Launch and recovery device

A method, apparatus, and computer program product for capturing a target object from a body of water. A first bulkhead may be proximate to a second bulkhead. An opening may be formed between at least a portion of the first and second bulkhead. The opening, via the first and second bulkhead, may be configured to align and receive at least a portion of the target object as a distance between the opening and at least the portion of the target object decreases, wherein the opening may be further configured to align and receive at least the portion of the target object while the target object is in the body of water.

BACKGROUND

Vessels (e.g., cargo vessels) may be used to transport goods, for example, ship-to-ship, ship-to-platform, platform-to-ship, land-to-land, ship-to-land, and/or land-to-ship via water route (e.g., cargo ships). Delivering the cargo vessels (e.g., from land to the ships) may be accomplished by, e.g., floating the cargo vessel to the ship and recovering the cargo vessel using, e.g., a “capture vessel”, “capture structure”, “capture object”, etc. Recovering such cargo vessels from, e.g., the surface or near surface of the water (e.g., ocean, lake, etc.) may prove onerous for multiple reasons. For example, the dynamic displacements between the capture vessel and the target vessel (e.g., the cargo vessel) may be unpredictable and elusive. For instance, to satisfactorily align, e.g., a crane, to the target vessel in the water may require the crane to respond (e.g., instantly) to the varying degrees of freedom (e.g., pitch, roll, heave, and yaw of both the crane and target vessel).

BRIEF SUMMARY OF DISCLOSURE

In one implementation, an apparatus configured to capture a target object from a body of water may comprise a first bulkhead proximate to a second bulkhead. An opening may be formed between at least a portion of the first and second bulkhead. The opening, via the first and second bulkhead, may be configured to align and receive at least a portion of the target object as a distance between the opening and at least the portion of the target object decreases, wherein the opening may be further configured to align and receive at least the portion of the target object while the target object is in the body of water.

One or more of the following features may be included. One or more stabilizing portions may be configured to stabilize the first and second bulkhead. The one or more stabilizing portions may include one or more ballasts. One or more portions may be configured to receive one or more cables operatively connected to a platform. The one or more ballasts may be configured to dynamically stabilize the first and second bulkhead. At least one entrance fender may be coupled to at least one of the first and second bulkhead. The at least one entrance fender may be configured to at least one of rotate, extend and retract. At least one of a motor, an engine, and a thruster may be configured to navigate the first and second bulkhead. A restraint may be configured to, after at least the portion of the target object is proximate to the restraint, prevent at least the portion of the target object from moving in one or more directions. At least a portion of at least one of the first and second bulkhead may be configured to extend and retract in at least one of a vertical and a horizontal direction.

In another implementation, an apparatus configured to capture a target object from a body of water may comprise a first bulkhead proximate to a second bulkhead. A first entrance fender may be coupled to the first bulkhead. A second entrance fender may be coupled to the second bulkhead. An opening may be formed between at least a portion of the first and second bulkhead and the first and second entrance fender. The opening, via the first and second bulkhead, may be configured to align and receive at least a portion of the target object as a distance between the opening and at least the portion of the target object decreases, wherein the opening may be further configured to align and receive at least the portion of the target object while the target object is in the body of water.

One or more of the following features may be included. One or more stabilizing portions may be configured to stabilize at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender. The one or more stabilizing portions may include one or more ballasts. One or more portions may be configured to receive one or more cables operatively connected to a platform. The one or more ballasts may be configured to dynamically stabilize at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender. The one or more ballasts may include a cylinder with one or more slots. At least one of the first and second entrance fender may be configured to at least one of rotate, extend and retract. At least one of a motor, an engine, and a thruster may be configured to navigate at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender. A restraint may be configured to, after at least the portion of the target object is proximate to the restraint, prevent at least the portion of the target object from moving in one or more directions. At least a portion of at least one of the first and second bulkhead may be configured to extend and retract in at least one of a vertical and a horizontal direction.

In another implementation, a method for capturing a target object from a body of water may comprise aligning an opening, formed between at least a portion of a first and second bulkhead coupled to a capture object, with at least a portion of the target object. At least the portion of the target object may be received at the opening as a distance between the opening and at least the portion of the target object decreases, wherein the opening, via the first and second bulkhead, may be aligned and receives at least the portion of the target object while the target object is in the body of water.

One or more of the following features may be included. Aligning the opening may include stabilizing at least one of the first and second bulkhead using one or more ballasts. At least one of the first and second bulkhead may be dynamically stabilized via, at least in part, the one or more ballasts. Aligning the opening may include at least one of rotating, extending and retracting at least one of the first and second bulkhead. Aligning the opening may include navigating at least one of the first and second bulkhead via at least one of a motor, an engine, and a thruster. At least the portion of the target object may be prevented from moving in one or more directions via a restraint after at least the portion of the target object is proximate to the restraint. Aligning the opening may include aligning at least one entrance fender coupled to at least one of the first and second bulkhead via at least one of a motor, an engine, and a thruster.

DETAILED DESCRIPTION

As will be appreciated by one skilled in the art, the present disclosure (and/or aspects thereof) may be embodied as a method, system (e.g., apparatus), or computer program product. Accordingly, the present disclosure (and/or aspects thereof) may take the form of an entirely hardware implementation, an entirely software implementation (including firmware, resident software, micro-code, etc.) or an implementation combining software and hardware aspects that may all generally be referred to herein as a “circuit,” “module” or “system.” Furthermore, the present disclosure (and/or aspects thereof) may take the form of a computer program product on a computer-usable storage medium having computer-usable program code embodied in the medium.

Any suitable computer usable or computer readable medium may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-usable, or computer-readable, storage medium (including a storage device associated with a computing device or client electronic device) may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable medium may include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a media such as those supporting the internet or an intranet, or a magnetic storage device. Note that the computer-usable or computer-readable medium could even be a suitable medium upon which the program is stored, scanned, compiled, interpreted, or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory. In the context of this document, a computer-usable or computer-readable, storage medium may be any tangible medium that can contain or store a program for use by or in connection with the instruction execution system, apparatus, or device.

The block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus (systems), methods and computer program products according to various implementations of the present disclosure. It will be understood that each block in the block diagrams, and combinations of blocks in the block diagrams, may represent a module, segment, or portion of code, which comprises one or more executable computer program instructions for implementing the specified logical/physical function(s)/act(s). These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program instructions, which may execute via the processor of the computer or other programmable data processing apparatus, create the ability to implement one or more of the functions/acts specified in the block diagram block. It should be noted that, in some alternative implementations, the functions noted in the block(s) may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed (not necessarily in a particular order) on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions/acts (not necessarily in a particular order) specified in the flowchart and/or block diagram block or blocks or combinations thereof.

For example, and referring at least toFIG. 1A, there is shown a retrieval process10that may reside on and may be executed by a computer (e.g., computer12), which may be connected to a network (e.g., network14) (e.g., the internet or a local area network). Examples of computer12may include, but are not limited to, a personal computer(s), a laptop computer(s), mobile computing device(s), a server computer, a series of server computers, a mainframe computer(s), or a computing cloud(s). Computer12may execute an operating system, for example, but not limited to, Microsoft® Windows®; Mac® OS X®; Red Hat® Linux®, or a custom operating system. (Microsoft and Windows are registered trademarks of Microsoft Corporation in the United States, other countries or both; Mac and OSXregistered trademarks of Apple Inc. in the United States, other countries or both; Red Hat is a registered trademark of Red Hat Corporation in the United States, other countries or both; and Linux is a registered trademark of Linus Torvalds in the United States, other countries or both).

As will be discussed below in greater detail, retrieval process10may be used at least in part, to align a first gap portion formed between at least a portion of a first and second rail coupled to a capture object (e.g., apparatus100a) with at least a portion of the target object. At least the portion of the target object may be received at the first gap portion as a distance between the first gap portion and at least the portion of the target object decreases. A second gap portion formed between at least the portion of the first and second rail may be aligned with at least the portion of the target object. At least the portion of the target object may be received at the second gap portion as a distance between the second gap portion and at least the portion of the target object decreases.

As will also be discussed below in greater detail, retrieval process10may be used at least in part to align an opening, formed between at least a portion of a first and second bulkhead coupled to a capture object (e.g., apparatus100b), with at least a portion of the target object. At least the portion of the target object may be received at the opening as a distance between the opening and at least the portion of the target object decreases, wherein the opening, via the first and second bulkhead, may be aligned and receives at least the portion of the target object while the target object is in the body of water.

The instruction sets and subroutines of retrieval process10, which may be stored on storage device16coupled to computer12, may be executed by one or more processors (not shown) and one or more memory architectures (not shown) included within computer12. Storage device16may include but is not limited to: a hard disk drive; a flash drive, a tape drive; an optical drive; a RAID array; a random access memory (RAM); and a read-only memory (ROM).

Computer12may execute a controller application (e.g., controller application20), examples of which may include, but are not limited to, e.g., any application that allows for the physical movement of an object or portions of the object (e.g., via motor, engine, thruster, actuator, etc.) remotely (e.g., wireless connection between the object and controller application) or otherwise (e.g., a physical connection between the object and controller application). Retrieval process10and/or controller application20may be accessed via client applications22,24,26,28. Retrieval process10may be a stand alone application, or may be an applet/application/script that may interact with and/or be executed within controller application20. Examples of client applications22,24,26,28may include, but are not limited to, e.g., any application that allows for the physical movement of an object or portions of the object (e.g., via motor, engine, thruster, actuator, etc.) remotely (e.g., wireless connection between the object and controller application) or otherwise (e.g., a physical connection between the object and controller application), a standard and/or mobile web browser, a textual and/or a graphical user interface, a customized web browser, a plugin, or a custom application. The instruction sets and subroutines of client applications22,24,26,28, which may be stored on storage devices30,32,34,36coupled to client electronic devices38,40,42,44, may be executed by one or more processors (not shown) and one or more memory architectures (not shown) incorporated into client electronic devices38,40,42,44. Apparatus100a/bmay include, e.g., client electronic device42, to interact with retrieval process10and/or controller application20to facilitate the above-noted physical movement of the object (e.g., apparatus100a/b) and/or portions of the object (e.g., rails, bulkheads, fenders, ballasts, etc.) as will be discussed in greater detail below. As an example, a user may, e.g., via computer12, retrieval process10, controller application20or combination thereof, send instructions to client application26that may cause a motor and/or rudder coupled to apparatus100a/bto activate, thereby moving apparatus100a/b(e.g., similar to that of a boat).

Storage devices30,32,34,36may include but are not limited to: hard disk drives; flash drives, tape drives; optical drives; RAID arrays; random access memories (RAM); and read-only memories (ROM). Examples of client electronic devices38,40,42,44may include, but are not limited to, a personal computer (e.g., client electronic device38), a laptop computer (e.g., client electronic device40), a smart phone (e.g., client electronic device42), a notebook computer (e.g., client electronic device44), a tablet (not shown), a server (not shown), a data-enabled, cellular telephone (not shown), a television (not shown), a smart television (not shown), a media (e.g., video, photo, etc.) capturing device (not shown), and a dedicated network device (not shown). Client electronic devices38,40,42,44may each execute an operating system, examples of which may include but are not limited to, Android™, Apple® iOS®, Mac® OS X®; Red Hat® Linux®, or a custom operating system.

One or more of client applications22,24,26,28may be configured to effectuate some or all of the functionality of retrieval process10(and vice versa). Accordingly, retrieval process10may be a purely server-side application, a purely client-side application, or a hybrid server-side/client-side application that is cooperatively executed by one or more of client applications22,24,26,28and retrieval process10.

One or more of client applications22,24,26,28may be configured to effectuate some or all of the functionality of controller application20(and vice versa). Accordingly, controller application20may be a purely server-side application, a purely client-side application, or a hybrid server-side/client-side application that is cooperatively executed by one or more of client applications22,24,26,28and controller application20.

Users46,48,50,52may access computer12and retrieval process10directly through network14or through secondary network18. Further, computer12may be connected to network14through secondary network18, as illustrated with phantom link line54. Retrieval process10may include one or more user interfaces, such as browsers and textual or graphical user interfaces, through which users46,48,50,52may access retrieval process10.

The various client electronic devices may be directly or indirectly coupled to network14(or network18). For example, client electronic device38is shown directly coupled to network14via a hardwired network connection. Further, client electronic device44is shown directly coupled to network18via a hardwired network connection. Client electronic device40is shown wirelessly coupled to network14via wireless communication channel56established between client electronic device40and wireless access point (i.e., WAP)58, which is shown directly coupled to network14. WAP58may be, for example, an IEEE 802.11a, 802.11b, 802.11g, Wi-Fi, and/or Bluetooth™ device that is capable of establishing wireless communication channel56between client electronic device40and WAP58. Client electronic device42is shown wirelessly coupled to network14via wireless communication channel60established between client electronic device42and cellular network/bridge62, which is shown directly coupled to network14.

Referring also toFIG. 2, there is shown a diagrammatic view of client electronic device38. While client electronic device38is shown in this figure, this is for illustrative purposes only and is not intended to be a limitation of this disclosure, as other configuration are possible. For example, any computing device capable of executing, in whole or in part, retrieval process10may be substituted for client electronic device38withinFIG. 2, examples of which may include but are not limited to computer12and/or client electronic devices40,42,44.

Client electronic device38may include a processor and/or microprocessor (e.g., microprocessor200) configured to, e.g., process data and execute the above-noted code/instruction sets and subroutines. Microprocessor200may be coupled via a storage adaptor (not shown) to the above-noted storage device16. An I/O controller (e.g., I/O controller202) may be configured to couple microprocessor200with various devices, such as keyboard206, pointing/selecting device (e.g., mouse208), custom device (e.g., controller215), USB ports (not shown), and printer ports (not shown). A display adaptor (e.g., display adaptor210) may be configured to couple display212(e.g., CRT or LCD monitor(s)) with microprocessor200, while network controller/adaptor214(e.g., an Ethernet adaptor) may be configured to couple microprocessor200to the above-noted network14(e.g., the Internet or a local area network).

As will be discussed in greater detail below, in some implementations, a capture object (e.g., apparatus100a/b, vessel, structure, etc.) may utilize, for example, environment normalization techniques to, e.g., reduce the varying displacements and the response time between apparatus100a/band the target object (e.g., robotic container, “sea truck”, vessel, Unmanned Underwater Vessel (UUV), Rigid Hull Inflatable Boats (RHIBs), etc.). Apparatus100a/band target object may share a common (e.g., similar) environment, such as the air, the surface of the water, and under the surface of the water. Apparatus100a/band target object may both exhibit similar dynamic characteristics due to, e.g., the above-noted common environment, as well as their similar relative size when compared to apparatus100a/b. In some implementations, apparatus100amay enable successful retrieval of the target object, at least in part, e.g., by allowing mechanical structural members to align a “capture bar” or other structural member on the target object with the “throat” of apparatus100a. In some implementations, apparatus100bmay enable successful retrieval of the target object, at least in part, e.g., by allowing mechanical structural members to align the target object with the “throat” of apparatus100b. In some implementations, this may ensure incremental, self-aligning (and/or controlled aligning), and secure positive control of the target object.

As will also be discussed in greater detail below, in some implementations, apparatus100a/bmay be deployed to both launch and/or capture (e.g., recover) the above-noted target objects from, e.g., other (larger) vessels (e.g., ships) in the water, hovering/non-hovering aircraft (e.g., helicopter, blimp, planes, balloon, etc.), or stationary platforms (e.g., oil drilling rigs, piers, dams, other fixed/tethered platforms, etc.).

For instance, in some implementations, apparatus100a/bmay launch and/or recover a target object onto and/or off of a (large) ship. In the example, the target object may be captured by apparatus100a/bwhile on a parallel path alongside the ship, utilizing, e.g., a deployed bollard, to help keep apparatus100a/bin a “fixed” position relative to the ship, while allowing apparatus100a/bfreedom of motion in pitch, roll, and heave. This may simplify the connection with the target object. The bollard technique may also provide the ability to capture “dead in the water” target objects (e.g., objects unable to move due to steering and/or engine failure or general lack of ability) that may be in a parallel path relative to apparatus100a/b. In some implementations, apparatus100a/bmay be aligned facing into the water stream and the large ship may provide the mobility to come along side the dead in the water target object that may be “scooped” into the rails and/or throat. In some implementations, apparatus100a/bmay also be positioned in concert with, e.g., an off-board anchor buoy or standoff pylons, to maintain safe separation from the large ship. An alternate to the use of an anchor buoy would be to utilize standoff pylons.

In some implementations, apparatus100a/bmay be towed aft of the large ship and may accomplish an “in-stream” recovery away from the large ship. As will be discussed in greater detail below, apparatus100a/bmay be “motorized” allowing apparatus100a/bto “seek out” target objects that may be stationary in the water and effect to connection. In some implementations, the ship may be moving and align the capture device within a margin of error to the target object and the motion of the ship may capture the target object. In some implementations, the large ship's speed may be increased/decreased to match the target object's “best steerage speed” (e.g., the speed that allows the most steering and handling control for close operations). Error reduction may allow a positive connection and hence create a better chance for recovery in the first attempt. Many sea state conditions, combat operations, life saving events, etc., may not allow a second attempt.

In some implementations, and continuing with the above example, assume for illustrative purposes only that the ship is anchored or “dead in the water”. In the example, the actual hull of the ship may be used to ensure that apparatus100a/bremains stationary at the time of engagement (e.g., when apparatus100a/bis aligning and receiving the target object). In the example, apparatus100a/bmay but need not be parallel with the centerline of the ship, and may but need not be in an orientation that may allow apparatus100a/bto rest against the hull of the ship during capturing. In some implementations, apparatus100a/bmay be used in the trail position on the ship. In the example, the overhead lifting device (e.g., crane) may include tethers to maintain apparatus100a/b's alignment aft of the ship, and utilize the stern structure of the ship to maintain, e.g., the longitudinal position of apparatus100a/bwhen capturing the target object. In some implementations, the hull of the ship or the design of the bollard may pose an interference with the target vessel structure. In the example, one or more ballasting bumpers may be added to, e.g., the end of apparatus100a/bor elsewhere, e.g., to reduce damage via the target object.

In some implementations, the capture device may also launch target objects from, e.g., the ship, water-platform, air-platform, land-platform, etc.). For example, from the ship (e.g., within, on top of, etc.), the target object may be inserted within apparatus100a/bany may include one or more latches to secure the target object to apparatus100a/b. Apparatus100a/bmay then place the target object into, e.g., the water, or other location. Once placed into the water, the one or more latches may be released to allow the target object to exit apparatus100a/brelatively freely. As noted above, apparatus100a/bmay be scaled to capture other target objects and/or be utilized from other objects, such as a helicopter and other aircraft retrieval (e.g., blimp, hovering aircraft (e.g., V-22), etc.), etc.

As discussed above, and as will be discussed in greater detail below, and referring also toFIGS. 3-16, retrieval process10may (e.g., via controller application20, controller215, client application26, or combination thereof) align a first gap portion formed between at least a portion of a first and second rail coupled to a capture object with at least a portion of the target object. At least the portion of the target object may be received at the first gap portion as a distance between the first gap portion and at least the portion of the target object decreases. A second gap portion formed between at least the portion of the first and second rail may be aligned by retrieval process10with at least the portion of the target object. At least the portion of the target object may be received at the second gap portion as a distance between the second gap portion and at least the portion of the target object decreases. As will also be discussed in greater detail below, aligning at least one of the first and second gap portion may include retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) stabilizing at least one of the first and second rail using one or more ballasts. At least one of the first and second rail may be dynamically stabilized by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) via, at least in part, the one or more ballasts. Aligning at least one of the first and second gap portion may include at least one of extending and retracting at least one of the first and second rail by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof). Aligning at least one of the first and second gap portion may include retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) navigating at least one of the first and second rail via at least one of a motor, an engine, and a thruster. At least the portion of the target object may be prevented by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) from moving in one or more directions via a catch after at least the portion of the target object is proximate to the catch. At least the portion of the target object may be lifted by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) in a vertical direction after at least one of the first and second gap portion is aligned and received.

As discussed above, and as will also be discussed in greater detail below, and referring also toFIGS. 3-16, retrieval process10may (e.g., via controller application20, controller215, client application26, or combination thereof) align300an opening, formed between at least a portion of a first and second bulkhead coupled to a capture object, with at least a portion of the target object. At least the portion of the target object may be received302by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) at the opening as a distance between the opening and at least the portion of the target object decreases, wherein the opening, via the first and second bulkhead, may be aligned300and receives302at least the portion of the target object while the target object is in the body of water. As will also be discussed in greater detail below, aligning300the opening may include retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) stabilizing304at least one of the first and second bulkhead using one or more ballasts. At least one of the first and second bulkhead may be dynamically stabilized304by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) via, at least in part, the one or more ballasts. At least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender may be dynamically stabilized304by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) via, at least in part, the one or more ballasts. Aligning300the opening may include at least one of extending306aand retracting306bat least one of the first and second bulkhead in at least one of a vertical and a horizontal direction by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof). Aligning300the opening may include at least one of rotating306c, extending306aand retracting306bat least one of the first and second entrance fender by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof). Aligning300the opening may include retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) navigating308at least one of the first and second bulkhead via at least one of a motor, an engine, and a thruster. Aligning300the opening may include retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) navigating308at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender via at least one of a motor, an engine, and a thruster. At least the portion of the target object may be prevented310by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) from moving in one or more directions via a restraint after at least the portion of the target object is proximate to the restraint. Aligning300the opening may include retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) aligning312at least one entrance fender coupled to at least one of the first and second bulkhead via at least one of a motor, an engine, and a thruster. One or more portions may be configured to receive one or more cables operatively connected to a platform. The one or more ballasts may include a cylinder with one or more slots.

In some implementations, an apparatus (e.g., apparatus100a) may be configured to capture a target object from, e.g., a body of water or other location. Apparatus100amay comprise a first rail (e.g., rail102) and a second rail (e.g., rail104), where first rail102may be proximate to second rail104. In some implementations, the term “rail” need not imply any particular shape and/or material. For example, at least one of the rails (e.g., rail102) may but need not be rounded and/or elongated in shape. As another example, at least one of the rails may include at least one of a straight and a curved shape, such as shown in exampleFIG. 3A. Any degree of curvature may be included without departing from the scope of the disclosure. Other shapes and configurations may also apply without departing from the scope of the disclosure. Additionally, rail102may include materials such as steel, or any other material capable of performing any of the functions disclosed herein.

In some implementations, other rails may be included, such as a third rail (e.g., rail106) and a fourth rail (e.g., rail108). In some implementations, only a single rail may be used. As such, the description of two rails should be taken as an example only and not to limit the scope of the disclosure. In some implementations, reference to rail102may apply equally to any of rail104,106, and/or108, and vice versa as appropriate.

In some implementations, apparatus100amay include another example gap (e.g., a “mouth”, “bell mouth”, etc.) and yet another example gap (e.g., “throat”). It will be appreciate that the usage of the terms “mouth”, “bell mouth”, “throat”, etc. may but need not imply a particular shape or design and may be used merely to help illustrate one or more implementations of the disclosure.

In some implementations, an apparatus (e.g., apparatus100b) may be configured to capture a target object from, e.g., a body of water or other location. For description purposes only, apparatus100bmay generally be described as a “cage”. However, the term cage need not imply any particular configuration, shape and/or material. In some implementations, apparatus100bmay comprise a first bulkhead (e.g., bulkhead101) and a second bulkhead (e.g., bulkhead103), where first bulkhead101may be proximate to second bulkhead103. In some implementations, the term “bulkhead” need not imply any particular shape and/or material, as it will be appreciated that other shapes and configurations may also apply without departing from the scope of the disclosure. Additionally, bulkhead101may include materials such as steel, or any other material capable of performing any of the functions disclosed herein.

In some implementations, other bulkheads may be included. In some implementations, only a single bulkhead may be used. As such, the description of two bulkheads should be taken as an example only and not to limit the scope of the disclosure. In some implementations, reference to bulkhead101may apply equally to bulkhead103, and vice versa as appropriate.

In some implementations, apparatus100bmay include an opening (e.g., a “mouth”, “bell mouth”, etc.) and yet another example opening (e.g., “throat”). It will be appreciate that the usage of the terms “mouth”, “bell mouth”, “throat”, etc. may but need not imply a particular shape or design and may be used merely to help illustrate one or more implementations of the disclosure.

In some implementations, a first gap portion (e.g., gap portion110) may be formed between at least a portion of rail102and rail104. Gap portion110may be configured to align and receive at least a portion of the target object as a distance between gap portion106and at least the portion of the target object decreases. In some implementations, a second gap portion (e.g., gap portion112) may be formed between at least the portion of rail102and rail104. In some implementations, rail102and rail104may be further configured to align and receive at least the portion of the target object with gap portion112as the distance between gap portion112and at least the portion of the target object decreases.

For instance, assume for example purposes only that the target object includes a vessel (e.g., vessel200). Further assume that at least a portion of vessel200includes, e.g., a “lifting bar”, such as lifting bar(s)202. In some implementations, the term “bar” need not imply any particular shape and/or material. For example, at least one of the rails (e.g., lifting bars202) may but need not be rounded and/or elongated in shape; however, other shapes and configurations may also apply without departing from the scope of the disclosure. Additionally, lifting bars202may include materials such as steel, or any other material capable of performing any of the functions disclosed herein. In some implementations, lifting bars202may include a set of one or more horizontal bars that may be temporarily or permanently secured across vessel200using any known techniques (e.g., welding, bolting, etc.). Lifting bars202may be aligned and received into the bell mouth (e.g., via gap portion110as the distance between gap portion110and lifting bars202of vessel200decreases) and into the throat of apparatus100a(e.g., via gap portion112as the distance between gap portion112and lifting bars202of vessel200decreases). An example of lifting bars202after being aligned and received is illustrated atFIG. 5. InFIG. 5, lifting bars202have been aligned and received between gap portion110of rail102and rail104and between gap portion112of rail106and rail108.

In some implementations, as will be discussed in greater detail below, target object (e.g., vessel200) need not require a lifting bar to be captured by, e.g., apparatus100b. For instance, an opening (e.g., opening105) may be formed between at least a portion of the first bulkhead101and second bulkhead103. Opening105, via the first and second bulkhead, may be configured to align300and receive302at least a portion of the target object as a distance between opening105and at least the portion of the target object decreases, wherein opening105(via the first and second bulkhead) may be further configured to align300and receive302at least the portion of the target object while the target object is in the body of water.

In some implementations, as will be discussed in greater detail below, apparatus100bmay include at least one entrance fender (e.g., entrance fender107). In some implementations, entrance fender107may be coupled to at least one of the first and second bulkhead. For example, entrance fender107may be coupled to bulkhead101via a hinge, allowing fender107to rotate306c(e.g., swing). In some implementations, entrance fenders may fully retract/close to function as a positive capture system to retain vessel200during retrieval operations and lifting. In some implementations, other entrance fenders (e.g., entrance fender109) may be included. For example, entrance fender109may be coupled to bulkhead103via a hinge (or other suitable coupling technique), allowing fender109to rotate306c(e.g., swing). In some implementations, only a single entrance fender may be used. As such, the description of one or two entrance fenders should be taken as an example only and not to limit the scope of the disclosure. In some implementations, reference to entrance fender107may apply equally to entrance fender109, and vice versa as appropriate.

In some implementations, as noted above, one or more stabilizing portions may be configured to stabilize at least rail102and/or rail104. For example, the one or more stabilizing portions may include one or more portions (e.g., of apparatus100a) configured to receive one or more cables operatively connected to, e.g., a platform, such as a crane. For instance, at least a portion of apparatus100a(e.g., rail102and/or rail104and/or rail106and/or108, etc.) may be temporarily or permanently coupled using any known techniques to, e.g., a cable (e.g., crane cable206), such that vessel200may be lifted or otherwise moved via lifting bars202. It will be appreciated that any technique (cable or otherwise) may be used without departing from the scope of the disclosure. In some implementations, for example, where vessel200may have designated lift points, lifting tethers204(or other lifting systems) from one or more lifting bars202to the lifting points may be utilized, e.g., to take the load off of lifting bars202and onto the designated lifting points. It will be appreciated that scalability may also effect the number of lift points (e.g., a single lift point vs. multiple lift points), as well as the lift capability of above-noted large vessel.

In some implementations, the dimensions of the bell mouth may be determined based upon, at least in part, the anticipated dynamic roll, pitch, etc. of vessel200(and lifting bars202). For instance, assume for example purposes only that vessel200is +/−10 degrees roll and +/−10 degrees pitch. In the example, the vertical ends of the bell mouth may be aligned (e.g., adjusted), e.g., to ensure that lifting bars202may be received (e.g., captured), as well as the offset in riding heights, e.g., to ensure positive engagement between apparatus100aand lifting bars202(via vessel200). In some implementations, the scale of the vertical opening on the bell mouth may be reduced, as both apparatus100aand lifting bars202(via vessel200) may share a common environment (e.g., at, near, and/or below the surface of the water). In the example, the vertical opening in the bell mouth may but need not be proportional to the wave height and/or swells, but to the combination of residual dynamic motions of pitch and roll coupled in lifting bars202(via vessel200).

In some implementations, and referring at least toFIGS. 3A/B,5,7A and11, at least one of a motor, an engine, and a thruster (e.g., thruster1400) may be configured to navigate at least one above-noted rails (e.g., rails102and rails104). For example, aligning and/or receiving vessel200(and thus lifting bars202) may include controlling the motion (e.g., lateral, forward, backward, up, down, etc.) of apparatus100a(and thus rail102and rail104) and/or rail102and rail104separately from apparatus100a. The motion may be controlled (e.g., automatically and/or manually via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof), to align and receive lifting bars202of vessel200via gap portion110and/or gap portion112. In some implementations, similarly as noted above, motion (e.g., lateral, forward, backward, up, down, etc.) of vessel200may be controlled (e.g., automatically and/or manually via controller215) to align and receive lifting bars202of vessel200via gap portion110and/or gap portion112using any of the techniques described throughout.

In some implementations, and referring at least toFIGS. 3A/B,5,7B and11, at least one of a motor, an engine, and a thruster (e.g., thruster1400) may be configured to navigate308and align312at least one of the above-noted first bulkhead101, second bulkhead103, first entrance fender107, second entrance fender109, or combination thereof. For example, aligning300and/or receiving302vessel200may include controlling the motion (e.g., lateral, forward, backward, up, down, etc.) of apparatus100b(at least one of the above-noted first bulkhead101, second bulkhead103, first entrance fender107, second entrance fender109, or combination thereof) and/or at least one of the above-noted first bulkhead101, second bulkhead103, first entrance fender107, second entrance fender109, or combination thereof separately from apparatus100b. The motion may be controlled (e.g., automatically and/or manually via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof), to align300and receive302any portion of vessel200via opening105. In some implementations, similarly as noted above, motion (e.g., lateral, forward, backward, up, down, etc.) of vessel200may be controlled (e.g., automatically and/or manually via controller215) to align300and receive302any portion of vessel200via opening105using any of the example techniques described throughout. It will be appreciated that thruster(s)1400may be placed internally/externally in any location coupled to apparatus100b, and in any number. Known energy sources that may be used may include, e.g., electrical power using utilizing compressed natural gas, oil, nuclear power, solar, fuel cell, wave action/wind energy recovery, battery, etc.), which may be transferred to apparatus100bvia cabling; hydraulic and/or pneumatic pressure which may be transferred to apparatus100bvia piping/hosing, etc. It will be appreciated that apparatus100bmay locally generate the required energy to power apparatus100b. In some implementations, the “cage” configuration of apparatus100bneed not include 6 sides/sections. For example, as can be seen from the front view ofFIG. 3B, apparatus100bmay include bulkhead101, bulkhead103, as well as a bottom (floor) section. That is, in the example, apparatus100bmay lack a top (ceiling) section (shown as optional using dashed line). As another example, apparatus100bmay lack bulkhead103. Other sides/sections may be optional as well without departing from the scope of the disclosure.

In some implementations, alignment300(e.g., control) of either apparatus100a/band/or vessel200may include, e.g., GPS, TV/computer generated visualizations, communicated magnetic headings of apparatus100a/band/or vessel200, radar, optical measures, acoustic measures, an alignment laser, RF link, emitters, other location based techniques, etc., around the opening of the mouth (e.g., on the above-noted large vessel and/or apparatus100a/band/or vessel200) such that low visibility utilization and nighttime alignment and capture may be achieved. In some implementations, the above-noted larger vessel may take over manual control of vessel200to align300and receive302(e.g., via retrieval process10) vessel200at apparatus100a/b. Any of the above-noted communication links may be established between the water/land/air based lifting platforms, vessel200and/or apparatus100a/bto provide the information for apparatus100a/bto manually and/or dynamically (e.g., automatically) adjust according to, e.g., the list and height characteristics of vessel200. In some implementations, any of the manual and/or dynamic features described throughout may also be accomplished via the above-noted communication links established between the sea/land/air based lifting platforms, vessel200and/or apparatus100a/bto provide the information for apparatus100a/bto manually and/or automatically align300(e.g., adjust) and/or receive any portion of vessel200via opening105and/or lifting bars202of vessel200via gap portion110and/or gap portion112.

In some implementations, the lateral opening of the bell mouth, as shown in exampleFIGS. 6A and 6B, may be scaled to match the controllability/seakeeping capabilities of vessel200beyond the maximum width of vessel200. For example, they may be based upon, at least in part, any traditional linkage between pitch, roll, heave, yaw, etc. and the directional command and control built into vessel200(if any). This may vary according to, e.g., the propulsion/steering system (if any as described above) selected for vessel200(and/or apparatus100a). For instance, if vessel200includes one or more thrusters on the bow, the lateral scale of the bell mouth may be adjusted (e.g., reduced). As another example, if vessel200uses a single pump jet for propulsion and steerage, the lateral dimension may be adjusted (e.g., increased), e.g., due to the reduced yaw control that system may provide. As another example, if the propulsion system uses dual thrusters/azipods (which may be retractable), the width of apparatus100amay be adjusted (e.g., reduced). In some implementations, the dimensions may be determined based upon, at least in part, the location on the above-noted larger vessel where the retrieval of vessel200may be attempted. For example, if on the leeside of the large vessel that may be maintaining minimum steerage (if any), the dimensions may be adjusted (e.g., reduced). As another example, if it is athwart vessel, the cross seas may require the dimensions to be adjusted (e.g., increased), due to, e.g., wave action at the time of contact (e.g., at the time of receiving lifting bars202). The dimensions of apparatus100may be scalable, e.g., to match the dimensions of lifting bars202and/or vessel200and the associated weight requirements. In some implementations, the support between any of the above-noted rails may be designed to not impede vessel200(personnel on top of vessel200, antennas, the upper section of vessel200, etc.) as it moves into the above-noted throat.

In some implementations, at least one of rail102and rail104may be further configured to extend and retract. For example, and referring at least toFIGS. 6A and 6B, the width of any portion of apparatus100a(e.g., bell mouth, throat, rails, etc.) may be adjustably aligned using, e.g., any known electro and/or mechanical devices (e.g., worm drive, screw jack, hinge, etc.), allowing apparatus100ato be applicable for a variety of target vessels, in a variety of environmental conditions. In other implementations, the bell mouth may be adjusted to vary in width to take into account the controllability of vessel200. This could be done using, e.g., any known electro and/or mechanical devices, such as hinges, telescoping, etc. For example, a light weight target vessel may exhibit a wide variation in its pitch and yaw during elevated sea states depending on, e.g., the direction of the waves (similar to what is shown atFIG. 8and is known as a “Dutch roll”. In the example, a greater opening in the bell mouth of apparatus100amay be used, e.g., to increase capture probabilities. Additionally, in some implementations, a target vessel with a steering/engine casualty (or general lack of ability) may have limited ability to its directionality control. It will be appreciated that any of the adjustments described throughout may be made automatically and/or manually via a user, e.g., via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof.

In some implementations, at least one of bulkhead101and bulkhead103may be further configured to at least one of extend306aand retract306bin at least one of a vertical and a horizontal direction. For example, and referring at least toFIGS. 6C and 6D, the width of any portion of apparatus100b(e.g., bell mouth, throat, bulkheads, etc.) may be adjustably aligned300using, e.g., any known electro and/or mechanical devices (e.g., worm drive, screw jack, hinge, etc.), allowing apparatus100bto be applicable for a variety of target vessels, in a variety of environmental conditions. In some implementations, bulkhead101and/or bulkhead103may be further configured to rotate306c(similar to entrance fender107). In some implementations, apparatus100bmay be constructed using multiple sections. For instance,FIG. 6Cshows by example two sections along the long axis of apparatus100b. In the example, section 1 (associated with bulkhead101) may be fixed, while section 2 (associated with bulkhead103) may be movable, automatically, autonomously, and/or manually (e.g., via controller application20, controller215, client application26, or combination thereof), back and forth sideways, such that the width of apparatus100bis adjustable. Once the desired width of apparatus100bis accomplished, one or more known structurally positive mechanism(s) (not shown) available to lock in both sections into a rigid “whole body” may be engaged. In some implementations, more than two sections may be used. For instance,FIG. 6Dshows by example three sections along the long axis of apparatus100b. In the example three section implementations, the middle section (section 1) may be stationary and the two side sections (section 2 and section 3) may be similarly movable as described above. It will be appreciated that various combinations of movable and non-movable sections may be used without departing from the scope of the disclosure. It will also be appreciated that, in some implementations, similar construction methodologies may be used to extend306aand retract306bone or more of the above-noted bulkheads in a vertical direction, such that the height of apparatus100bmay be adjusted. For instance,FIG. 6Eshows by example three sections along the long axis of apparatus100b. In the example three section implementations, the middle section (section 1) may be stationary and the two side sections (section 2 and section 3) may be similarly movable as described above. It will be appreciated that any of the adjustments described throughout may be made automatically and/or manually via a user, e.g., via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof. It will also be appreciated that any of the adjustments described throughout may be made for any dimensions of apparatus100b(e.g., length, width, depth, etc.) without departing from the scope of the disclosure.

As noted above, one or more stabilizing portions may be configured to stabilize at least rail102and/or rail104(and/or rail106and/or rail108). Similarly, one or more stabilizing portions may be configured to stabilize304at least one of the first bulkhead (e.g., bulkhead101) and the second bulkhead (e.g., bulkhead103). In some implementations, as another example, the one or more stabilizing portions may include one or more ballasts (e.g., ballasts700). For instance, apparatus100a/bmay include a ballasting system as a floating system (e.g., as ballasts700) and/or in addition to a flotation system. As an example, and in some implementations, ballasts700may be configured to dynamically stabilize rail102and/or rail104(and/or rail106and/or rail108). For instance, and referring to exampleFIG. 7A, to aid in aligning and receiving the above-noted rails with the above-noted lifting bars202, the ballast system may use, e.g., a pump system, to import and export air, water, or another liquid to and from the ballast system to align (e.g., adjust) the height of one or more sides of apparatus100a(and thus rails102and/or rail104) to receive lifting bars202. For example, the ballast feature may (e.g., automatically and/or manually via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof) allow for alignment (e.g., adjustment) of the height above and below the surface (e.g., water). As another example, the ballast feature may reduce alignment displacement with vessel200(and thus lifting bars202) being received and/or launched.

As another example, and in some implementations, ballasts700may be configured to dynamically stabilize304at least one of bulkhead101, bulkhead103, entrance fender107, and entrance fender109. For instance, and referring to exampleFIG. 7B, to aid in aligning300and receiving302the above-noted portions of apparatus100bwith the above-noted vessel200, the ballast system may use, e.g., a pump system, to import and export air, water, or another liquid to and from the ballast system to align300(e.g., adjust) the height of one or more sides of apparatus100b(and thus bulkhead101, bulkhead103, entrance fender107, and/or entrance fender109) to receive vessel200. For example, similar to the above discussion for adjusting/extending/retracting bulkheads, ballast700may (e.g., automatically, autonomously, and/or manually via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof) similarly be lowered, raised, moved forward/backward to allow for alignment300(e.g., adjustment) of the height above and below the surface (e.g., water). As another example, the ballast feature may reduce alignment300displacement with vessel200(and thus bulkhead101, bulkhead103, entrance fender107, and/or entrance fender109) being received and/or launched. In some implementations, ballast700may be affixed internally and/or externally in any appropriate location to apparatus100bto vary the keel depth of apparatus100b. In some implementations, ballast700may be horizontally adjustable to also adjust the pitch of apparatus100b.

As another example, the ballast feature may be used asymmetrically, e.g., to create a list in apparatus100a. For instance, creating a list in apparatus100amay be used, e.g., if vessel200is riding at a list, to reduce the variability that may be necessary in the bell mouth. For example, with knowledge that vessel200is listing (e.g., from human observation and/or via the above-noted communication link used as an input to controller215, apparatus100a/bmay reduce and/or increase buoyancy on one or more sides of apparatus100a/b, e.g., to allow it to “complement” the list of vessel200and further reducing apparatus100a/b/vessel200displacements at the throat of apparatus100a/b. In some implementations, at least a portion of the ballast system (e.g., the inner surface of the ballast system) may act as a bumper, e.g., to reduce impact forces between apparatus100a/band vessel200when apparatus100a/breceives vessel200. In some implementations, the bumper may be detachable, e.g., to allow vessel200to exit apparatus100a/bvia either end and/or side.

In some implementations, and referring at least toFIG. 7A, ballasts700may include one or more structures on the water as well as structures underwater to provide ballast and subdued apparatus100areactions (e.g., alignment) through interfacing with the water. For instance, in some implementations, ballasts700may include a cylinder (e.g., a cylindrical shape) with one or more optional slots (e.g., slots1300). The slots may continue through ballasts700or the slots may only continue through a portion of ballasts700(e.g., ¾ of the way through ballasts700). In the example, the encircled water mass within the underwater cylinder of ballasts700may provide a dampening effect on apparatus100a.

In some implementations, a restraint (e.g., catch) may be configured to, after at least the portion of vessel200(e.g., lifting bars202) is proximate to the catch, prevent at least lifting bars202from moving in one or more directions. For example, and referring at least toFIG. 8, one or more catches (e.g., latch800), may be used, e.g., to control vessel200once lifting bars202are received by gap portion110and/or gap portion112. In some implementations, latch800may be designed with structural support in tension and/or compression, and may but need not hang up on lifting bar202when latch800is fully compressed. An example of a latch (e.g., latch900) being compressed may be shown atFIG. 9. In the example, apparatus100a(e.g., via rail106) may include a backstop902to prevent lifting bar202from exiting apparatus100aafter being aligned and received in gap portion110and/or gap portion112and may be similar to that of a carabineer configuration. The term “latch” may but need not imply any particular configuration and/or material.

Referring once again toFIG. 8, an example design of latch800is shown. In the example, latch800may go around rail106and/or rail108and may provide support in both tension and compression. In some implementations, when latch800is laying down flat, latch800may not interfere with lifting bar202. Latch800may be temporarily and/or permanently coupled to, e.g., any portion of apparatus100a(e.g., rail106and rail108) and/or similarly to any portion of vessel200(e.g., lifting bar202).

In some implementations, latch800may be controlled (e.g., automatically and/or manually via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof) from the above-noted larger vessel. Latch800may release mechanically, e.g., to allow vessel200to back out, and/or the above-noted width adjustment of the throat/mouth of apparatus100amay have sufficient capability to widen and release rail106and/or rail108. It will be appreciated that other configurations of latch800may be used without departing from the scope of the disclosure.

In some implementations, apparatus100aand/or latch800may include 3 latches per rail (e.g.,2capture latches and one release latch) that may allow vessel200to leave control of apparatus100a, e.g., when there is enough space to exit forward out of apparatus100a. In some implementations, latch800may include one or more sensors (not shown) in front of the first two latches that may require both to be actuated for the first two latches to open. This may, e.g., prevent vessel200from being received on the side where only one of the latches may be actuated. In some implementations, this situation may occur with the sensors in place such that apparatus100amay act as a bumper to protect the above-noted large vessel from possible damage. The sensors may be operatively connected to controller215, retrieval process10, controller application20, client application26, or combination thereof.

In some implementations, at least the portion of target object200may be prevented310by retrieval process10(e.g., via controller application20, controller215, client application26, or combination thereof) from moving in one or more directions via a restraint after at least the portion of target object200is proximate to the restraint. For example, and referring at least toFIG. 9B, a restraint (e.g., latch900) may be in apparatus100b. For instance, once target object200enters apparatus100bsufficiently, target object may, e.g., “ride” up over/under/next to the fixed capture latch or depress a spring-loaded capture latch and become mechanically engaged to a complimentary receiver on the target object.

In some implementations, and referring at least toFIG. 9C, restraints may include, e.g., a bag (e.g., pneumatic bag), such as bag901, additional padding (e.g., padding903), a rigid/flexible adaptable capture mechanism (mechanism905), or combination thereof. In some implementations, the restraints may be affixed to the sides of apparatus100b, the top and bottom of apparatus100b, as well as any other location where vessel200may contact apparatus100bduring/after capture. In some implementations, during actuation, mechanism905may extend inward (e.g., from the sides of bulkhead101/103). In some implementations, each restraint may be actuated simultaneously, they may serve to retain, and/or center vessel200within apparatus100b, and may initiate a first stage of retrieval from the water. In some implementations, e.g., for launching, reversal of the sequence may enable a reduced water displacement action. In some implementations, capture mechanism905may be flat (e.g., for target objects with flat sided hulls) or may be flexible (e.g., for target objects with flat sided or curved sided hulls). Capture mechanism905may be deployed through various mechanical designs, powered by, e.g., hydraulic, pneumatic actuators or electric actuators (e.g., via controller application20, controller215, client application26, or combination thereof). In some implementations, capture mechanism905may be deployed by bag901. In some implementations, the inflation of bag(s)901may be a pressurized gas, which may be beneficial for the capture operation assisting in the recovery of vessel200. In some implementations, the bag(s)901may be filled with other materials (e.g., sea water). In some implementations, capture mechanism905may consist of a pair of pneumatic bags. In some implementations, such a configuration of the bags may ensure that a) the target object (vessel200) is centered prior to significant reduction in the keel depth of apparatus100b, b) vessel200is positively retained prior to significant reduction in the keel depth of apparatus100b, andc) vessel200is stabilized within apparatus100bprior to significant reduction in the keel depth of apparatus100bto reduce induced listing of vessel200during the lifting operation.

In some implementations, apparatus100a/bmay be designed to be collapsible and/or foldable for ready storage. For example, apparatus100a/bmay be designed such that it may fold into, e.g., the footprint of an ISO standard twenty foot equivalent unit (TEU) or other ISO standard unit(s) (e.g., forty foot long, ten foot long, etc.) for intermodal handling, stacking utilizing standard ISO connectors, and stowage singularly or as a stack.

In some implementations, and as seen from exampleFIG. 10, vessel200may include a “sea truck”, such as sea truck1000. In the example, and referring at least toFIG. 11, rail102, rail104, rail106, and/or rail108may use the top lifting holes in, e.g., the corner fittings of, e.g., an ISO container with commercial connectors to attach to the ISO container of sea truck1000. In some implementations, lifting bars202may connect, e.g., to the top lifting holes of propulsion and bow units of sea truck1000, which may allow sea truck1000lifting holes to remain open for use. In some implementations, lifting bars202may be integrated internally, e.g., to the bow and stern units of sea truck1000and may be deployed and/or retracted (using any of the above-noted techniques) from an internal storage compartment (not shown) within the propulsion and bow components. In some implementations, a transfer block may be integrated into lifting bars202such that, e.g., if lifting bars202were attached to the container, lifting bars202may remain ISO sized lifting holes on, e.g., the top surface of lifting bars202for transfer of the container with, e.g., intermodal handling equipment. This may allow the container to be pre-configured prior to attaching sea truck components. As noted above, and similarly with rail102and/or rail104, lifting bars202may be one solid piece, hinged, telescoping, etc.

In some implementations, the above-noted large vessel may be configured for ramp appliqués to, e.g., allow V-bottom crafts, such as Rigid Hull Inflatable Boats (RHIBS), to be retrieved. In the example, and referring at least toFIG. 12, a bottom adapter (e.g., bottom adapter1200), may be connected to an ISO container, e.g., via the bottom corner fittings, and may be utilized to attach a variable bottom surface that may function in one or more example ways:

1. It may be a conformal adapter allowing stowage in a RHIB or other small vessel rack.

2. The weight of the bottom adapter may function as a stability “keel”.

3. It may function to improve the directional stability of the normally flat bottom sea truck.

4. It may provide additional longitudinal stability, e.g., if a V-Bottom ramp appliqué is used to retrieve the sea truck. An example illustration of one or more of the above examples may be seen at least at exampleFIG. 13.

In some implementations, bottom adapter1200may be configured to fold into a smaller space for stowage, an example of which is shown at least atFIG. 14, where bottom adapter1200is both deployed (in1200a) and stowed (in1200b). For example, bottom adapter1200may include, e.g., a screw jack inside of a beam that may allow the length to increase through rotation of the screw. As a result, the internal beams within the adapter may be forced downward to form the bottom “hull” shape of the RHIB while firmly attached to the bottom of the container. As the basic outside shape of the bottom adapters may be similar or the same as an ISO container, flattening the bottom adapters and/or hooking them together to fill an ISO space claim may be accomplished. In the example, the ability to fold may allow for a number of bottom adapters to be stacked together, using ISO connectors, to fit within the space and weight claim of, e.g., a 20 foot container. Additionally/alternatively, it may allow for the bottom adapters to be handled by standard Intermodal Shipping devices aboard the above-noted larger vessels. Additionally/alternatively, apparatus100amay be used to retrieve sea truck1000with attached bottom adapter1200.

In some implementations, the optional bottom adapter1200may be incorporated into apparatus100b. For example, and referring toFIG. 15, as apparatus100bmay be used to capture target objects with various shapes (e.g., flat bottom keels, round bottom keels, “V”/“U” bottom keels, etc.), bottom adapter1200may enable apparatus100bto allow all of these target objects to be retrieved with a single structure type. In some implementations, bottom adapter1200may be rigid and inserted into apparatus100bprior to launch/recovery operations, may be an inflatable pneumatic form, and/or may be implemented using known electro/mechanical configurations. As will be appreciated, either type of insert may be fixed in its form or adjustable to match multiple hull forms (as well as other object forms). In some implementations, bottom adapter1200may (e.g., automatically and/or manually via controller215, retrieval process10, controller application20, controller215, client application26, or combination thereof) vary its shape as appropriate. It will be appreciated that bottom adapter1200may be a removable or non-removable part of apparatus100bwithout departing from the scope of the disclosure.

In some implementations, and referring at least toFIG. 16, apparatus100bmay include an internal hydraulic thrust system (e.g., hydraulic thrust system1600). In some implementations, hydraulic thrust system1600may be used for inducing a strong hydraulic flow, e.g., (1) beginning from an area in the proximity of an approaching target object towards the entrance fenders; (2) through and inside the entrance fender gates; (3) then inside apparatus100b; and (4) exit out the rear of apparatus100b. Hydraulic thrust system1600may be powered using any of the above-noted techniques, including by, e.g., electric, hydraulic, pneumatic motors, via drive-shafts from centralized power source(s) (e.g., engine(s)) with or without wired or wireless remote control mechanism(s) residing in apparatus100b, vessel200, and/or the above-noted lifting platforms. Hydraulic thrust system1600may be reversible and/or adjustable depth(s).

It will be appreciated that apparatus100a/b(and/or vessel200) may but need not include retrieval process10, controller application20, controller215, client application26, or combination thereof, to practice the above disclosure. For example, apparatus100a/band/or vessel200may merely by their aesthetical design aid in aligning300and receiving302, e.g., lifting bars202into the bell mouth (e.g., via gap portion110as the distance between gap portion110and lifting bars202of vessel200decreases) and into the throat of apparatus100a(e.g., via gap portion112as the distance between gap portion112and lifting bars202of vessel200decreases), vessel200entering into the bell mouth105of apparatus100b(e.g., via bulkhead101/103and/or entrance fender107/109as the distance between opening105and vessel200decreases). As such, the use of retrieval process10, controller application20, controller215, client application26, or combination thereof, to practice the above disclosure should be taken as an example only and not to limit the scope of the disclosure.

It will be appreciated that any elements and aspects discussed pertaining to apparatus100amay be combined with any elements and aspects discussed pertaining to apparatus100b, and vice versa. For example, the entrance fender of apparatus100bmay be used with apparatus100a. As another example, the rails of apparatus100amay be used with apparatus100b. As such, the discussion of any particular elements and aspects being used with either apparatus100a/b(taken singly or in any combination) should be taken as an example only and not to limit the scope of the disclosure. Similarly, discussions involving apparatus100amay apply equally to apparatus100b, and vice versa as appropriate.