In an example embodiment, the transceiver 210 is configurable or configured to receive one or more commands and / or information. The one or more commands and / or information is then transmitted to or from one or more imaging subsystems 220, one or more sensor subsystems 230, and one or more navigation subsystem 240. Examples of information may include images captured by the imaging subsystems 220 (e.g., still and / or video images of the underwater structures 20, still and / or video images of the metallic contact portions 30, etc.), an electromagnetic field gradient, measurements of depth of the metallic contact portions 30 placed near the underwater structure 20, measurements of one or more voltages from the metallic contact portions 30, and one or more locations of the metallic contact portions 30.

[0159] Other commands and / or information may also include speed information of the underwater vehicle 200, acceleration / deceleration of the underwater vehicle 200, orientation information of the underwater vehicle 200, pitch / roll / yaw information of the underwater vehicle 200, position of the underwater vehicle 200 or the probe assembly 300 above the underwater structures 20, underwater current conditions around the underwater structures 20, the underwater vehicle 200 and the probe assembly 300, depth of the underwater vehicle 200 and / or probe assembly 300, distance between the underwater vehicle 200 and / or probe assembly 300 and the metallic contact portions 30, one or more trajectories generated by and / or for the underwater vehicle 200 to navigate towards the metallic contact portions 30 or to navigate towards a particular destination and / or points of interest, and any other commands and / or information which may be relevant to the performance of the system 100.

[0160] The transceiver 210 may also receive commands and / or information to position and / or orientate the underwater vehicle 200 (e.g., for navigation purposes). The transceiver 210 may also receive commands and / or information on one or more objects, items, structures, obstacles, or the likes from the imaging subsystem 220 that is present along the trajectory of the underwater vehicle 200 and / or the surrounding areas of the underwater structure 20, the metallic contact portions 30, the underwater vehicle 200 and the probe assembly 300. The transceiver 210 may also receive commands and / or information (e.g., commands, signals, etc.) to cause the probe assembly 300 to move (e.g., to lower, to rotate, to stab, to penetrate) from the underwater vehicle 200 towards the metallic contact portions 30.

[0161] The commands and / or information received may be received continuously in real- time and / or near real-time. Alternatively or in addition, such information may be received in a periodic, intermittent, and / or sporadic manner (e.g., every 1 minute, every 2 minutes, at a depth of 500 m, at a depth of 1000 m, no fixed period or pattern; etc.). Alternatively or in addition, such information may be received upon the occurrence (and / or non-occurrence) of an event, sequence of events, action, sequence of actions, condition, sequence of conditions, receipt of certain information, receipt of a sequence of certain information, process, sequence of processes, etc. (e.g., movements and / or changes in positions, locations, orientations, trajectories, etc.).

[0162] The transceiver 210 is also configurable or configured to communicate commands and / or information between itself and / or one or more imaging subsystems 220, one or more sensor subsystems 230 and / or one or more navigation subsystems 240. Each of the commands and / or information communicated between the imaging subsystem 220, the sensor subsystem 230, and / or the navigation subsystem 240 may also be communicated with or to the probe assembly 300.

[0163] Although Figure 2 may illustrate one transceiver 210, it is to be understood that the underwater vehicle 200 and / or the system 100 may include more or less than one transceiver 210 without departing from the teachings of the present disclosure.

[0164] The imaging subsystem (e.g., imaging subsystem 220).

[0165] As illustrated in Figure 4, an example embodiment of the underwater vehicle 200 includes a imaging subsystem (e.g., imaging subsystem 220). The imaging subsystem 220 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, capturing still images and / or video images, and to communicate with and / or to receive, send or transmit information to the transceiver 210 and / or one or more other elements of the system 100. The imaging subsystem 220 may also be configurable or configured to communicate with and to receive, send or transmit information to one or more elements of the underwater vehicle 200 or one or more controllers (e.g., main controller 260).

[0166] In example embodiments, the imaging subsystem 220 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, capturing one or more images (e.g., still images and / or video images) from the underwater vehicle 200. The imaging subsystem 230 may include a camera (e.g., downward-facing camera, forward-facing camera, etc.), a video camera, a night or low-light vision camera, an imaging sonar, an optical imaging, a thermalimaging, a laser imaging and / or any other imaging subsystem which may be applicable. The imaging subsystem 220 is configurable or configured to capture one or more images of the underwater structure 20, and / or one or more metallic contact portions 30. Based on the one or more images, the imaging subsystem 220 is configurable or configured to assist in determining a location (and / or position, direction, etc.) of the underwater structures 20 and the metallic contact portions 30 from the underwater vehicle 200. The metallic contact portions 30 are typically placed near the underwater structures 20 to be protected and / or on the underwater structures 20 itself.

[0167] In addition, a depth (or a distance) measurement may also be determined based on the images captured, the depth being a distance between the underwater vehicle 200 and / or the probe assembly 300 and the metallic contact portions 30. The depths may be an estimated distance to the metallic contact portions 30 and / or underwater structures 200 that are at the bottom surface (e.g., surface 10) of the body of water. Alternatively or in addition, the depth measurement may also be a distance between the underwater vehicle 200 and / or the probe assembly 300 at a target location or point of interest (to lower or when lowering the probe assembly 300) and the metallic contact portions 30 and the underwater structures 20. The depth or distance measurements based on the images may be determined or generated in real-time or near real-time using one or more algorithms and / or machine learning modules. Alternatively or in addition, the depth or distance measurements may also be determined or generated using an external source, database and / or assessment tools.

[0168] With such information as described above, the underwater vehicle 200 is configurable or configured to align, change depth / orientation / direction / pitch / yaw / roll, navigate, move, and / or position itself at the location (and / or position, direction, etc.) of the metallic contact portions 30 or a target location or point of interest to lower or when lowering the probe assembly 300. Further, the images captured by the imaging subsystem 230 may be provided, transmitted, stored, and / or otherwise made available to one or more elements of the underwater vehicle 200 and / or elements of the system 100.

[0169] Alternatively or in addition, the imaging subsystem 220 may be configurable or configured to capture one or more images of the surrounding areas of the underwater vehicle 200, the surrounding areas of the underwater structures 20 and / or the surrounding areas of the metallic contact portions 30. Alternatively or in addition, the images of the surrounding areas of the underwater vehicle 200, the surrounding areas of the underwater structures 20 and / or the surrounding areas of the metallic contact portions 30 captured by the imaging subsystem 220 may also be provided, transmitted, stored, and / or otherwise made availableto one or more elements of the underwater vehicle 200 and / or other elements of the system 100 to assess the surroundings for possible events or occurrences, environmental conditions, objects, items, structures, obstacles, and / or the likes and subsequently to reposition the underwater vehicle 200 or to generate one or more trajectories (if required) for the underwater vehicle 200 to navigate and to arrive at the locations of the one or more metallic contact portions 30 and / or a target location or point of interest to lower or when lowering the probe assembly 300.

[0170] In another example embodiment, the imaging subsystem 220 may also be configurable or configured to make available, transmit, send, or the like the one or more images to the main controller 260 for processing and analysis. Based on the information by the imaging subsystem 220, the main controller 260 may (or receive a command to) determine and / or assist in determining a location (and / or position, direction, etc.) of the one or more metallic contact portions 30. Alternatively or in addition, the main controller 260 may also determine and / or assist in determining a depth of the one or more metallic contact portions 30.

[0171] Further, the imaging subsystem 220 may also be configurable or configured to receive one or more commands and / or information. The one or more commands and / or information may be received from the transceiver 210 or one or more other elements of the underwater vehicle 200, the probe assembly 300 and / or system 100 and may include, but not limited to, a command to recapture one or more images, storing the one or more images captured, and / or any other information which may be applicable to the imaging subsystem 220.

[0172] Although Figure 2 may illustrate one imaging subsystem 220, it is to be understood that the underwater vehicle 200 and / or the system 100 may include more or less than one imaging subsystem 220 without departing from the teachings of the present disclosure.

[0173] The sensor subsystem (e.g., sensor subsystem 230).

[0174] As illustrated in Figure 4, an example embodiment of the underwater vehicle 200 includes a sensor subsystem (e.g., sensor subsystem 230). The sensor subsystem 230 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, determining, generating or obtaining one or more measurements including one or more electromagnetic field gradient measurements, one or more depth measurements, one or more voltage measurements, and any other parameters required for the performance of the system 100. The sensor subsystem 230 may also communicate with and / or to receive, send or transmit information to thetransceiver (e.g., transceiver 210) and / or one or more other elements of the system 100. The sensor subsystem 230 may also be configurable or configured to communicate with and to receive, send or transmit information to one or more elements of the underwater vehicle 200, and / or one or more controllers (e.g., main controller 260).

[0175] In yet another example, the sensor subsystem 230 is further configurable or configured to measure, monitor, detect, generate, determine, estimate, quantify or otherwise an electromagnetic field gradient. The electromagnetic field gradient measurements may be obtained from one or more metallic contact portions 30 and / or from one or more surrounding areas of the metallic contact portions 30. The one or more metallic contact portions 30 are typically placed near the underwater structures 20. Alternatively or in addition, the metallic contact portions 30 may also be placed on the surface or at any other parts of the underwater structures 20 at various locations. For example, the underwater structures 20 are connected to a more reactive metal that will act as the metallic contact portion or the metallic contact portions (e.g., metallic contact portions 30) and the underwater structures 20 being the cathode. The metallic contact portions 30 are typically placed near the underwater structures 20 to be protected. Alternatively or in addition, the metallic contact portions 30 may also be placed or attached to the underwater structures 20 at various one or more locations by one or more conductors (not shown) and are connected to a power subsystem 250 that provides power in the system 100.

[0176] In yet another example embodiment, the sensor subsystem 230 may be configurable or configured to measure, monitor, detect, generate, determine, estimate, quantify or otherwise a depth measurement, the depth being a distance between the underwater vehicle 200 and / or the probe assembly 300 and the metallic contact portions 30. Alternatively or in addition, the depth measurement may also be a distance between the underwater vehicle 200 and / or the probe assembly 300 on the surface of the water and at a target location or point of interest to lower or when lowering the probe assembly 300. The depth or distance measurements may be determined using one or more algorithms and / or machine learning modules. Alternatively or in addition, the sensor subsystem 230 may also be configurable or configured to determine or generate a remaining depth or distance for the underwater vehicle 200 and / or the probe assembly 300 to reach the metallic contact portions 30. The depth or the distance between the underwater vehicle 200 and / or the probe assembly 300 and the metallic contact portions 30 may also be used to determine a power, force or energy required to drive the probe assembly 300. Alternatively or in addition, the force required may be determined or calculated based on the distance between the underwater vehicle 200and / or the probe assembly 300 at a the surface of the water, at a desired depth and / or at a stipulated depth with the metallic contact portions 30.

[0177] In an example embodiment, the sensor subsystem 230 is configurable or configured to measure, monitor, detect, generate, determine, estimate, quantify or otherwise measurements of voltages from the metallic contact portions 30. As described in the present disclosure, when the underwater vehicle 200 and / or the probe assembly 300 arrives at the target location(s), the probe assembly 300 is configurable or configured to be transported (e.g., lowered) to the underwater structures 20 and / or metallic contact portions 30. The rotatable part of the probe assembly 300 (e.g., rotatable shaft assembly 340, rotary drive assembly 350, and probe unit 360), which will be described further in the present disclosure, is configurable or configured to come into contact and embed into the surface (e.g., blocking layer) of the metallic contact portions 30. This is achieved by the rotatable part of the probe assembly 300 moving towards the surface (e.g., blocking layer) and stabbing (or penetrating) onto and into the surface (e.g., blocking layer) of the metallic contact portions as the probe assembly 300 is lowered and rotated. The movement coupled by the probe unit 360 of the probe assembly 300 (e.g., the lowering and the rotation of the rotatable part of the probe assembly 300) creates friction and breaks the surface (e.g., blocking layer) of the metallic contact portions 30. The probe assembly 300 is then configurable or configured to obtain one or more measurements or readings of the voltages from the metallic contact portions 30.

[0178] The sensor subsystem 230 may also be configurable or configured to perform the determination by comparing the current voltage measurements with one or more reference voltage measurements. One or more reference metallic contact portions may be placed at a distance, in the vicinity or away from the underwater structures 20 (e.g., a non-cathodic protection zone, a reference zone, etc.). The one or more reference metallic contact portions may serve and provide a reference measurement of a voltage in a cathodic protection system that is working effectively. The one or more measurements of the voltage of the reference metallic contact portions may be obtained first when the underwater vehicle 200 is deployed. Alternatively or in addition, a historic measurement of the voltage ( of the reference metallic contact portions may be used if still applicable at the time of monitoring or assessment. Alternatively or in addition, one or more historic measurements that were determined or obtained from either internal or external databases or resources for the same or similar metallic contact portions 30 may also be used when comparing. Alternatively or in addition, the determination may be performed by comparing the current measurements with one ormore known input or information that is provided to the one or processors (e.g., the sensor subsystem 230 and / or the main controller 260).

[0179] In yet another example, the sensor subsystem 230 is configurable or configured to obtain the generate, determine or obtain the one or more parameters described above (e.g., electromagnetic field gradient, depths, etc.) in real-time or near real-time. Alternatively or in addition, may be received in a periodic, intermittent, and / or sporadic manner (e.g., at various timings such as every 1 minute, every 2 minutes; at various depths such as at a depth of 500 m, at a depth of 1000 m; no fixed period or pattern; etc.). Alternatively or in addition, such information may be received upon the occurrence (and / or non-occurrence) of an event, sequence of events, action, sequence of actions, condition, sequence of conditions, receipt of certain information, receipt of a sequence of certain information, process, sequence of processes, etc. (e.g., movements and / or changes in positions, locations, orientations, trajectories, etc.).

[0180] In another example embodiment, the sensor subsystem 230 may also be configurable or configured to provide, send, transmit and / or make available the one or more measurements, determinations and / or calculations to the main controller 260 to determine the location of the metallic contact portions 30. For example, the sensor subsystem 230 is configurable or configured to provide, send, transmit and / or make available the one or more electromagnetic field gradient measurements and the one or more depth measurements to the main controller 260 for processing and analysis. Based on the information by the imaging subsystem 230, the main controller 260 is configurable or configured to determine a location for the one or more metallic contact portions 30.

[0181] In yet another example embodiment, the sensor subsystem 230 configurable or configured to provide, send, transmit and / or make available the one or more measurements, determinations and / or calculations to the main controller 260 to determine and / or assist in determining a current output, a voltage, a current density, the amount of cathodic protection, the level of cathodic protection, how the cathodic protection is applied to the underwater structure 20, how localized the corrosion is, etc.. The determination based on the current output may include or be an indication of the level or the rate of corrosion that is occurring to the underwater structures 20. The determination based on the current density may include or be an indication the distribution of the corrosion. Alternatively or in addition, the level or rate of corrosion may be also be determined based on the electromagnetic field gradient that is determined by the sensor subsystem 230. Further, the sensor subsystem 230 may also be configurable or configured to perform the determinations and / or calculations by usingone or more algorithms and / or machine learning modules. Alternatively or in addition, the sensor subsystem 240 may also be configurable or configured to generate or obtain such determinations and / or calculations an external source, database and / or assessment tools.

[0182] In an example embodiment, the sensor subsystem 230 may include one or more sensors. The sensor subsystem 230 may be connected to one or more sensors that are present in the probe assembly 300. The one or more sensors are configurable or configured to communicate, provide, send and / or make available the measurements, readings, data, information, or the like to the one or more elements of the system 100 including the navigation subsystem 240, as described in the present disclosure, and / or the main controller 260, as will be described in the present disclosure, via one or more network (not shown). In yet another example, the sensor subsystem 230 may include one or more sensors that are present or provided in the sensor subsystem 230. Examples of various sensors that may be used include, but not limited to, voltmeters, electromagnetic sensors, gaussmeter, multimeters, depth sensors, sonars, potential difference probe or sensors, potentiometers, or any other sensors which may be applicable. Alternatively or in addition, the sensor subsystem 230 may also include one or more sensors that are removably or fixedly attached to the underwater vehicle 200 or the probe assembly 300 when required.

[0183] Although Figure 2 may illustrate one sensor subsystem 230, it is to be understood that the underwater vehicle 200 and / or the system 100 may include more or less than one sensor subsystem 230 without departing from the teachings of the present disclosure.

[0184] The navigation subsystem (e.g., navigation subsystem 240).

[0185] As illustrated in Figure 4, an example embodiment of the underwater vehicle 200 includes a navigation subsystem (e.g., navigation subsystem 240). The navigation subsystem 240 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, communicating with, managing, and / or controlling movements (e.g., navigate, ascend, descend, rotate, change orientate, etc.) of the underwater vehicle 200. The navigation subsystem 240 may also be configurable or configured to communicate with and to receive, send or transmit information to one or more elements of the underwater vehicle 200, and / or one or more controllers (e.g., main controller 260).

[0186] In example embodiments, the navigation subsystem 240 is configurable or configured to receive information from one or more elements of the underwater vehicle 200 to search for, locate, determine, and / or generate a trajectory or path for the underwater vehicle 200. For example, the navigation subsystem 240 may be configurable or configuredto receive one or more information on the location (and / or position, direction, etc.) of the metallic contact portions 30 that are placed near the underwater structures 20 or on the underwater structures 20. Such information may be received from the main controller 260 that determines the location (and / or position, direction, etc.) of the metallic contact portions 30 based on real-time or near real-time information or measurements from the imaging subsystem (e.g., imaging subsystem 220) and the sensor subsystem (e.g., sensor subsystem 230). Once the location (and / or position, direction, etc.) of the metallic contact portions 30 has been determined, the navigation subsystem is configurable or configured to generate one or more, but not limited to, a direction for the underwater vehicle 200, orientation information of the underwater vehicle 200, pitch / roll / yaw information of the underwater vehicle 200, position of the underwater vehicle 200, underwater current conditions around the underwater vehicle 200, depth of the underwater vehicle, or the like when approaching the metallic contact portions 30. Alternatively or in addition, the navigation subsystem 240 may also receive such generated information from the main controller 260.

[0187] In yet another example embodiment, other commands and / or information received may include details on the trajectories, orientations, distances, positions, directions, destinations or points of interest, geolocations of the destination or point of interest, and / or any other information which may be applicable to the performance of the navigation subsystem 200. Alternatively or in addition, the navigation subsystem 240 may also be configured or configurable to receive, search for, and / or obtain historical information (e.g., historic positions, trajectories, relative information, orientation, acceleration / deceleration, orientation, pitch / roll / yaw information, underwater current conditions, depth information, etc.) and / or to navigate the underwater vehicle 200 towards the metallic contact portions 30 based on selected historical information. These one or more historical information may (or may not be) generated from previous underwater monitoring or inspections which may be similar based on locations conditions, parameters, etc. as the current mission. These historical information may be stored in and / or retrieved by the navigation subsystem 240 from the navigation subsystem 240 itself and / or from one or more information sources, databases, onboard memory storage, etc. (not shown). For example, the current monitoring or assessment of the cathodic protection system may be performed at a same location previously or on the same metallic contact portions 30, in which case historical information may indeed be useful.

[0188] The navigation subsystem 240 may retrieve the one or more historical information (including historic locations, historic trajectories, etc.) which were generated, received,obtained, and / or otherwise searched for previously instead of generating a new trajectory when approaching the metallic contact portions 30. With the received commands and / or information, the navigation subsystem 240 is configurable or configured to perform the following including, but not limited to, navigating the underwater vehicle 200 towards the metallic contact portions 30, positioning and / or repositioning the underwater vehicle 200 based on information pertaining to the metallic contact portions 30 in order to align with the metallic contact portions 30 before moving (e.g., raising or lowering) the probe assembly 300, navigating the underwater vehicle 200 and / or the probe assembly 300 towards the metallic contact portions 30 so as to commence the monitoring or measuring of electromagnetic field gradient, and any other commands and / or information which may be applicable.

[0189] The navigation subsystem 240 is also configurable or configured to receive commands and / or information that are dynamically generated by the underwater vehicle 200 and / or one or more other elements of the system 100 based on real-time or near real-time information obtained by one or more elements of the underwater vehicle 200 (e.g., the image capturing subsystem 220, the sensor subsystem 230) and / or by one or more elements of the probe assembly 300. Further, the navigation subsystem 240 may also receive, in real-time or in near real-time, one or more commands and / or information such as a command to reposition, a command to cease navigation or movements, a command to navigate along a different trajectory, a change in trajectories generated, a new trajectory that is generated, presence of one or more objects, items, structures, obstacles, and / or the like that are not detected in the initial images, and any other commands and / or information which may be applicable to the performance of the navigation subsystem 240.

[0190] Although Figure 2 may illustrate one navigation subsystem 240, it is to be understood that the underwater vehicle 200 and / or the system 100 may include more or less than one navigation subsystem 240 without departing from the teachings of the present disclosure.

[0191] The power subsystem (e.g., power subsystem 250).

[0192] As illustrated in Figure 4, an example embodiment of the underwater vehicle 200 includes a power subsystem (e.g., power subsystem 250). The power subsystem 250 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, providing power or energy for propulsion, navigation, or movements of the underwater vehicle 200, providing power,force or energy for the rotation, stabbing, or movements of the probe assembly 300, and the likes.

[0193] The power subsystem 250 is configurable or configured to communicate with one or more elements of the system 100. In an example embodiment, the power subsystem 250 is configurable or configured to communicate with one or more elements of the underwater vehicle 200 and / or one or more of elements of the probe assembly 300.

[0194] In an example embodiment, the power subsystem 250 is configurable or configured to receive one or more signals, information, commands or notifications from the probe assembly 300. Such signals, information, commands or notifications may include the probe assembly 300 has arrived at the location of the one or more metallic contact portions 30 and / or a target location or point of interest to lower or when lowering the probe assembly 300, to power (or rotate) the rotatable part of the probe assembly 300 (e.g., rotatable shaft assembly 340, rotary drive assembly 350, and probe unit 360) in order to come into contact and embed into the surface of the metallic contact portions 30, that the probe assembly 300 is running low on power / battery level if the probe assembly 300 is powered by wireless power source or battery source, etc.

[0195] Examples of the power subsystem 250 that may be used include, but not limited to, battery charging subsystem, fuel cell subsystem, solar power subsystem, wave power converters, electric generator, and / or any other power subsystem which may be applicable. Although Figure 2 may illustrate one power subsystem 250, it is to be understood that the underwater vehicle 200 and / or the system 100 may include more or less than one power subsystem 250 without departing from the teachings of the present disclosure.

[0196] The main controller (e.g., main controller 260).

[0197] As illustrated in Figure 4, an example embodiment of the underwater vehicle 200 includes a main controller (e.g., main controller 260). The main controller 260 is configurable or configured to perform one or more of a plurality of functions, operations, actions, methods, and / or processes, including, but not limited to, communicating with, managing, and / or controlling movements (e.g., navigate, ascend, descend, rotate, change orientate, etc.) of the underwater vehicle (e.g., underwater vehicle 200) and the one or more elements of the underwater vehicle 200. The main controller 260 is also configurable or configured to perform one or more of a plurality of functions, including, but not limited to, communicating with, managing, and / or controlling the movements of (e.g., lowering, raising, rotating, stabbing, etc.) the probe assembly (e.g., probe assembly 300). The maincontroller 260 is also configurable or configured to receive one or more commands or signals from the system 100, the underwater vehicle 200, and / or the probe assembly 300.

[0198] In an example embodiment, the main controller 260 is configurable or configured to manage, receive, process and / or otherwise one or more commands and / or information from the underwater vehicle 200, the probe assembly 300 and / or its one or more elements. The commands and / or information may be one or more real-time commands and / or information determined or received from one or more elements of the underwater vehicle 200. Such commands and / or information may include one or more images of the one or more metallic contact portions 30 and the underwater structures 20. The one or more commands and / or information communicated by and / or to the underwater vehicle 200 may also be one or more information (or determinations) on the location of the metallic contact portions 30 placed near or placed on the underwater structures 20 based on real-time information received (e.g., electromagnetic field gradient measurements, images, etc.).

[0199] For example, the underwater vehicle 200 and / or the imaging subsystem (e.g., imaging subsystem 220) is configurable or configured to process, analyze, provide, send, transmit and / or make available one or more images of the underwater structures 20 and / or the metallic contact portions 30 to the main controller 260. The main controller 260 is configurable or configured to receive one or more images of one or more surrounding areas (or regions, directions, etc.) of the underwater structures 20 and / or the surrounding areas (or regions, directions, etc.) of the metallic contact portions 30. Based on the information received, the main controller 260 may (or receive a command to) determine and / or assist in determining a location (and / or position, direction, etc.) of the metallic contact portions 30. The main controller 260 may also be configurable or configured to generate one or more trajectories for the underwater vehicle 200 and / or navigation subsystem (e.g., navigation subsystem 230) based on the determined locations (and / or position, direction, etc.) of the metallic contact portions 30.

[0200] In an example embodiment, the main controller 260 is configurable or configured to manage, receive, process and / or otherwise one or more commands and / or information from the probe assembly 300 and its one or more elements. For example, the main controller 260 may receive information, in real-time or almost real-time, including one or more electromagnetic field gradient measurements from the underwater structures 20 (or area surrounding the underwater structures 20), one or more electromagnetic field gradient measurements from the metallic contact portions 30 (or area surrounding the metallic contact portions 30) and / or both.

[0201] The main controller 260 is also configurable or configured to manage, receive, process and / or otherwise one or more one or more information (or determination) on the depth of the metallic contact portions 30 and / or the underwater structure 20 based on real- time information received (e.g., electromagnetic field gradient measurements, images, etc.). Based on the one or more information received (e.g., the electromagnetic field gradient measurements and the depth measurements), the main controller 260 may (or receive a command to) determine and / or assist in determining a location (and / or position, direction, etc.) of the metallic contact portions 30. The main controller 260 may also be configurable or configured to generate one or more trajectories for the underwater vehicle 200 and / or navigation subsystem 230 based on the determined locations (and / or position, direction, etc.) of the metallic contact portions 30. Upon determining the location of the metallic contact portions 30, the main controller 260 may generate a command to the underwater vehicle 200 to navigate, maneuver, ascend, descend, rotate, change orientation, and / or otherwise transport itself to the determined location in one or more generated trajectory and / or path.

[0202] In an example embodiment, the main controller 260 may also generate one or more commands to the probe assembly 300 or one or more of the elements in the probe assembly 300. For example, the main controller 260 may generate a command for the probe assembly 300 to be lowered to the metallic contact portions 30 upon arriving at the determined location of the metallic contact portions 30 and / or target location(s). The one or more command may be provided to the power subsystem 250 or any other force providing means (not shown) on the underwater vehicle 200 and / or the probe assembly 300. As described in the present disclosure, the power subsystem 250 is configurable or configured to provide power, force or energy to drive the probe assembly 300 and / or to perform a variety of tasks. The command, by the main controller 260, includes moving the probe assembly 300 downwards (e.g., lowering) to the metallic contact portions 30 based on the determined location(s).

[0203] In yet another embodiment, the main controller 260 may be configurable of configured to manage, receive, process, send, generate and / or otherwise one or more information to or from the power subsystem 250 with regards to the power, force or energy required by the underwater vehicle 200 and / or the probe assembly 300 to perform their tasks. Such information may include to power or rotate the rotatable part of the probe assembly 300 (e.g., rotatable shaft assembly 350, rotary drive assembly 360, and probe unit 370) in order to come into contact and embed into the metallic contact portions of the underwater structure 20 and / or the surface (e.g., blocking layer) of the metallic contact portions 30. The main controller 260 is also configurable or configured to manage, receive, process, send,generate and / or otherwise one or more commands to move the one or more elements of the probe assembly 300 cooperatively. For example, the main controller 260 may be configurable or configured to receive power, force or energy to drive the probe assembly 30. When a force (power or energy) is applied or provided to move the probe unit 370 and the main body 320 towards each other, the probe unit 370 is driven to rotate relative to the first central axis 310 by the rotary drive assembly 350 and the rotary driven assembly 354. Alternatively or in addition, the main controller 260 may also be configurable or configured to manage, receive, process, send, generate and / or otherwise one or more one or more information that the probe assembly 300 is running low on power / battery level if the probe assembly 300 is powered by wireless power source or battery source, etc. The main controller 20 is configurable or configured to send, generate and / or otherwise one or more information to the power subsystem 250 to recharge the probe assembly 300.

[0204] In another example, the main controller 260 may also receive information including one or more voltage measurements from the metallic contact portions 30. The one or more voltage measurements may be received from the sensor subsystem (e.g., sensor subsystem 230) which includes one or more sensors. Alternatively or in addition, the main controller 260 may also receive one or more voltage measurements directly from the one or more sensors that are present in the probe assembly 300. The one or more sensors are configurable or configured to communicate, provide, send and / or make available the measurements, readings, data, information, or the like to the main controller 260 via one or more network (not shown). With the voltage measurements, the main controller 260 is configurable or configured to perform a determination or an assessment of the system by comparing the current voltage ) measurements with one or more reference voltage measurements.

[0205] In yet another example embodiment, the main controller 260 may also be configurable or configured to determine and / or assist in determining a current output, a current density, the amount of cathodic protection, the level of cathodic protection, how the cathodic protection is applied to the underwater structure 20, how localized the corrosion is, etc.. The determination based on the current output may include or be an indication of the level or the rate of corrosion that is occurring to the underwater structures 20. The determination based on the current density may include or be an indication the distribution of the corrosion. Alternatively or in addition, the level or rate of corrosion may be also be determined based on the electromagnetic field gradient that is determined by the sensor subsystem 230. These determinations may be determined or calculated based on the or more readings of voltage measurements, one or more readings of electromagnetic field gradientmeasurements, a combination thereof or the like. Further, the main controller 260 may also be configurable or configured to perform these determinations and / or calculations by using one or more algorithms and / or machine learning modules. Alternatively or in addition, the main controller 260 may also be configurable or configured to perform these determinations and / or calculations using an external source, database and / or assessment tools.

[0206] Although Figure 2 may illustrate one main controller 260, it is to be understood that the underwater vehicle 200 and / or the system 100 may include more or less than one main controller 260 without departing from the teachings of the present disclosure.

[0207] While various embodiments in accordance with the disclosed principles have been described above, it should be understood that they have been presented by way of example only and are not limiting. Thus, the breadth and scope of the example embodiments described in the present disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the claims and their equivalents issuing from this disclosure. Furthermore, the above advantages and features are provided in described embodiments, but shall not limit the application of such issued claims to processes and structures accomplishing any or all of the above advantages.

[0208] Also, as referred to herein, a processor, device, computing device, server, generator, subsystem, and / or controller, may be any processor, computing device, and / or communication device, and may include a virtual machine, computer, node, instance, host, or machine in a networked computing environment. Also as referred to herein, a network or cloud may be or include a collection of machines connected by communication channels that facilitate communications between machines and allow for machines to share resources. Network may also refer to a communication medium between processes on the same machine. Also as referred to herein, a network element, node, or server may be a machine deployed to execute a program operating as a socket listener and may include software instances.

[0209] Various terms used herein have special meanings within the present technical field. Whether a particular term should be construed as such a "term of art" depends on the context in which that term is used. Such terms are to be construed in light of the context in which they are used in the present disclosure and as one of ordinary skill in the art would understand those terms in the disclosed context. The above definitions are not exclusive of other meanings that might be imparted to those terms based on the disclosed context.

[0210] Additionally, the section headings and topic headings herein are provided for consistency with the suggestions under various patent regulations and practice, or otherwiseto provide organizational cues. These headings shall not limit or characterize the embodiments set out in any claims that may issue from this disclosure. For example, a description of a technology, or the like, in the "Background" shall not be construed as an admission that such technology is prior art to any example embodiments in this disclosure. Furthermore, any reference in this disclosure to an "invention" in the singular should not be used to argue that there is only a single point of novelty in this disclosure. Multiple inventions may be set forth according to the limitations of the claims issuing from this disclosure, and such claims accordingly define the invention(s), and their equivalents, that are protected thereby. In all instances, the scope of such claims shall be considered on their own merits in light of this disclosure, but should not be constrained by the headings herein.

Claims

Claims What is claimed is:

1. A system for performing an inspection, the system comprising: a probe assembly, the probe assembly having a first central axis and including: a main body, the main body including: proximal and distal ends; and a cylindrical interior channel formed by an interior surface of the main body, the cylindrical interior channel having a central axis that is coaxial to the first central axis; a main base member, the main base member including proximal and distal ends, wherein at least a portion of the distal end of the main base member is secured to the proximal end of the main body; a rotatable shaft assembly, the rotatable shaft assembly including: a rotatable shaft assembly body formed as an elongated cylindrical body with a central axis that is coaxial to the first central axis, the rotatable shaft assembly body secured at a distal end to a probe unit in such a way that, when the rotatable shaft assembly body is rotated relative to the first central axis, the rotatable shaft assembly body drives the probe unit to correspondingly rotate relative to the first central axis; and a rotary driven assembly, the rotary driven assembly including a helical-shaped channel formed on an exterior surface of the rotatable shaft assembly body, the helical-shaped channel having a central axis that is coaxial to the first central axis, wherein at least a portion of the helical-shaped channel is housed in the cylindrical interior channel of the main body; a spring assembly, the spring assembly provided between the main base member and the rotatable shaft assembly; a rotary drive assembly, the rotary drive assembly including a drive member that protrudes inwardly towards the first central axis and into the helical-shaped channel; wherein, when the drive member is driven to move in a direction that is parallel to the first central axis, the drive member is configured to drive the helical-shaped channel so as to cause the rotatable shaft assembly body to rotate relative to the first central axis; and the probe unit, the probe unit configured to perform a voltage measurement.

2. The system of claim 1,wherein, when a force is applied in such a way as to move the probe unit and the main body towards each other: the probe unit is driven by the cooperation of the rotary drive assembly and rotary driven assembly to rotate relative to the first central axis.

3. The system of claim 1, wherein the rotary drive assembly is fixedly secured to at least a portion of the cylindrical interior channel of the main body in such a way that the drive member of the rotary drive assembly remains fixed in position relative to the cylindrical interior channel of the main body.

4. The system of claim 1, wherein the helical-shaped channel includes start and end sections, wherein a distance between the end section and the probe unit is less than a distance between the start section and the probe unit; wherein, when a force is applied to move the probe unit and the main body towards each other, the drive member is driven, by the force, to move towards the end section of the helical-shaped channel and correspondingly drive the rotatable shaft assembly body to rotate relative to the first central axis; wherein, when the force is no longer applied to move the probe unit and the main body towards each other, the drive member is driven, by the spring assembly to move towards the start section of the helical-shaped channel.

5. The system of claim 1, wherein the probe unit is configured to perform the voltage measurement when placed in contact with a metallic contact portion of an underwater structure; wherein the probe unit includes one or more probe tips; wherein, when one or more blocking layers have accumulated on the metallic contact portion of the underwater structure, the one or more probe tips are configured to penetrate the one or more blocking layers accumulated on the metallic contact portion of the underwater structure when the one or more probe tips are placed in contact with the one or more blocking layers and driven to rotate relative to the first central axis; wherein, when the one or more probe tips have penetrated the one or more blocking layers so as to reach the metallic contact portion of the underwater structure, the one or more probe tips are configured to perform the voltage measurement.

6. The system of claim 5,wherein the one or more blocking layers accumulated on the metallic contact portion of the underwater structure includes at least one the following: marine growth, calcium carbonate, and / or metal chloride.

7. The system of claim 1, wherein the main base member further includes a main base shaft, the main base shaft being an elongated member housed within the main base member, the main base shaft secured at a distal end to the proximal end of the spring assembly; wherein the main base member includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

8. The system of claim 1, wherein the rotatable shaft assembly further includes a second rotary driven assembly, the second rotary driven assembly including a second helical-shaped channel formed into the exterior surface of the rotatable shaft assembly body, the second helical- shaped channel having a central axis that is coaxial to the first central axis, wherein the helical-shaped channel and the second helical-shaped channel are formed parallel to one another, wherein at least a portion of the second helical-shaped channel is housed in the cylindrical interior channel of the main body.

9. The system of claim 8, 10. wherein the rotary drive assembly includes a second drive member that protrudes inwardly into the second helical-shaped channel, the rotary drive assembly configured to rotate the rotatable shaft assembly body relative to the first central axis when the second drive member is displaced along the second helical-shaped channel. The system of claim 8, further comprising a second rotary drive assembly, the second rotary drive assembly including a second drive member that protrudes inwardly into the second helical-shaped channel, the second rotary drive assembly configured to rotate the rotatable shaft assembly body relative to the first central axis when the second drive member is displaced along the second helical-shaped channel.

11. The system of claim 1, further comprising a second rotary drive assembly, the second rotary drive assembly including a second drive member that protrudes inwardly into the helical-shaped channel, the second rotary drive assembly configured to rotate the rotatable shaft assembly body relative to the first central axis when the second drive member is displaced along the helical- shaped channel.

12. The system of claim 1, wherein the spring assembly includes a spring coil; and wherein at least one of the following apply: a proximal end of the spring coil is secured to the distal end of the main base member; the spring assembly further includes a spring assembly shaft, wherein the spring coil surrounds the spring assembly shaft, wherein the proximal end of the spring coil is secured to a proximal end of the spring assembly shaft; a distal end of the spring coil is secured to at least a portion of the rotatable shaft assembly; the spring assembly further includes a spring assembly shaft, wherein the spring coil surrounds the spring assembly shaft, wherein the distal end of the spring coil is secured to a distal end of the spring assembly shaft; and the spring assembly includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

13. The system of claim 1, wherein at least one of the following apply: the main body houses at least a portion of the spring assembly; and the distal end of the main body includes an opening for at least a portion of the rotatable shaft assembly body to protrude from the main body.

14. The system of claim 1, wherein the rotatable shaft assembly further includes an inner shaft, the inner shaft being an elongated member housed within the rotatable shaft assembly body, the inner shaft secured at one end to a distal end of the spring assembly.

15. The system of claim 14, wherein at least one of the following apply: the inner shaft is not driven to rotate when the rotatable shaft assembly body is driven to rotate; the rotatable shaft assembly body is rotatable relative to the inner shaft; and the inner shaft includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

16. The system of claim 1, wherein the main body includes an opening at the distal end of the main body, the opening configured to allow at least a portion of the rotatable shaft assembly body to protrude from the main body;wherein, when a force is applied in such a way that the probe unit contacts with the one or more blocking layers accumulated on the metallic contact portion of the underwater structure: the force will direct the distal end of the main body towards the probe unit; the drive member of the rotary drive assembly will be displaced along the helical-shaped channel of the rotary driven assembly; and the rotatable shaft assembly body will be driven to rotate relative to the first central axis as a result of the drive member of the rotary drive assembly being displaced along the helical-shaped channel.

17. The system of claim 1, wherein at least one of the following apply: the proximal end of the main base member is securable to an underwater vehicle; the proximal end of the main base member is for use as a handle by an operator of the probe assembly; the helical-shaped channel of the rotary driven assembly may be formed as a channel, indentation, groove, cavity, protrusion, and / or pattern in the exterior surface of the elongated cylindrical body of the rotatable shaft assembly body.

18. A system for performing an inspection, the system comprising: a probe assembly, the probe assembly having a first central axis and including: a main body, the main body including: proximal and distal ends; a cylindrical interior channel formed by an interior surface of the main body, the cylindrical interior channel having a central axis that is coaxial to the first central axis; and a rotary drive assembly, the rotary drive assembly including a helical- shaped channel formed on the interior surface of the main body that forms the cylindrical interior channel, the helical-shaped channel having a central axis that is coaxial to the first central axis; a main base member, the main base member including proximal and distal ends, wherein at least a portion of the distal end of the main base member is secured to the proximal end of the main body; a rotatable shaft assembly, the rotatable shaft assembly including: a rotatable shaft assembly body formed as an elongated cylindrical body with a central axis that is coaxial to the first central axis, the rotatable shaft assembly body secured at a distal end to a probe unit in such a way that, when the rotatable shaftassembly body is rotated relative to the first central axis, the rotatable shaft assembly body drives the probe unit to correspondingly rotate relative to the first central axis; and a rotary driven assembly, the rotary driven assembly secured to the elongated cylindrical body of the rotatable shaft assembly body, the rotary driven assembly including a driven member that protrudes outwardly away from the first central axis and into the helical-shaped channel; wherein the rotary driven assembly is configured to rotate the rotatable shaft assembly body relative to the first central axis by displacing the driven member of the rotary driven assembly along the helical-shaped channel; a spring assembly, the spring assembly provided between the main base member and the rotatable shaft assembly; and the probe unit, the probe unit configured to perform a voltage measurement.

19. The system of claim 18, wherein, when a force is applied in such a way as to move the probe unit and the main body towards each other: the probe unit is driven by the cooperation of the rotary drive assembly and rotary driven assembly to rotate relative to the first central axis.

20. The system of claim 18, wherein the rotary drive assembly is fixedly secured to at least a portion of the cylindrical interior channel of the main body in such a way that the helical-shaped channel of the rotary drive assembly remains fixed in position relative to the cylindrical interior channel of the main body.

21. The system of claim 18, wherein the helical-shaped channel includes start and end sections, wherein a distance between the end section and the probe unit is greater than a distance between the start section and the probe unit; wherein, when a force is applied to move the probe unit and the main body towards each other, the drive member is driven, by the force, to move towards the end section of the helical-shaped channel and correspondingly drive the rotatable shaft assembly body to rotate relative to the first central axis; wherein, when the force is no longer applied to move the probe unit and the main body towards each other, the driven member is driven, by the spring assembly to move towards the start section of the helical-shaped channel.

22. The system of claim 18,wherein the probe unit is configured to perform the voltage measurement when placed in contact with a metallic contact portion of an underwater structure; wherein the probe unit includes one or more probe tips; wherein, when one or more blocking layers have accumulated on the metallic contact portion of the underwater structure, the one or more probe tips are configured to penetrate the one or more blocking layers accumulated on the metallic contact portion of the underwater structure when the one or more probe tips are placed in contact with the one or more blocking layers and driven to rotate relative to the first central axis; wherein, when the one or more probe tips have penetrated the one or more blocking layers so as to reach the metallic contact portion of the underwater structure, the one or more probe tips are configured to perform the voltage measurement.

23. The system of claim 22, wherein the one or more blocking layers accumulated on the metallic contact portion of the underwater structure includes at least one of the following: marine growth, calcium carbonate, and / or metal chloride.

24. The system of claim 18, wherein the main base member further includes a main base shaft, the main base shaft being an elongated member housed within the main base member, the main base shaft secured at a distal end to the proximal end of the spring assembly; wherein the main base shaft includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

25. The system of claim 18, wherein the spring assembly includes a spring coil; and wherein at least one of the following apply: a proximal end of the spring coil is secured to the distal end of the main base member; the spring assembly further includes a spring assembly shaft, wherein the spring coil surrounds the spring assembly shaft, wherein the proximal end of the spring coil is secured to a proximal end of the spring assembly shaft; a distal end of the spring coil is secured to at least a portion of the rotatable shaft assembly; the spring assembly further includes a spring assembly shaft, wherein the spring coil surrounds the spring assembly shaft, wherein the distal end of the spring coil is secured to a distal end of the spring assembly shaft; andthe spring assembly includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

26. The system of claim 18, wherein at least one of the following apply: the main body houses at least a portion of the spring assembly; and the distal end of the main body includes an opening for at least a portion of the rotatable shaft assembly body to protrude from the main body.

27. The system of claim 18, wherein the rotatable shaft assembly further includes an inner shaft, the inner shaft being an elongated member housed within the rotatable shaft assembly body, the inner shaft secured at one end to a distal end of the spring assembly.

28. The system of claim 27, wherein at least one of the following apply: the inner shaft is not driven to rotate when the rotatable shaft assembly body is driven to rotate; the rotatable shaft assembly body is rotatable relative to the inner shaft; and the inner shaft includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

29. The system of claim 18, wherein the main body includes an opening at the distal end of the main body, the opening configured to allow at least a portion of the rotatable shaft assembly body to protrude from the main body; wherein, when a force is applied in such a way that the probe unit contacts with the one or more blocking layers accumulated on the metallic contact portion of the underwater structure: the force will direct the distal end of the main body towards the probe unit; the driven member of the rotary driven assembly will be displaced along the helical-shaped channel of the rotary drive assembly; and the rotatable shaft assembly body will be driven to rotate relative to the first central axis as a result of the driven member of the rotary driven assembly being displaced along the helical-shaped channel.

30. The system of claim 18, wherein at least one of the following apply: the proximal end of the main base member is securable to an underwater vehicle; the proximal end of the main base member is for use as a handle by an operator of the probe assembly;the helical-shaped channel of the rotary drive assembly may be formed as a channel, indentation, groove, cavity, protrusion, and / or pattern in the interior surface of the main body.

31. A system for performing an inspection, the system comprising: a probe assembly, the probe assembly having a first central axis and including: a main body, the main body including: proximal and distal ends; and an interior channel formed by an interior surface of the main body; a rotatable shaft assembly, the rotatable shaft assembly including: a rotatable shaft assembly body, the rotatable shaft assembly body secured at a distal end to a probe unit; and a rotary driven assembly, the rotary driven assembly including a driven channel formed around an exterior surface of the rotatable shaft assembly body; a rotary drive assembly, the rotary drive assembly including a drive member that protrudes inwardly towards the first central axis and into the driven channel; wherein, when the drive member is driven to move relative to the rotatable shaft assembly, the drive member is configured to drive the driven channel so as to cause the probe unit to rotate relative to the first central axis; and the probe unit, the probe unit configured to perform a contact measurement.

32. The system of claim 31, wherein, when a force is applied in such a way as to move the probe unit and the main body towards each other: the probe unit is driven by the cooperation of the rotary drive assembly and rotary driven assembly to rotate relative to the first central axis.

33. The system of claim 31, wherein the rotary drive assembly is fixedly secured to at least a portion of the interior channel of the main body in such a way that the drive member of the rotary drive assembly remains fixed in position relative to the interior channel of the main body.

34. The system of claim 31, wherein the driven channel includes start and end sections, wherein a distance between the end section and the probe unit is less than a distance between the start section and the probe unit; wherein, when a force is applied to move the probe unit and the main body towards each other, the drive member is driven, by the force, to move towards the end section of thedriven channel and correspondingly drive the rotatable shaft assembly body to rotate relative to the first central axis.

35. The system of claim 31, wherein the probe unit is configured to perform a voltage measurement when placed in contact with a metallic contact portion of an underwater structure; wherein the probe unit includes one or more probe tips; wherein, when one or more blocking layers have accumulated on the metallic contact portion of the underwater structure, the one or more probe tips are configured to penetrate the one or more blocking layers accumulated on the metallic contact portion of the underwater structure when the one or more probe tips are placed in contact with the one or more blocking layers and driven to rotate relative to the first central axis; wherein, when the one or more probe tips have penetrated the one or more blocking layers so as to reach the metallic contact portion of the underwater structure, the one or more probe tips are configured to perform the voltage measurement.

36. The system of claim 35, wherein the one or more blocking layers accumulated on the metallic contact portion of the underwater structure includes at least one of the following: marine growth, calcium carbonate, and / or metal chloride.

37. The system of claim 31, wherein the rotatable shaft assembly further includes a second rotary driven assembly, the second rotary driven assembly including a second driven channel formed around the exterior surface of the rotatable shaft assembly body, wherein the driven channel and the second driven channel are formed parallel to one another, wherein at least a portion of the second driven channel is housed in the interior channel of the main body.

38. The system of claim 37, Wherein the rotary drive assembly includes a second drive member that protrudes inwardly into the second driven channel, the rotary drive assembly configured to rotate the rotatable shaft assembly body relative to the first central axis when the second drive member is displaced along the second driven channel.

39. The system of claim 37, further comprising a second rotary drive assembly, the second rotary drive assembly including a second drive member that protrudes inwardly into the second driven channel, the second rotary drive assembly configured to rotate the rotatable shaft assembly bodyrelative to the first central axis when the second drive member is displaced along the second driven channel.

40. The system of claim 31, further comprising a second rotary drive assembly, the second rotary drive assembly including a second drive member that protrudes inwardly into the driven channel, the second rotary drive assembly configured to rotate the rotatable shaft assembly body relative to the first central axis when the second drive member is displaced along the driven channel.

41. The system of claim 31, wherein the distal end of the main body includes an opening for at least a portion of the rotatable shaft assembly body to protrude from the main body.

42. The system of claim 31, wherein the rotatable shaft assembly further includes an inner shaft, the inner shaft being an elongated member housed within the rotatable shaft assembly body, the inner shaft secured at one end to a distal end of the spring assembly.

43. The system of claim 42, wherein at least one of the following apply: the inner shaft is not driven to rotate when the rotatable shaft assembly body is driven to rotate; the rotatable shaft assembly body is rotatable relative to the inner shaft; and the inner shaft includes an internal channel to allow one or more cables to run between the probe unit and the main base member.

44. The system of claim 31, wherein the main body includes an opening at the distal end of the main body, the opening configured to allow at least a portion of the rotatable shaft assembly body to protrude from the main body; wherein, when a force is applied in such a way that the probe unit contacts with the one or more blocking layers accumulated on the metallic contact portion of the underwater structure: the force will direct the distal end of the main body towards the probe unit; the drive member of the rotary drive assembly will be displaced along the driven channel of the rotary driven assembly; and the rotatable shaft assembly body will be driven to rotate relative to the first central axis as a result of the drive member of the rotary drive assembly being displaced along the driven channel.

45. The system of claim 31, wherein at least one of the following apply:the probe assembly is securable to an underwater vehicle; the driven channel of the rotary driven assembly may be formed as a channel, indentation, groove, cavity, protrusion, and / or pattern in the exterior surface of the rotatable shaft assembly body.

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