# Patent

## Title
Launch and recovery device

## Abstract

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
RELATED CASES
This application claims the benefit of U.S. Provisional Application No. 61/969,985, filed on 25 Mar. 2014, by William M. Teppig Jr. et al., entitled Water-Based Object Capture System, the contents of which are all incorporated by reference. This application is a continuation-in-part of U.S. patent application Ser. No. 13/687,467 filed on 28 Nov. 2012, which claims the benefit of U.S. Provisional Application No. 61/564,146, filed on 28 Nov. 2011, the contents of which are all incorporated by reference.


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.
The details of one or more implementations are set forth in the accompanying drawings and the description below. Other features and advantages will become apparent from the description, the drawings, and the claims.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1A is an example diagrammatic view of a retrieval process coupled to a distributed computing network according to one or more example implementations of the present disclosure;
FIG. 1B is an example flowchart of the retrieval process of FIG. 1 according to one or more example implementations of the disclosure;
FIG. 2 is an example diagrammatic view of a client electronic device of FIG. 1 according to one or more example implementations of the present disclosure;
FIGS. 3A and 3B are example diagrammatic views of an apparatus according to one or more example implementations of the present disclosure;
FIG. 4 is an example diagrammatic view of a vessel according to one or more example implementations of the present disclosure;
FIG. 5 is an example diagrammatic view of an apparatus with a received vessel according to one or more example implementations of the present disclosure;
FIGS. 6A-6E are example diagrammatic views of an apparatus according to one or more example implementations of the present disclosure;
FIGS. 7A and 7B are example diagrammatic views of an apparatus according to one or more example implementations of the present disclosure;
FIG. 8 is an example diagrammatic view of an apparatus with a received vessel according to one or more example implementations of the present disclosure;
FIG. 9A-9C are example diagrammatic views of an apparatus according to one or more example implementations of the present disclosure;
FIG. 10 is an example diagrammatic view of a vessel according to one or more example implementations of the present disclosure;
FIG. 11 is an example diagrammatic view of an apparatus with a received vessel according to one or more example implementations of the present disclosure;
FIG. 12 is an example diagrammatic view of a vessel according to one or more example implementations of the present disclosure;
FIG. 13 is an example diagrammatic view of a vessel according to one or more example implementations of the present disclosure;
FIG. 14 is an example diagrammatic view of a vessel according to one or more example implementations of the present disclosure;
FIG. 15 is an example diagrammatic view of an apparatus according to one or more example implementations of the present disclosure; and
FIG. 16 is an example diagrammatic view of an apparatus according to one or more example implementations of the present disclosure.



Like reference symbols in the various drawings indicate like elements.
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.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. The computer readable program code may be transmitted using any appropriate medium, including but not limited to the internet, wireline, optical fiber cable, RF, etc. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Computer program code for carrying out operations of the present disclosure may be written in an object oriented programming language such as Java®, Smalltalk, C++ or the like. Java and all Java-based trademarks and logos are trademarks or registered trademarks of Oracle and/or its affiliates. However, the computer program code for carrying out operations of the present disclosure may also be written in conventional procedural programming languages, such as the “C” programming language, PASCAL, or similar programming languages, as well as in scripting languages such as Javascript or PERL. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the internet using an Internet Service Provider).
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.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function/act specified in the block diagram block.
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 to FIG. 1A, there is shown a retrieval process 10 that may reside on and may be executed by a computer (e.g., computer 12), which may be connected to a network (e.g., network 14) (e.g., the internet or a local area network). Examples of computer 12 may 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). Computer 12 may 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 process 10 may 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., apparatus 100a) 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 process 10 may 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., apparatus 100b), 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 process 10, which may be stored on storage device 16 coupled to computer 12, may be executed by one or more processors (not shown) and one or more memory architectures (not shown) included within computer 12. Storage device 16 may 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).
Network 14 may be connected to one or more secondary networks (e.g., network 18), examples of which may include but are not limited to: a local area network; a wide area network; or an intranet, for example.
Computer 12 may execute a controller application (e.g., controller application 20), 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 process 10 and/or controller application 20 may be accessed via client applications 22, 24, 26, 28. Retrieval process 10 may be a stand alone application, or may be an applet/application/script that may interact with and/or be executed within controller application 20. Examples of client applications 22, 24, 26, 28 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), 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 applications 22, 24, 26, 28, which may be stored on storage devices 30, 32, 34, 36 coupled to client electronic devices 38, 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 devices 38, 40, 42, 44. Apparatus 100a/b may include, e.g., client electronic device 42, to interact with retrieval process 10 and/or controller application 20 to facilitate the above-noted physical movement of the object (e.g., apparatus 100a/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 computer 12, retrieval process 10, controller application 20 or combination thereof, send instructions to client application 26 that may cause a motor and/or rudder coupled to apparatus 100a/b to activate, thereby moving apparatus 100a/b (e.g., similar to that of a boat).
Storage devices 30, 32, 34, 36 may 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 devices 38, 40, 42, 44 may include, but are not limited to, a personal computer (e.g., client electronic device 38), a laptop computer (e.g., client electronic device 40), a smart phone (e.g., client electronic device 42), a notebook computer (e.g., client electronic device 44), 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 devices 38, 40, 42, 44 may each execute an operating system, examples of which may include but are not limited to, AndroidTM, Apple® iOS®, Mac® OS X®; Red Hat® Linux®, or a custom operating system.
One or more of client applications 22, 24, 26, 28 may be configured to effectuate some or all of the functionality of retrieval process 10 (and vice versa). Accordingly, retrieval process 10 may 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 applications 22, 24, 26, 28 and retrieval process 10.
One or more of client applications 22, 24, 26, 28 may be configured to effectuate some or all of the functionality of controller application 20 (and vice versa). Accordingly, controller application 20 may 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 applications 22, 24, 26, 28 and controller application 20.
Users 46, 48, 50, 52 may access computer 12 and retrieval process 10 directly through network 14 or through secondary network 18. Further, computer 12 may be connected to network 14 through secondary network 18, as illustrated with phantom link line 54. Retrieval process 10 may include one or more user interfaces, such as browsers and textual or graphical user interfaces, through which users 46, 48, 50, 52 may access retrieval process 10.
The various client electronic devices may be directly or indirectly coupled to network 14 (or network 18). For example, client electronic device 38 is shown directly coupled to network 14 via a hardwired network connection. Further, client electronic device 44 is shown directly coupled to network 18 via a hardwired network connection. Client electronic device 40 is shown wirelessly coupled to network 14 via wireless communication channel 56 established between client electronic device 40 and wireless access point (i.e., WAP) 58, which is shown directly coupled to network 14. WAP 58 may be, for example, an IEEE 802.11a, 802.11b, 802.11g, Wi-Fi, and/or BluetoothTM device that is capable of establishing wireless communication channel 56 between client electronic device 40 and WAP 58. Client electronic device 42 is shown wirelessly coupled to network 14 via wireless communication channel 60 established between client electronic device 42 and cellular network/bridge 62, which is shown directly coupled to network 14.
Some or all of the IEEE 802.11x specifications may use Ethernet protocol and carrier sense multiple access with collision avoidance (i.e., CSMA/CA) for path sharing. The various 802.11x specifications may use phase-shift keying (i.e., PSK) modulation or complementary code keying (i.e., CCK) modulation, for example. BluetoothTM is a telecommunications industry specification that allows, e.g., mobile phones, computers, smart phones, and other electronic devices to be interconnected using a short-range wireless connection.
Referring also to FIG. 2, there is shown a diagrammatic view of client electronic device 38. While client electronic device 38 is 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 process 10 may be substituted for client electronic device 38 within FIG. 2, examples of which may include but are not limited to computer 12 and/or client electronic devices 40, 42, 44.
Client electronic device 38 may include a processor and/or microprocessor (e.g., microprocessor 200) configured to, e.g., process data and execute the above-noted code/instruction sets and subroutines. Microprocessor 200 may be coupled via a storage adaptor (not shown) to the above-noted storage device 16. An I/O controller (e.g., I/O controller 202) may be configured to couple microprocessor 200 with various devices, such as keyboard 206, pointing/selecting device (e.g., mouse 208), custom device (e.g., controller 215), USB ports (not shown), and printer ports (not shown). A display adaptor (e.g., display adaptor 210) may be configured to couple display 212 (e.g., CRT or LCD monitor(s)) with microprocessor 200, while network controller/adaptor 214 (e.g., an Ethernet adaptor) may be configured to couple microprocessor 200 to the above-noted network 14 (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., apparatus 100a/b, vessel, structure, etc.) may utilize, for example, environment normalization techniques to, e.g., reduce the varying displacements and the response time between apparatus 100a/b and the target object (e.g., robotic container, “sea truck”, vessel, Unmanned Underwater Vessel (UUV), Rigid Hull Inflatable Boats (RHIBs), etc.). Apparatus 100a/b and 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. Apparatus 100a/b and 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 apparatus 100a/b. In some implementations, apparatus 100a may 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 apparatus 100a. In some implementations, apparatus 100b may 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 apparatus 100b. 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, apparatus 100a/b may 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, apparatus 100a/b may 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 apparatus 100a/b while on a parallel path alongside the ship, utilizing, e.g., a deployed bollard, to help keep apparatus 100a/b in a “fixed” position relative to the ship, while allowing apparatus 100a/b freedom 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 apparatus 100a/b. In some implementations, apparatus 100a/b may 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, apparatus 100a/b may 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, apparatus 100a/b may 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, apparatus 100a/b may be “motorized” allowing apparatus 100a/b to “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 apparatus 100a/b remains stationary at the time of engagement (e.g., when apparatus 100a/b is aligning and receiving the target object). In the example, apparatus 100a/b may but need not be parallel with the centerline of the ship, and may but need not be in an orientation that may allow apparatus 100a/b to rest against the hull of the ship during capturing. In some implementations, apparatus 100a/b may be used in the trail position on the ship. In the example, the overhead lifting device (e.g., crane) may include tethers to maintain apparatus 100a/b's alignment aft of the ship, and utilize the stern structure of the ship to maintain, e.g., the longitudinal position of apparatus 100a/b when 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 apparatus 100a/b or 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 apparatus 100a/b any may include one or more latches to secure the target object to apparatus 100a/b. Apparatus 100a/b may 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 apparatus 100a/b relatively freely. As noted above, apparatus 100a/b may 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 to FIGS. 3-16, retrieval process 10 may (e.g., via controller application 20, controller 215, client application 26, 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 process 10 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 in greater detail below, aligning at least one of the first and second gap portion may include retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, 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 process 10 (e.g., via controller application 20, controller 215, client application 26, 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 process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof). Aligning at least one of the first and second gap portion may include retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, 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 process 10 (e.g., via controller application 20, controller 215, client application 26, 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 process 10 (e.g., via controller application 20, controller 215, client application 26, 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 to FIGS. 3-16, retrieval process 10 may (e.g., via controller application 20, controller 215, client application 26, or combination thereof) align 300 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 302 by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, 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 aligned 300 and receives 302 at 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, aligning 300 the opening may include retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof) stabilizing 304 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 304 by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, 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 stabilized 304 by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof) via, at least in part, the one or more ballasts. Aligning 300 the opening may include at least one of extending 306a and retracting 306b at least one of the first and second bulkhead in at least one of a vertical and a horizontal direction by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof). Aligning 300 the opening may include at least one of rotating 306c, extending 306a and retracting 306b at least one of the first and second entrance fender by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof). Aligning 300 the opening may include retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof) navigating 308 at least one of the first and second bulkhead via at least one of a motor, an engine, and a thruster. Aligning 300 the opening may include retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof) navigating 308 at 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 prevented 310 by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, 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. Aligning 300 the opening may include retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof) aligning 312 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. 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., apparatus 100a) may be configured to capture a target object from, e.g., a body of water or other location. Apparatus 100a may comprise a first rail (e.g., rail 102) and a second rail (e.g., rail 104), where first rail 102 may be proximate to second rail 104. 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., rail 102) 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 example FIG. 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, rail 102 may 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., rail 106) and a fourth rail (e.g., rail 108). 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 rail 102 may apply equally to any of rail 104, 106, and/or 108, and vice versa as appropriate.
In some implementations, apparatus 100a may 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., apparatus 100b) may be configured to capture a target object from, e.g., a body of water or other location. For description purposes only, apparatus 100b may generally be described as a “cage”. However, the term cage need not imply any particular configuration, shape and/or material. In some implementations, apparatus 100b may comprise a first bulkhead (e.g., bulkhead 101) and a second bulkhead (e.g., bulkhead 103), where first bulkhead 101 may be proximate to second bulkhead 103. 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, bulkhead 101 may 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 bulkhead 101 may apply equally to bulkhead 103, and vice versa as appropriate.
In some implementations, apparatus 100b may 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 portion 110) may be formed between at least a portion of rail 102 and rail 104. Gap portion 110 may be configured to align and receive at least a portion of the target object as a distance between gap portion 106 and at least the portion of the target object decreases. In some implementations, a second gap portion (e.g., gap portion 112) may be formed between at least the portion of rail 102 and rail 104. In some implementations, rail 102 and rail 104 may be further configured to align and receive at least the portion of the target object with gap portion 112 as the distance between gap portion 112 and 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., vessel 200). Further assume that at least a portion of vessel 200 includes, 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 bars 202) 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 bars 202 may include materials such as steel, or any other material capable of performing any of the functions disclosed herein. In some implementations, lifting bars 202 may include a set of one or more horizontal bars that may be temporarily or permanently secured across vessel 200 using any known techniques (e.g., welding, bolting, etc.). Lifting bars 202 may be aligned and received into the bell mouth (e.g., via gap portion 110 as the distance between gap portion 110 and lifting bars 202 of vessel 200 decreases) and into the throat of apparatus 100a (e.g., via gap portion 112 as the distance between gap portion 112 and lifting bars 202 of vessel 200 decreases). An example of lifting bars 202 after being aligned and received is illustrated at FIG. 5. In FIG. 5, lifting bars 202 have been aligned and received between gap portion 110 of rail 102 and rail 104 and between gap portion 112 of rail 106 and rail 108.
In some implementations, as will be discussed in greater detail below, target object (e.g., vessel 200) need not require a lifting bar to be captured by, e.g., apparatus 100b. For instance, an opening (e.g., opening 105) may be formed between at least a portion of the first bulkhead 101 and second bulkhead 103. Opening 105, via the first and second bulkhead, may be configured to align 300 and receive 302 at least a portion of the target object as a distance between opening 105 and at least the portion of the target object decreases, wherein opening 105 (via the first and second bulkhead) may be further configured to align 300 and receive 302 at 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, apparatus 100b may include at least one entrance fender (e.g., entrance fender 107). In some implementations, entrance fender 107 may be coupled to at least one of the first and second bulkhead. For example, entrance fender 107 may be coupled to bulkhead 101 via a hinge, allowing fender 107 to rotate 306c (e.g., swing). In some implementations, entrance fenders may fully retract/close to function as a positive capture system to retain vessel 200 during retrieval operations and lifting. In some implementations, other entrance fenders (e.g., entrance fender 109) may be included. For example, entrance fender 109 may be coupled to bulkhead 103 via a hinge (or other suitable coupling technique), allowing fender 109 to rotate 306c (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 fender 107 may apply equally to entrance fender 109, and vice versa as appropriate.
In some implementations, as noted above, one or more stabilizing portions may be configured to stabilize at least rail 102 and/or rail 104. For example, the one or more stabilizing portions may include one or more portions (e.g., of apparatus 100a) 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 apparatus 100a (e.g., rail 102 and/or rail 104 and/or rail 106 and/or 108, etc.) may be temporarily or permanently coupled using any known techniques to, e.g., a cable (e.g., crane cable 206), such that vessel 200 may be lifted or otherwise moved via lifting bars 202. 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 vessel 200 may have designated lift points, lifting tethers 204 (or other lifting systems) from one or more lifting bars 202 to the lifting points may be utilized, e.g., to take the load off of lifting bars 202 and 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 vessel 200 (and lifting bars 202). For instance, assume for example purposes only that vessel 200 is +/−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 bars 202 may be received (e.g., captured), as well as the offset in riding heights, e.g., to ensure positive engagement between apparatus 100a and lifting bars 202 (via vessel 200). In some implementations, the scale of the vertical opening on the bell mouth may be reduced, as both apparatus 100a and lifting bars 202 (via vessel 200) 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 bars 202 (via vessel 200).
In some implementations, and referring at least to FIGS. 3A/B, 5, 7A and 11, at least one of a motor, an engine, and a thruster (e.g., thruster 1400) may be configured to navigate at least one above-noted rails (e.g., rails 102 and rails 104). For example, aligning and/or receiving vessel 200 (and thus lifting bars 202) may include controlling the motion (e.g., lateral, forward, backward, up, down, etc.) of apparatus 100a (and thus rail 102 and rail 104) and/or rail 102 and rail 104 separately from apparatus 100a. The motion may be controlled (e.g., automatically and/or manually via controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof), to align and receive lifting bars 202 of vessel 200 via gap portion 110 and/or gap portion 112. In some implementations, similarly as noted above, motion (e.g., lateral, forward, backward, up, down, etc.) of vessel 200 may be controlled (e.g., automatically and/or manually via controller 215) to align and receive lifting bars 202 of vessel 200 via gap portion 110 and/or gap portion 112 using any of the techniques described throughout.
In some implementations, and referring at least to FIGS. 3A/B, 5, 7B and 11, at least one of a motor, an engine, and a thruster (e.g., thruster 1400) may be configured to navigate 308 and align 312 at least one of the above-noted first bulkhead 101, second bulkhead 103, first entrance fender 107, second entrance fender 109, or combination thereof. For example, aligning 300 and/or receiving 302 vessel 200 may include controlling the motion (e.g., lateral, forward, backward, up, down, etc.) of apparatus 100b (at least one of the above-noted first bulkhead 101, second bulkhead 103, first entrance fender 107, second entrance fender 109, or combination thereof) and/or at least one of the above-noted first bulkhead 101, second bulkhead 103, first entrance fender 107, second entrance fender 109, or combination thereof separately from apparatus 100b. The motion may be controlled (e.g., automatically and/or manually via controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof), to align 300 and receive 302 any portion of vessel 200 via opening 105. In some implementations, similarly as noted above, motion (e.g., lateral, forward, backward, up, down, etc.) of vessel 200 may be controlled (e.g., automatically and/or manually via controller 215) to align 300 and receive 302 any portion of vessel 200 via opening 105 using any of the example techniques described throughout. It will be appreciated that thruster(s) 1400 may be placed internally/externally in any location coupled to apparatus 100b, 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 apparatus 100b via cabling; hydraulic and/or pneumatic pressure which may be transferred to apparatus 100b via piping/hosing, etc. It will be appreciated that apparatus 100b may locally generate the required energy to power apparatus 100b. In some implementations, the “cage” configuration of apparatus 100b need not include 6 sides/sections. For example, as can be seen from the front view of FIG. 3B, apparatus 100b may include bulkhead 101, bulkhead 103, as well as a bottom (floor) section. That is, in the example, apparatus 100b may lack a top (ceiling) section (shown as optional using dashed line). As another example, apparatus 100b may lack bulkhead 103. Other sides/sections may be optional as well without departing from the scope of the disclosure.
In some implementations, alignment 300 (e.g., control) of either apparatus 100a/b and/or vessel 200 may include, e.g., GPS, TV/computer generated visualizations, communicated magnetic headings of apparatus 100a/b and/or vessel 200, 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 apparatus 100a/b and/or vessel 200) 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 vessel 200 to align 300 and receive 302 (e.g., via retrieval process 10) vessel 200 at apparatus 100a/b. Any of the above-noted communication links may be established between the water/land/air based lifting platforms, vessel 200 and/or apparatus 100a/b to provide the information for apparatus 100a/b to manually and/or dynamically (e.g., automatically) adjust according to, e.g., the list and height characteristics of vessel 200. 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, vessel 200 and/or apparatus 100a/b to provide the information for apparatus 100a/b to manually and/or automatically align 300 (e.g., adjust) and/or receive any portion of vessel 200 via opening 105 and/or lifting bars 202 of vessel 200 via gap portion 110 and/or gap portion 112.
In some implementations, the lateral opening of the bell mouth, as shown in example FIGS. 6A and 6B, may be scaled to match the controllability/seakeeping capabilities of vessel 200 beyond the maximum width of vessel 200. 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 vessel 200 (if any). This may vary according to, e.g., the propulsion/steering system (if any as described above) selected for vessel 200 (and/or apparatus 100a). For instance, if vessel 200 includes one or more thrusters on the bow, the lateral scale of the bell mouth may be adjusted (e.g., reduced). As another example, if vessel 200 uses 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 apparatus 100a may 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 vessel 200 may 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 bars 202). The dimensions of apparatus 100 may be scalable, e.g., to match the dimensions of lifting bars 202 and/or vessel 200 and the associated weight requirements. In some implementations, the support between any of the above-noted rails may be designed to not impede vessel 200 (personnel on top of vessel 200, antennas, the upper section of vessel 200, etc.) as it moves into the above-noted throat.
In some implementations, at least one of rail 102 and rail 104 may be further configured to extend and retract. For example, and referring at least to FIGS. 6A and 6B, the width of any portion of apparatus 100a (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 apparatus 100a to 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 vessel 200. 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 at FIG. 8 and is known as a “Dutch roll”. In the example, a greater opening in the bell mouth of apparatus 100a may 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 controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof.
In some implementations, at least one of bulkhead 101 and bulkhead 103 may be further configured to at least one of extend 306a and retract 306b in at least one of a vertical and a horizontal direction. For example, and referring at least to FIGS. 6C and 6D, the width of any portion of apparatus 100b (e.g., bell mouth, throat, bulkheads, etc.) may be adjustably aligned 300 using, e.g., any known electro and/or mechanical devices (e.g., worm drive, screw jack, hinge, etc.), allowing apparatus 100b to be applicable for a variety of target vessels, in a variety of environmental conditions. In some implementations, bulkhead 101 and/or bulkhead 103 may be further configured to rotate 306c (similar to entrance fender 107). In some implementations, apparatus 100b may be constructed using multiple sections. For instance, FIG. 6C shows by example two sections along the long axis of apparatus 100b. In the example, section 1 (associated with bulkhead 101) may be fixed, while section 2 (associated with bulkhead 103) may be movable, automatically, autonomously, and/or manually (e.g., via controller application 20, controller 215, client application 26, or combination thereof), back and forth sideways, such that the width of apparatus 100b is adjustable. Once the desired width of apparatus 100b is 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. 6D shows by example three sections along the long axis of apparatus 100b. 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 extend 306a and retract 306b one or more of the above-noted bulkheads in a vertical direction, such that the height of apparatus 100b may be adjusted. For instance, FIG. 6E shows by example three sections along the long axis of apparatus 100b. 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 controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof. It will also be appreciated that any of the adjustments described throughout may be made for any dimensions of apparatus 100b (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 rail 102 and/or rail 104 (and/or rail 106 and/or rail 108). Similarly, one or more stabilizing portions may be configured to stabilize 304 at least one of the first bulkhead (e.g., bulkhead 101) and the second bulkhead (e.g., bulkhead 103). In some implementations, as another example, the one or more stabilizing portions may include one or more ballasts (e.g., ballasts 700). For instance, apparatus 100a/b may include a ballasting system as a floating system (e.g., as ballasts 700) and/or in addition to a flotation system. As an example, and in some implementations, ballasts 700 may be configured to dynamically stabilize rail 102 and/or rail 104 (and/or rail 106 and/or rail 108). For instance, and referring to example FIG. 7A, to aid in aligning and receiving the above-noted rails with the above-noted lifting bars 202, 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 apparatus 100a (and thus rails 102 and/or rail 104) to receive lifting bars 202. For example, the ballast feature may (e.g., automatically and/or manually via controller 215, retrieval process 10, controller application 20, controller 215, client application 26, 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 vessel 200 (and thus lifting bars 202) being received and/or launched.
As another example, and in some implementations, ballasts 700 may be configured to dynamically stabilize 304 at least one of bulkhead 101, bulkhead 103, entrance fender 107, and entrance fender 109. For instance, and referring to example FIG. 7B, to aid in aligning 300 and receiving 302 the above-noted portions of apparatus 100b with the above-noted vessel 200, 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 300 (e.g., adjust) the height of one or more sides of apparatus 100b (and thus bulkhead 101, bulkhead 103, entrance fender 107, and/or entrance fender 109) to receive vessel 200. For example, similar to the above discussion for adjusting/extending/retracting bulkheads, ballast 700 may (e.g., automatically, autonomously, and/or manually via controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof) similarly be lowered, raised, moved forward/backward to allow for alignment 300 (e.g., adjustment) of the height above and below the surface (e.g., water). As another example, the ballast feature may reduce alignment 300 displacement with vessel 200 (and thus bulkhead 101, bulkhead 103, entrance fender 107, and/or entrance fender 109) being received and/or launched. In some implementations, ballast 700 may be affixed internally and/or externally in any appropriate location to apparatus 100b to vary the keel depth of apparatus 100b. In some implementations, ballast 700 may be horizontally adjustable to also adjust the pitch of apparatus 100b. 
As another example, the ballast feature may be used asymmetrically, e.g., to create a list in apparatus 100a. For instance, creating a list in apparatus 100a may be used, e.g., if vessel 200 is riding at a list, to reduce the variability that may be necessary in the bell mouth. For example, with knowledge that vessel 200 is listing (e.g., from human observation and/or via the above-noted communication link used as an input to controller 215, apparatus 100a/b may reduce and/or increase buoyancy on one or more sides of apparatus 100a/b, e.g., to allow it to “complement” the list of vessel 200 and further reducing apparatus 100a/b/vessel 200 displacements at the throat of apparatus 100a/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 apparatus 100a/b and vessel 200 when apparatus 100a/b receives vessel 200. In some implementations, the bumper may be detachable, e.g., to allow vessel 200 to exit apparatus 100a/b via either end and/or side.
In some implementations, and referring at least to FIG. 7A, ballasts 700 may include one or more structures on the water as well as structures underwater to provide ballast and subdued apparatus 100a reactions (e.g., alignment) through interfacing with the water. For instance, in some implementations, ballasts 700 may include a cylinder (e.g., a cylindrical shape) with one or more optional slots (e.g., slots 1300). The slots may continue through ballasts 700 or the slots may only continue through a portion of ballasts 700 (e.g., 3⁄4 of the way through ballasts 700). In the example, the encircled water mass within the underwater cylinder of ballasts 700 may provide a dampening effect on apparatus 100a. 
In some implementations, a restraint (e.g., catch) may be configured to, after at least the portion of vessel 200 (e.g., lifting bars 202) is proximate to the catch, prevent at least lifting bars 202 from moving in one or more directions. For example, and referring at least to FIG. 8, one or more catches (e.g., latch 800), may be used, e.g., to control vessel 200 once lifting bars 202 are received by gap portion 110 and/or gap portion 112. In some implementations, latch 800 may be designed with structural support in tension and/or compression, and may but need not hang up on lifting bar 202 when latch 800 is fully compressed. An example of a latch (e.g., latch 900) being compressed may be shown at FIG. 9. In the example, apparatus 100a (e.g., via rail 106) may include a backstop 902 to prevent lifting bar 202 from exiting apparatus 100a after being aligned and received in gap portion 110 and/or gap portion 112 and 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 to FIG. 8, an example design of latch 800 is shown. In the example, latch 800 may go around rail 106 and/or rail 108 and may provide support in both tension and compression. In some implementations, when latch 800 is laying down flat, latch 800 may not interfere with lifting bar 202. Latch 800 may be temporarily and/or permanently coupled to, e.g., any portion of apparatus 100a (e.g., rail 106 and rail 108) and/or similarly to any portion of vessel 200 (e.g., lifting bar 202).
In some implementations, latch 800 may be controlled (e.g., automatically and/or manually via controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof) from the above-noted larger vessel. Latch 800 may release mechanically, e.g., to allow vessel 200 to back out, and/or the above-noted width adjustment of the throat/mouth of apparatus 100a may have sufficient capability to widen and release rail 106 and/or rail 108. It will be appreciated that other configurations of latch 800 may be used without departing from the scope of the disclosure.
In some implementations, apparatus 100a and/or latch 800 may include 3 latches per rail (e.g., 2 capture latches and one release latch) that may allow vessel 200 to leave control of apparatus 100a, e.g., when there is enough space to exit forward out of apparatus 100a. In some implementations, latch 800 may 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 vessel 200 from 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 apparatus 100a may act as a bumper to protect the above-noted large vessel from possible damage. The sensors may be operatively connected to controller 215, retrieval process 10, controller application 20, client application 26, or combination thereof.
In some implementations, at least the portion of target object 200 may be prevented 310 by retrieval process 10 (e.g., via controller application 20, controller 215, client application 26, or combination thereof) from moving in one or more directions via a restraint after at least the portion of target object 200 is proximate to the restraint. For example, and referring at least to FIG. 9B, a restraint (e.g., latch 900) may be in apparatus 100b. For instance, once target object 200 enters apparatus 100b sufficiently, 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 to FIG. 9C, restraints may include, e.g., a bag (e.g., pneumatic bag), such as bag 901, additional padding (e.g., padding 903), a rigid/flexible adaptable capture mechanism (mechanism 905), or combination thereof. In some implementations, the restraints may be affixed to the sides of apparatus 100b, the top and bottom of apparatus 100b, as well as any other location where vessel 200 may contact apparatus 100b during/after capture. In some implementations, during actuation, mechanism 905 may extend inward (e.g., from the sides of bulkhead 101/103). In some implementations, each restraint may be actuated simultaneously, they may serve to retain, and/or center vessel 200 within apparatus 100b, 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 mechanism 905 may 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 mechanism 905 may be deployed through various mechanical designs, powered by, e.g., hydraulic, pneumatic actuators or electric actuators (e.g., via controller application 20, controller 215, client application 26, or combination thereof). In some implementations, capture mechanism 905 may be deployed by bag 901. In some implementations, the inflation of bag(s) 901 may be a pressurized gas, which may be beneficial for the capture operation assisting in the recovery of vessel 200. In some implementations, the bag(s) 901 may be filled with other materials (e.g., sea water). In some implementations, capture mechanism 905 may consist of a pair of pneumatic bags. In some implementations, such a configuration of the bags may ensure that a) the target object (vessel 200) is centered prior to significant reduction in the keel depth of apparatus 100b, b) vessel 200 is positively retained prior to significant reduction in the keel depth of apparatus 100b, and c) vessel 200 is stabilized within apparatus 100b prior to significant reduction in the keel depth of apparatus 100b to reduce induced listing of vessel 200 during the lifting operation.
In some implementations, apparatus 100a/b may be designed to be collapsible and/or foldable for ready storage. For example, apparatus 100a/b may 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 example FIG. 10, vessel 200 may include a “sea truck”, such as sea truck 1000. In the example, and referring at least to FIG. 11, rail 102, rail 104, rail 106, and/or rail 108 may 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 truck 1000. In some implementations, lifting bars 202 may connect, e.g., to the top lifting holes of propulsion and bow units of sea truck 1000, which may allow sea truck 1000 lifting holes to remain open for use. In some implementations, lifting bars 202 may be integrated internally, e.g., to the bow and stern units of sea truck 1000 and 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 bars 202 such that, e.g., if lifting bars 202 were attached to the container, lifting bars 202 may remain ISO sized lifting holes on, e.g., the top surface of lifting bars 202 for 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 rail 102 and/or rail 104, lifting bars 202 may 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 to FIG. 12, a bottom adapter (e.g., bottom adapter 1200), 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 example FIG. 13.
In some implementations, bottom adapter 1200 may be configured to fold into a smaller space for stowage, an example of which is shown at least at FIG. 14, where bottom adapter 1200 is both deployed (in 1200a) and stowed (in 1200b). For example, bottom adapter 1200 may 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, apparatus 100a may be used to retrieve sea truck 1000 with attached bottom adapter 1200.
In some implementations, the optional bottom adapter 1200 may be incorporated into apparatus 100b. For example, and referring to FIG. 15, as apparatus 100b may be used to capture target objects with various shapes (e.g., flat bottom keels, round bottom keels, “V”/“U” bottom keels, etc.), bottom adapter 1200 may enable apparatus 100b to allow all of these target objects to be retrieved with a single structure type. In some implementations, bottom adapter 1200 may be rigid and inserted into apparatus 100b prior 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 adapter 1200 may (e.g., automatically and/or manually via controller 215, retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof) vary its shape as appropriate. It will be appreciated that bottom adapter 1200 may be a removable or non-removable part of apparatus 100b without departing from the scope of the disclosure.
In some implementations, and referring at least to FIG. 16, apparatus 100b may include an internal hydraulic thrust system (e.g., hydraulic thrust system 1600). In some implementations, hydraulic thrust system 1600 may 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 apparatus 100b; and (4) exit out the rear of apparatus 100b. Hydraulic thrust system 1600 may 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 apparatus 100b, vessel 200, and/or the above-noted lifting platforms. Hydraulic thrust system 1600 may be reversible and/or adjustable depth(s).
It will be appreciated that apparatus 100a/b (and/or vessel 200) may but need not include retrieval process 10, controller application 20, controller 215, client application 26, or combination thereof, to practice the above disclosure. For example, apparatus 100a/b and/or vessel 200 may merely by their aesthetical design aid in aligning 300 and receiving 302, e.g., lifting bars 202 into the bell mouth (e.g., via gap portion 110 as the distance between gap portion 110 and lifting bars 202 of vessel 200 decreases) and into the throat of apparatus 100a (e.g., via gap portion 112 as the distance between gap portion 112 and lifting bars 202 of vessel 200 decreases), vessel 200 entering into the bell mouth 105 of apparatus 100b (e.g., via bulkhead 101/103 and/or entrance fender 107/109 as the distance between opening 105 and vessel 200 decreases). As such, the use of retrieval process 10, controller application 20, controller 215, client application 26, 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 apparatus 100a may be combined with any elements and aspects discussed pertaining to apparatus 100b, and vice versa. For example, the entrance fender of apparatus 100b may be used with apparatus 100a. As another example, the rails of apparatus 100a may be used with apparatus 100b. As such, the discussion of any particular elements and aspects being used with either apparatus 100a/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 apparatus 100a may apply equally to apparatus 100b, and vice versa as appropriate.
The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps (not necessarily in a particular order), operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps (not necessarily in a particular order), operations, elements, components, and/or groups thereof.
The corresponding structures, materials, acts, and equivalents of all means or step plus function elements that may be in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present disclosure has been presented for purposes of illustration and description, but is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications, variations, and any combinations thereof will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the disclosure. The implementation(s) were chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various implementation(s) with various modifications and/or any combinations of implementation(s) as are suited to the particular use contemplated.
Having thus described the disclosure of the present application in detail and by reference to implementation(s) thereof, it will be apparent that modifications, variations, and any combinations of implementation(s) (including any modifications, substitutions, variations, and combinations thereof) are possible without departing from the scope of the disclosure defined in the appended claims.

## Claims

1. An apparatus configured to capture a target object from a body of water comprising:
a first bulkhead, wherein the first bulkhead includes a first wall that forms a first outer side of a hull;
a second bulkhead proximate to the first bulkhead, wherein the second bulkhead includes a second wall that forms a second outer side of the hull;
an opening formed between at least a portion of the first and second bulkhead, the first and second bulkhead configured to align the opening with 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 first and second bulkhead is further configured to align the opening with and receive at least the portion of the target object while the target object is in the body of water, wherein the first bulkhead is configured to increase and decrease at least one of a height and a width of the hull in parallel relative to the second bulkhead.

2. The apparatus of claim 1 further comprising one or more stabilizing portions configured to stabilize the first and second bulkhead.

3. The apparatus of claim 2 wherein the one or more stabilizing portions include one or more ballasts.

4. The apparatus of claim 3 wherein the one or more ballasts is configured to dynamically stabilize the first and second bulkhead.

5. The apparatus of claim 1 further comprising one or more portions configured to receive one or more cables operatively connected to a platform.

6. The apparatus of claim 1 further comprising at least one entrance fender coupled to at least one of the first and second bulkhead.

7. The apparatus of claim 6 wherein the at least one entrance fender is configured to at least one of rotate, extend and retract.

8. The apparatus of claim 1 further comprising at least one of a motor, an engine, and a thruster configured to navigate the first and second bulkhead.

9. The apparatus of claim 1 further comprising a restraint 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.

10. An apparatus configured to capture a target object from a body of water comprising:
a first bulkhead, wherein the first bulkhead includes a first wall that forms a first outer side of a hull;
a second bulkhead proximate to the first bulkhead, wherein the second bulkhead includes a second wall that forms a second outer side of the hull;
a first entrance fender coupled to the first bulkhead;
a second entrance fender coupled to the second bulkhead;
an opening formed between at least a portion of the first and second bulkhead and the first and second entrance fender, the first and second bulkhead configured to align the opening with 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 first and second bulkhead is further configured to align the opening with and receive at least the portion of the target object while the target object is in the body of water, wherein the first bulkhead is configured to increase and decrease at least one of a height and a width of the hull in parallel relative to the second bulkhead.

11. The apparatus of claim 10 further comprising one or more stabilizing portions configured to stabilize at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender.

12. The apparatus of claim 11 wherein the one or more stabilizing portions include one or more ballasts.

13. The apparatus of claim 12 wherein the one or more ballasts is configured to dynamically stabilize at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender.

14. The apparatus of claim 12 wherein the one or more ballasts includes a cylinder with one or more slots.

15. The apparatus of claim 10 further comprising one or more portions configured to receive one or more cables operatively connected to a platform.

16. The apparatus of claim 10 wherein at least one of the first and second entrance fender is configured to at least one of rotate, extend and retract.

17. The apparatus of claim 10 further comprising at least one of a motor, an engine, and a thruster configured to navigate at least one of the first bulkhead, second bulkhead, first entrance fender, and second entrance fender.

18. The apparatus of claim 10 further comprising a restraint 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.

19. A method for capturing a target object from a body of water comprising:
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, wherein the first bulkhead includes a first wall that forms a first outer side of a hull and wherein the second bulkhead includes a second wall that forms a second outer side of the hull;
receiving, at the opening, at least the portion of the target object 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, is aligned and receives at least the portion of the target object while the target object is in the body of water; and
increasing and decreasing at least one of a height and a width of the hull by increasing and decreasing at least one of the height and the width of the first bulkhead in parallel relative to the second bulkhead.

20. The method of claim 19 wherein aligning the opening includes stabilizing at least one of the first and second bulkhead using one or more ballasts.

21. The method of claim 20 wherein at least one of the first and second bulkhead are dynamically stabilized via, at least in part, the one or more ballasts.

22. The method of claim 19 wherein aligning the opening includes navigating at least one of the first and second bulkhead via at least one of a motor, an engine, and a thruster.

23. The method of claim 19 further comprising preventing, via a restraint, at least the portion of the target object from moving in one or more directions after at least the portion of the target object is proximate to the restraint.

24. The method of claim 19 wherein aligning the opening includes 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.