Patent Publication Number: US-11034417-B2

Title: Floating catamaran production platform

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This is a continuation of U.S. patent application Ser. No. 15/786,158, filed 17 Oct. 2017 (issued as U.S. Pat. No. 10,486,779 on 26 Nov. 2019), which is a continuation in part of U.S. patent application Ser. No. 15/295,116, filed 17 Oct. 2016 (issued as U.S. Pat. No. 10,279,872 on 7 May 2019), which claims benefit of U.S. Provisional Patent Application Ser. No. 62/176,918, filed 16 Oct. 2015; U.S. Provisional Patent Application Ser. No. 62/264,685, filed 8 Dec. 2015; and U.S. Provisional Patent Application Ser. No. 62/360,120, filed 8 Jul. 2016, each of which is hereby incorporated herein by reference and priority of/to each of which is hereby claimed. 
     U.S. patent application Ser. No. 15/786,158, filed 17 Oct. 2017 (issued as U.S. Pat. No. 10,486,779 on 26 Nov. 2019) claims benefit of U.S. Provisional Patent Application Ser. No. 62/409,683, filed 18 Oct. 2016, which is hereby incorporated herein by reference and priority of/to which is hereby claimed. 
    
    
     STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT 
     Not applicable 
     REFERENCE TO A “MICROFICHE APPENDIX” 
     Not applicable 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a catamaran marine oil drilling production platform apparatus or system. More particularly, the present invention relates to an improved catamaran oil production apparatus or system that employs spaced apart or catamaran hulls, each of the hulls supporting a truss or frame that spans between the hulls at spaced apart positions wherein one or both of the frames supports an oil drilling or production platform and risers that connect between the seabed and one or both platforms. Even more particularly, the present invention relates to an improved oil production platform apparatus or system for use in a marine environment, wherein spaced apart frames are connected to vessels or hulls in a configuration that spaces the hulls or vessels apart. In one embodiment, the first frame is connected to a first of the hulls with the universal joint and to the second hull with a hinged connection, the second frame connecting to the second hull with a universal joint and to the first hull with a hinged connection. In another embodiment, an oil production facility is supported upon one of the frames, or separate production facilities are supported on different frames. In an alternate embodiment, two gantry structures are supported on two barges or hulls. Each gantry structure provides a large deck area to support production equipment or accommodations to hang risers. The gantries can be supported upon the barges using alternating pivotal and universal joint connections. The system can be moored on location. One or both of the hulls can be used to store oil that flows to the hull or hulls via the risers. In another embodiment, the barges and gantries are connected using roll releases only at the hinged connections, providing for no relative motion between the gantries. This alternate embodiment allows for any number of gantries to be connected to the barge. 
     2. General Background of the Invention 
     In general, devices that employ a pair of spaced apart hulls have been patented. Additionally, many marine lifting patents have been issued to Applicant. These and other possibly relevant patents are contained in the following table, the order of listing being of no significance, each of which is hereby incorporated herein by reference. 
     
       
         
           
               
               
               
             
               
                 TABLE 1 
               
               
                   
               
               
                   
                   
                 ISSUE DATE 
               
               
                 PATENT NO. 
                 TITLE 
                 MM-DD-YYYY 
               
               
                   
               
             
            
               
                 485,398 
                 Apparatus for Raising Sunken Vessels 
                 11-01-1892 
               
               
                 541,794 
                 Apparatus for Raising Sunken Vessels 
                 06-25-1895 
               
               
                 1,659,647 
                 Sea Crane 
                 02-21-1928 
               
               
                 4,714,382 
                 Method and Apparatus for the Offshore Installation of 
                 12-22-1987 
               
               
                   
                 Multi-Ton Prefabricated Deck Packages on Partially 
               
               
                   
                 Submerged Offshore Jacket Foundations 
               
               
                 5,607,260 
                 Method and Apparatus for the Offshore Installation of 
                 03-04-1997 
               
               
                   
                 Multi-Ton Prefabricated Deck Packages on Partially 
               
               
                   
                 Submerged Offshore Jacket Foundations 
               
               
                 5,609,441 
                 Method and Apparatus for the Offshore Installation of 
                 03-11-1997 
               
               
                   
                 Multi-Ton Prefabricated Deck Packages on Partially 
               
               
                   
                 Submerged Offshore Jacket Foundations 
               
               
                 5,662,434 
                 Method and Apparatus for the Offshore Installation of 
                 09-02-1997 
               
               
                   
                 Multi-Ton Prefabricated Deck Packages on Partially 
               
               
                   
                 Submerged Offshore Jacket Foundations 
               
               
                 5,800,093 
                 Method and Apparatus for the Offshore Installation of 
                 09-01-1998 
               
               
                   
                 Multi-Ton Packages Such as Deck Packages, Jackets, and 
               
               
                   
                 Sunken Vessels 
               
               
                 5,975,807 
                 Method and Apparatus for the Offshore Installation of 
                 11-02-1999 
               
               
                   
                 Multi-Ton Packages Such as Deck Packages and Jackets 
               
               
                 6,039,506 
                 Method and Apparatus for the Offshore Installation of 
                 03-21-2000 
               
               
                   
                 Multi-Ton Packages Such as Deck Packages and Jackets 
               
               
                 6,149,350 
                 Method and Apparatus for the Offshore Installation of 
                 11-21-2000 
               
               
                   
                 Multi-Ton Packages Such as Deck Packages and Jackets 
               
               
                 6,318,931 
                 Method and Apparatus for the Offshore Installation of 
                 11-20-2001 
               
               
                   
                 Multi-Ton Packages Such as Deck Packages and Jackets 
               
               
                 6,364,574 
                 Method and Apparatus for the Offshore Installation of 
                 04-02-2002 
               
               
                   
                 Multi-Ton Packages Such as Deck Packages and Jackets 
               
               
                 7,527,006 
                 Marine Lifting Apparatus 
                 05-05-2009 
               
               
                 7,845,296 
                 Marine Lifting Apparatus 
                 12-07-2010 
               
               
                 7,886,676 
                 Marine Lifting Apparatus 
                 02-15-2011 
               
               
                 8,061,289 
                 Marine Lifting Apparatus 
                 11-22-2011 
               
               
                 8,240,264 
                 Marine Lifting Apparatus 
                 08-14-2012 
               
               
                 8,683,872 
                 Test Weight 
                 04-01-2014 
               
               
                 8,960,114 
                 Marine Lifting Apparatus 
                 02-24-2015 
               
               
                 8,985,040 
                 Marine Lifting Apparatus 
                 03-24-2015 
               
               
                 9,003,988 
                 Marine Lifting Apparatus 
                 04-14-2015 
               
               
                   
               
            
           
         
       
     
     The following are hereby incorporated herein by reference: U.S. patent application Ser. No. 14/686,389, filed 14 Apr. 2015 (published as US Patent Application Publication No. 2015/0291267 on 15 Oct. 2015), which is a continuation of U.S. patent application Ser. No. 13/641,020, filed 22 Feb. 2013 (issued as U.S. Pat. No. 9,003,988 on 14 Apr. 2015), which is a 35 U.S.C. 371 national stage entry application of International Patent Application Serial No. PCT/US2010/031037, filed 14 April 2010 (published as International Publication No. WO 2011/129822 on 20 Oct. 2011), which is a continuation-in-part of U.S. patent application Ser. No. 12/337,305, filed 17 Dec. 2008 (issued as U.S. Pat. No. 7,886,676 on 15 Feb. 2011), which application claimed priority of U.S. Provisional Patent Application Ser. No. 61/014,291, filed 17 Dec. 2007, each of which is hereby incorporated herein by reference. 
     Also incorporated herein by reference are the following: U.S. patent application Ser. No. 13/584,415, filed on 13 Aug. 2012; U.S. patent application Ser. No. 13/028,011, filed on 15 Feb. 2011 (published as US Patent Application Publication No. 2011/0197799 on 18 Aug. 2011 and issued as U.S. Pat. No. 8,240,264 on 14 Aug. 2012); and U.S. patent application Ser. No. 12/760,026, filed 14 Apr. 2010 (Published as US Patent Application Publication No. 2010/0263581 on 21 Oct. 2010). 
     Also incorporated herein by reference are the following: U.S. patent application Ser. No. 15/295,116, filed 17 Oct. 2016; International Patent Application Serial No. PCT/US2016/057300, filed 17 Oct. 2016; International Patent Application Serial No. PCT/US16/57421, filed 17 Oct. 2016; U.S. Provisional Patent Application Ser. No. 62/176,918, filed 16 Oct. 2015; U.S. Provisional Patent Application Ser. No. 62/264,685, filed 8 Dec. 2015; and U.S. Provisional Patent Application Ser. No. 62/360,120, filed 8 Jul. 2016, each of which is hereby incorporated herein by reference. 
     BRIEF SUMMARY OF THE INVENTION 
     The present invention provides an improved catamaran oil production and/or oil drilling apparatus that employs first and second spaced apart vessels or hulls. The vessels can be barges, dynamically positioned marine vessels, other floating hulls or the like. 
     A first frame, gantry structure, or truss spans between the hulls at a first position. A second frame, gantry structure, or truss spans between the hulls at a second position. The first and second positions are spaced apart so that each frame can move independently of the other frame, notwithstanding wave action acting upon the hulls. The gantry structures provide large working space to support oil and gas production, quartering, gas compression as well as re-injection and water injection. 
     The first of the frames or trusses can connect to the first hull with a universal joint and to the second hull with a hinged connection. The second frame can connect to the second hull with a universal joint and to the first hull with a hinged connection. The catamaran hull arrangement can provide longitudinal flexibility in a quartering sea state due to the unique universal joint and hinge placement between the frames or trusses and the hulls or barges. 
     In one embodiment, one of the frames extends upwardly in a generally inverted u-shape that provides space under the frame and in between the hulls for enabling a marine vessel to be positioned in between the hulls and under the frames. The space in between the hulls and under the frames can also be used as clearance for elevating an object to be salvaged from the seabed to a position next to or above the water&#39;s surface. In a plan view, each frame can be generally triangular in shape. The frames can each be a truss or of a truss configuration. 
     In another embodiment, dynamically positioned vessels are controlled from a single computer, single locale or by a single bridge or pilot. This specially configured arrangement enables the use of two class one (1) dynamically positioned vessels to be used to form a new vessel which is classified as a class two (2) dynamically positioned (DP) vessel. The method and apparatus of the present invention allows for the structural coupling of two existing vessels (ships, supply boats etc.). The vessels provide a structural foundation for the gantry system for lifting operations as well as personnel housing, propulsion for combined system travel and position keeping through the use of dynamic positioning. 
     Through the integration of two vessels with existing propulsion and dynamic positioning systems to form a single vessel/system, the performance of the propulsion and dynamic positioning systems for the integrated vessel/system is superior. This arrangement provides vessels of one class of DP system such as DP class 1. However, with the method and apparatus of the present invention, a new vessel will have a DP system of a higher class such as DP 2 as a result of being combined/integrated together to form a single system. The performance of the propulsion system for the combined system of the present invention will also be superior when compared to the performance of the individual vessels. Superior in this regard means that the combined system will have multiple independent engine rooms and fuel supplies which provides greater propulsion redundancy. The loss of a main engine room due to flood or fire, or the contamination of an engine room fuel supply on one of the vessels will no longer result in the loss of propulsion for the combined system. 
     Similarly, steerage for the combined system can still be achieved given the loss of steerage (rudder or equivalent system) on one of the individual vessels. 
     All of the above make the performance of the combined system superior to the performance of the existing individual systems without fundamental change or modification to the individual vessels, i.e. it is the combining of the vessels through the use of gantries which are enabled by the Bottom Feeder technology which leads to the performance improvements. 
     The “quality” of a dynamic positioning system can be measured via robustness of the system and capability. Robustness of the system is a measure of how many components within the DP system can fail and the DP system remain able to maintain station keeping capabilities. The international standard for this is to assign a rating or classification to the DP system. There are three DP ratings: Class 1, Class 2 and Class 3. Higher or other classes of DP vessels can have greater degrees of design redundancy and component protection. Through the integration of two lower class vessels, higher levels of component and system redundancy automatically result. The ability of the system to maintain a selected station within a given set of wind, wave and current conditions is generally referred to as “capability”. The higher the capability, the worse sea conditions can be tolerated and stay on location. Capability is in turn a function of thruster horsepower (or equivalent), numbers of thrusters and disposition (location) of thrusters around the vessel which will influence a thruster&#39;s ability to provide restoring force capability. Through the integration of two vessels of a given capability, increased capabilities will result since (a) there are now more thrusters in the combined system, and (b) the thrusters have a much better spatial distribution which means that the thrusters can provide a greater restoring capability. Further, the capability of the DP system will be superior even given the loss of system component(s) for these same reasons. Damaged system capability is also another recognized measure of DP system quality. 
     The present invention includes a method of lifting a package in a marine environment, comprising the steps of providing first and second vessels, spanning a first frame between the vessels, spanning a second frame between the vessels, spacing the frames apart and connecting the frames to the vessels in a configuration that spaces the vessels apart, connecting the first frame to the first vessel with a universal joint and to the second vessel with a hinged connection, connecting the second frame to the second vessel with a universal joint, and to the first vessel with a hinged connection, and supporting personnel housing on a said frame. 
     In one embodiment, one or both vessels is preferably dynamically positioned. 
     In one embodiment, the dynamic positioning functions of each vessel can be controlled from a single pilot house. 
     In one embodiment, the first frame is preferably a truss. 
     In one embodiment, the second frame is preferably a truss. 
     In one embodiment, further comprising the step of controlling the position of each vessel preferably with an electronic positioning device. 
     In one embodiment, further comprising the step of controlling the position of each vessel preferably with a computer. 
     In one embodiment, wherein the hinged connection preferably includes multiple pinned connections. 
     In one embodiment, further comprising the step of extending the first frame preferably much wider at one end portion than at its other end portion. 
     In one embodiment, further comprising the step of extending the second frame preferably much wider at one end portion than at its other end portion. 
     In one embodiment, a single computer preferably controls the functions of both vessels. 
     In one embodiment, the dynamic positioning functions of each vessel are preferably controlled by a single pilot. 
     In one embodiment, the dynamic positioning functions of at least one vessel preferably include thruster functions, steering functions and propulsion functions. 
     In one embodiment, the dynamic positioning functions of both vessels preferably include thruster functions, steering functions and propulsion functions. 
     In one embodiment, each boat is preferably a work boat having a bow portion with a pilot house, preferably a deck portion behind the pilot house, a load spreader platform preferably attached to the deck portion and wherein the first and second frames are preferably mounted on the load spreader platform. 
     In one embodiment, each boat is preferably a work boat having a bow portion with a pilot house, preferably a deck portion behind the pilot house, one or more load spreader platforms preferably attached to the deck portion and wherein the first and second frames are preferably mounted on the one or more load spreader platforms. 
     In another embodiment, a catamaran oil production apparatus can be used in a marine environment and wherein one or both frames supports a production platform though not supported simultaneously by both frames or trusses. The apparatus can employ two spaced apart barges or hulls or vessels. 
     The gantry structures provide a large working space to support oil and gas production, quartering, gas compression and re-injection and water injection. 
     One or more production risers can be provided that each run from subsea wells to the surface, suspended from one or both gantries or from one or both hulls. 
     One or more gas injection risers can be provided that each run from the surface, suspended from one or both gantries or from one or both hulls to subsea gas injection wells. 
     One or more water injection risers can be provided that each run from the surface suspended from one or both gantries or from one or both hulls to subsea water injection wells. 
     Two supporting hulls can be based in existing barges or support vessels or new custom built barges or support vessels. 
     The system of the present invention can be positioned on a station by either spread mooring, taut leg mooring or dynamic positioning. 
     The supporting hulls or vessels can provide oil and condensate storage. The produced oil and condensate can be stored in an attending floating storage and offloading tanker via a flexible hose connection. The system can leave the construction facility fully completed and commissioned. 
     In another embodiment, the barges and gantries are connected using roll releases only at the hinged connections, providing for no relative motion between the gantries. This alternate embodiment allows for any number of gantries to be connected to the barge. 
     In one embodiment, each of the frames preferably provides a space under the frame and in between the barges that preferably enables a package to be lifted and/or a marine vessel to be positioned in between the barges and under the frames. In this fashion, an object that has been salvaged from the seabed can preferably be placed upon the marine vessel that is positioned in between the barges and under the frames. 
     In one embodiment, one or more slings can be provided that preferably connect between a frame and a hull. The connection of each frame to a hull opposite the universal joint can be preferably a pinned or a hinged connection. 
     The system of the present invention can be mooring using a spread mooring system or dynamic positioning (DP). The spread mooring can be achieved using a wide range in number of mooring lines (e.g., from 4 to 16 individual lines). The mooring lines can be constructed from all steel wire, all steel chain, a combination of steel wire and steel chain, a combination of steel wire and clump weights, a combination of steel wire, steel chain and clump weights, a combination of steel wire and fiber rope, or a combination of steel chain and fiber rope. 
     Each gantry can have two wide sides (i.e., no pin-to-pin in either gantry), which locks the gantries rigidly to the barges in pitch motions but prevents any relative motions between the gantries. This arrangement allows for piping to be easily run between two gantries. In this embodiment there can be more than two (2) gantries. 
     In the case where there is a combination of pinned connection universal joints, there is relative motion between the gantries. In such a case, flexible high pressure hoses can be preferably used to connect oil and gas production and compression equipment located on the two gantries. 
    
    
     
       BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS 
       For a further understanding of the nature, objects, and advantages of the present invention, reference should be had to the following detailed description, read in conjunction with the following drawings, wherein like reference numerals denote like elements and wherein: 
         FIG. 1  is an elevation view of a preferred embodiment of the apparatus of the present invention; 
         FIG. 2  is a plan view of a preferred embodiment of the apparatus of the present invention; 
         FIG. 3  is a perspective view of a preferred embodiment of the apparatus of the present invention; 
         FIG. 4  is a perspective view of a preferred embodiment of the apparatus of the present invention; 
         FIG. 5  is a perspective view of a preferred embodiment of the apparatus of the present invention wherein each frame supports a crew quarters, hotel or multi-unit housing or dwelling; 
         FIG. 6  is a partial perspective view of a preferred embodiment of the apparatus of the present invention wherein the hulls are removed for clarity; 
         FIG. 7  is a partial plan view of a preferred embodiment of the apparatus of the present invention wherein the hulls are removed for clarity; 
         FIG. 8  is a partial elevation view of a preferred embodiment of the apparatus of the present invention wherein the hulls and crew quarters are removed for clarity; 
         FIG. 9  is a schematic diagram of one embodiment of the method and apparatus incorporating a combined vessel DP system; 
         FIG. 10  is a schematic diagram of another embodiment of the method and apparatus incorporating a combined vessel propulsion and steerage system; 
         FIG. 11  is a perspective view of an alternate embodiment of the apparatus of the present invention; 
         FIG. 12  is a perspective view of an alternate embodiment of the apparatus of the present invention; 
         FIG. 13  is a partial perspective view of an alternate embodiment of the apparatus of the present invention; 
         FIG. 14  is a diagram of an alternate embodiment of the apparatus of the present invention showing top side optional arrangements; 
         FIG. 15  is a perspective view of another embodiment of the apparatus of the present invention showing an alternate arrangement having utility in hostile marine environments such as the North Sea area; 
         FIG. 16  is a perspective view of another embodiment of the apparatus of the present invention showing an alternate arrangement having utility in the hostile marine environments such as North Sea area; 
         FIG. 17  is a plan view of an alternate embodiment of the apparatus of the present invention; 
         FIGS. 18-20  are perspective views of another embodiment of the apparatus of the present invention showing flexible hoses connecting production equipment located on two separate gantries; and 
         FIGS. 21-23  are perspective views of another embodiment of the apparatus of the present invention showing a single large gantry that preferably supports all of the production equipment, accommodations and risers, and a second structural-only gantry to provide structural continuity. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
       FIGS. 1-8  show preferred embodiments of the apparatus of the present invention designated generally by the numeral  10 . Marine drilling or production platform  10  provides a pair of spaced apart vessels or hulls  11 ,  12 . Hulls  11 ,  12  can be barges, dynamically positioned vessels, or any other buoyant structures. A pair of frames  13 ,  14  are provided, each frame  13 ,  14  preferably spanning between the vessels  11 ,  12 . Each frame  13 ,  14  preferably connects to one vessel  11  or  12  with a universal joint (and not a hinge) and to the other hull  11  or  12  with a hinged or pinned connection. In  FIGS. 2 and 3 , hull or vessel  11  connects to forward frame  13  with universal joint connection  16 . Hull or vessel  11  connects to aft frame  14  with hinge or pivotal connection  15 . Vessel or hull  12  connects to forward frame  13  with hinge or pivotal connection  17 . Vessel or hull  12  connects to aft frame  14  with universal joint connection  18 . 
     In addition to the connections  15 ,  16 ,  17 ,  18 , an interface, such as a deck beam or beams, can be provided on the upper deck  21 ,  22  of each hull  11 ,  12 . The interface can be a load spreader platform between the frames  13 ,  14  and the vessels  11 ,  12 . For example, vessel  11  is provided with deck beams  19 ,  20  that form an interface between each of the frames  13 ,  14  and the barge or vessel  11 . Deck beams  19 ,  20  also provide an interface between each of the frames  13 ,  14  and the vessels or barges  11 ,  12 . Multiple such beams  19 ,  20  can be used to form a load spreader platform  23 ,  24 ,  25 ,  26 . 
     Each of the frames  13 ,  14  can be in the form of a truss as shown in  FIGS. 6-8 . The frames  13 ,  14  can be similarly configured as seen in the drawings. Each frame  13 ,  14  can be in the form of a truss having longitudinal horizontal members  50 ,  51 ,  52 ,  53 . Vertical members  54  connect one longitudinal horizontal member  50 - 53  to another longitudinal horizontal member  50 - 53  (see  FIGS. 6-8 ). Posts  56 ,  57  connect to upper longitudinal horizontal members  50 ,  51  with diagonal members  55 . The lower end of post  56  preferably attaches to universal joint  16 ,  18 . 
     Cross bracing  58  can be provided such as spanning between the rectangular portions defined by upper and lower horizontal members  51 ,  52  and vertical members  54  (see  FIG. 8 ). Cross bracing at  58  can also be provided between upper horizontal members  50 ,  51  (see  FIGS. 6-7 ). 
     Upper transverse horizontal members  59  span between upper longitudinal members  50 ,  51 . Similarly, lower transverse horizontal members  60  span between lower longitudinal members  52 ,  53 . Horizontal beam  61  attaches to pivots or pivotal connections  64 ,  65  is seen in  FIG. 6 . Diagonal beams or supports  62  extend from beam  61  to lower longitudinal member  52  and to lower longitudinal member  53  (see  FIGS. 6-7 ). Cross bracing  63  is provided between beam  61  and lower longitudinal members  52 ,  53 . Post  57  can support a building  30 , at least providing part of the support. Post  57  can support crane  36 . 
     Hulls or vessels  11 ,  12  can be dynamically positioned. Dynamically positioned vessels  11 ,  12  can be used to support frames  13 ,  14 . Dynamically positioned vessels  11 ,  12  are commercially available and are known. Dynamic positioning systems for vessels are commercially available. An example is the Kongsberg Simrad SBP10 work station. Such vessels  11 ,  12  can maintain a position even without the use of anchors. Dynamic positioning is a computer controlled system to automatically maintain a vessel&#39;s position and heading by preferably using the vessel&#39;s own propellers and/or thrusters. Position reference sensors, combined with wind sensors, motion sensors and gyro compasses, provide information to the computer pertaining to the vessel&#39;s position and the magnitude and direction of the environmental forces affecting its position. Typically, a computer program contains a mathematical model of the vessel that includes information pertaining to wind and current drag of the vessel and the location of the thrusters. This knowledge, combined with the sensor information, allows the computer to calculate the required steering angle and/or thruster output for each thruster. This arrangement allows operations at sea even if when mooring or anchoring is not feasible due to deep water, congestion on the sea bottom (pipelines, templates) or other problems. 
     Dynamic positioning may either be absolute in that the position is locked to a fixed point over the bottom, or relative to a moving object like another ship or an underwater vehicle. One may also position the ship at a favorable angle towards the wind, waves and current, called weathervaning. Dynamic positioning is much used in the offshore oil industry. There are more than 1,000 dynamic positioning ships in existence. 
     In  FIGS. 1-5 , dynamically positioned vessels  11 ,  12  each have a deck  21  or  22 , pilot house or cabin  27 ,  31 , bow  28 ,  32  and stern  29 ,  33 . The dynamically positioned vessel  11  provides deck  21 , pilot house  27 , bow  28  and stern  29 . Dynamically positioned vessel  12  provides a deck  22 , pilot house  31 , bow  32 , stern  33 . Crane  36  or other lifting device can be mounted to aft frame  14  as seen in  FIGS. 1-3 . Crane  36  can be mounted to post  37  having crane bearing  41  and boom bearing support post  44 . Crane  36  provides boom  40  attached to operator&#39;s cabin  39  at pivotal connection  38 . 
     Load spreader platforms can be provided to define an interface between each of the frames  13 ,  14  and the dynamically positioned vessels  11 ,  12 . Load spreader platform  23  is positioned under pivotal connection  15 , while load spreader platform  24  is positioned under universal joint connection  16 . Load spreader platform  25  is positioned under pivotal connection  17 , forming an interface between that connection  17  and the deck  22  of vessel  12 . Similarly, load spreader platform  26  forms an interface between deck  22  of vessel  12  and universal joint connection  18  as shown in  FIGS. 1-3 . 
     In a preferred embodiment, the frames  13 ,  14  are positioned in between the pilot house  27  or  31  of each dynamically positioned vessel  11  or  12  and the stern  29  or  33  of each dynamically positioned vessel  11 ,  12 . In a preferred embodiment, the dynamically positioned vessels  11 ,  12  are positioned so that both vessels  11 ,  12  have the bow  28 ,  32  pointed in the same direction and the stern  29 ,  33  pointed in the same direction, as shown in  FIGS. 1-3 . 
     In  FIGS. 1-3 , a first crew quarters, personnel housing or hotel  30  is a forward housing unit that is mounted on and supported by supports  42  and post  43  of truss  45  which is a part of forward frame  13 . 
     In  FIGS. 4-5 , crew quarters can be provided on aft frame  14  ( FIG. 4 ) or on both frames  13 ,  14  ( FIG. 5 ). In  FIG. 4 , the crew quarters or personnel housing is an aft building or quarters  35  mounted on aft frame  14 . In  FIG. 5 , a second housing or crew quarters  34  is provided in addition to the first personnel housing or crew quarters  30 ,  35 . In  FIG. 4 , crane  36  is mounted to forward frame  13 .  FIGS. 6-8  show a frame  13 ,  14  in more detail. 
     Dynamic Positioning System 
       FIG. 9  is a schematic diagram of an overall structurally integrated vessel  410  schematically showing the integration of vessel  100  and vessel  110  incorporating an overall combined vessel DP system  410 . As used herein, “DP” means “dynamically positioned”. 
       FIG. 10  is a schematic diagram of an overall structurally integrated vessel  410  schematically showing the integration of vessel  100  and vessel  110  and incorporating an overall combined vessel propulsion and steerage system  410 . In  FIGS. 9 and 10 , the numeral  115  represents the frames  13 ,  14  of  FIGS. 1-8 . In each embodiment of  FIGS. 9-10 , there can be provided personnel housing/crew quarters  30 . 
     Structurally integrating two existing stand alone vessels  100  and  110  (having conventional propulsion and dynamic positioning systems) thereby forming a single overall vessel/system  410 , can enhance the performance of both the propulsion and the dynamic positioning systems for the two integrated vessel/system. For example, structurally integrating two existing vessels (each having a class of DP system such as DP class 1) will cause the DP system of the structurally integrated vessel to be a higher class such as DP 2 (because the combined/integrated vessels, propulsion systems, and DP systems form a single integrated system). 
     The performance of the propulsion system for the combined system will also be superior when compared to the performance of the existing individual vessels. 
     For example, the structurally combined and integrated vessel system  410  will have multiple independently operable engine rooms and multiple fuel supplies, thereby providing greater propulsion redundancy. The loss of one of the main engine rooms due to flood or fire, or the contamination of an engine room fuel supply on one of the vessels will no longer result in the loss of propulsion for the combined system as the redundant engine room will still be operable. 
     Similarly, steerage for the structurally combined and integrated vessel system can still be achieved given the loss of steerage (rudder or equivalent system) on one of the individual vessels. 
     All of the above make the performance of the combined system superior to the performance of the existing individual systems without fundamental change or modification to the individual vessels. It is structurally combining and integrating the vessels through the use of bottom feeder gantries which lead to the performance improvements. 
     Supporting Data 
     The “quality” of a dynamic positioning system can be measured via the following: 
     Robustness of the system. This is a measure of how many components within the DP system can fail and the DP system remain able to maintain station keeping capabilities. The international standard for this is to assign a rating or classification to the DP system. Generally, there are three ratings: Class 1, Class 2 and Class 3. Higher classes of DP system have greater degrees of design redundancy and component protection. 
     The integration of two lower level DP class vessels will automatically result in higher levels of component and system redundancy. 
     The ability of the system to maintain station within a given set of wind, wave, and current conditions is generally referred to as “Capability.” The higher the “Capability” of a vessel, the worse the conditions the vessel can stay on location during such conditions. “Capability” itself is a function of: 
     thruster horsepower (or equivalent), 
     numbers of thrusters, and 
     disposition (location) of thrusters around the vessel which will influence a thruster&#39;s ability to provide restoring force capability. 
     Through the structural combination and integration of two vessels of given “capabilities”, the “Capability” of the structurally combined and integrated vessel is increased compared to the “capability” of either vessel before such combination and integration. Increased “Capability” will be the result of: 
     (a) there being more thrusters in the structurally combined and integrated system, and 
     (b) the thrusters having a better spatial distribution in the structurally combined and integrated system (meaning that the thrusters can provide a greater restoring capability to the combined and integrated system compared to either vessel alone). 
     Additionally, the capability of the overall DP system in the structurally combined and integrated vessel will be superior even given the loss of one of the components of one of the DP systems in one of the vessels for the same reasons as specified in (a) and (b) above. 
     Damaged system capability is also another recognized measure of DP system quality. 
     Structurally Combined and Integrated First and Second Vessels to Create a Singled Combined Vessel 
     DP Combination 
     In one embodiment, a first vessel  100  and a second vessel  110  are structurally combined and integrated, the 
     (1) first vessel  100  comprising: 
     (a) a hull, 
     (b) a thruster  500 ,  510 ,  520 ,  530  for the first vessel  100  powering the hull of the first vessel  100 , 
     (c) a position referencing system  502 ,  512 ,  522 ,  532  for the first vessel  100  providing the position of the first vessel  100 , and 
     (d) a DP controller system  504 ,  514 ,  524 ,  534  for the first vessel  100  operatively connected to the first thruster  500 ,  510 ,  520 ,  530  of the first vessel  100  and first position referencing system  502 ,  512 ,  522 ,  532  of the first vessel  100 ; 
     (2) second vessel  110  comprising: 
     (a) a hull, 
     (b) a thruster  600 ,  610 ,  620 ,  630  for the second vessel  110  powering the hull of the second vessel  110 , 
     (c) a position referencing system  602 ,  612 ,  622 ,  632  for the second vessel  110  providing the position of the second vessel  110 , 
     (d) a DP controller system  604 ,  614 ,  624 ,  634  for the second vessel  110  operatively connected to the thruster  600 ,  610 ,  620 ,  630  for the second vessel  110  and position referencing system  602 ,  612 ,  622 ,  632  for the second vessel  110 ; 
     and 
     including an overall DP controller computer  400  operatively connected to both the DP controller system  504 ,  514 ,  524 ,  534  for the first vessel  100  and the DP controller system  604 ,  614 ,  624 ,  634  for the second vessel  110 , wherein the overall DP controller computer  400  can directly or indirectly control one or more of the following: 
     (I) thruster  500 ,  510 ,  520 ,  530  for the first vessel  100 , 
     (ii) position referencing system  502 ,  512 ,  522 ,  532  for the first vessel  100 , 
     (iii) thruster  600 ,  610 ,  620 ,  630  for the second vessel  110 , and 
     (iv) position referencing system  602 ,  612 ,  622 ,  632  for the second vessel  110 . 
     In one embodiment the first and/or second vessels  100 ,  110  are used vessels and taken out of service to be structurally combined and integrated. 
     In one embodiment a first vessel  100  and a second vessel  110  are structurally combined and integrated, the 
     (1) first vessel  100  comprising: 
     (a) a hull, 
     (b) a plurality of thrusters  500 ,  510 ,  520 ,  530  for the first vessel  100 , each powering the hull of the first vessel  100 , 
     (c) a plurality of position referencing systems  502 ,  512 ,  522 ,  532  for the first vessel  100 , each providing the position of the first vessel  100 , and 
     (d) a plurality of DP controller systems  504 ,  514 ,  524 ,  534  for the first vessel  100 , each being operatively connected to the plurality of thrusters  500 ,  510 ,  520 ,  530  for the first vessel  100  and plurality of position referencing systems  502 ,  512 ,  522 ,  532  for the first vessel  100 ; 
     (2) second vessel  110  comprising: 
     (a) a hull, 
     (b) a plurality of thrusters  600 ,  610 ,  620 ,  630  for the second vessel  110 , each powering the hull of the second vessel  110 , 
     (c) a plurality of position referencing systems  602 ,  612 ,  622 ,  632  for the second vessel  110 , each providing the position of the second vessel  110 , 
     (d) a plurality of DP controller systems  604 ,  614 ,  624 ,  634  for the second vessel  110 , each being operatively connected to the plurality of thrusters  600 ,  610 ,  620 ,  630  for the second vessel  110  and plurality of position referencing systems  602 ,  612 ,  622 ,  632  for the second vessel  110 ; 
     and 
     having an overall DP controller computer  400  operatively connected to both the DP controller  504 ,  514 ,  524 ,  534  for the first vessel  100  and the DP controller  604 ,  614 ,  624 ,  634  for the second vessel  110  wherein the DP controller computer can directly or indirectly control any of the following: 
     (I) one or more of the thrusters  500 ,  510 ,  520 ,  530  for the first vessel  100 , 
     (ii) one or more of the position referencing systems  502 ,  512 ,  522 ,  532  for the first vessel  100 , 
     (iii) one or more of the thrusters  600 ,  610 ,  620 ,  630  for the second vessel  110 , and 
     (iv) one or more of the position referencing systems  602 ,  612 ,  622 ,  632  for the second vessel  110 . 
     Steering and Propulsion Combination ( FIG. 10 ) 
     In one embodiment a first vessel  100  and a second vessel  110  are structurally combined and integrated, the 
     (1) first vessel  100  comprising: 
     (a) a hull, 
     (b) an engine  506 ,  516 ,  526 ,  536  for the first vessel  100  powering the hull of the first vessel  100 , and 
     (c) a steerage system  507 ,  517 ,  527 ,  537  for the first vessel  100  steering the first vessel  100 ; 
     (d) a bridge controller system  508 ,  518 ,  528 ,  538 ; 
     (2) second vessel  110  comprising: 
     (a) a hull, 
     (b) an engine  606 ,  616 ,  626 ,  636  for the second vessel  110  powering the hull of the second vessel  110 , and 
     (c) a steerage system  607 ,  617 ,  627 ,  637  for the second vessel  110  steering the second vessel  110 ; 
     (d) a bridge controller system  608 ,  618 ,  628 ,  638 ; 
     and 
     including an overall bridge controller computer  420  operatively connected to each of the engines  506 ,  516 ,  526 ,  536  for the first vessel  100 , steerage systems  507 ,  517 ,  527 ,  537  for the first vessel  100 , engines  606 ,  616 ,  626 ,  636  for the second vessel  110 , and steerage systems  607 ,  617 ,  627 ,  637  for the second vessel  110 , wherein the overall bridge controller computer  420  can directly or indirectly control one or more of the following: 
     (I) engine  506 ,  516 ,  526 ,  536  for the first vessel  100 , 
     (ii) steerage system  507 ,  517 ,  527 ,  537  for the first vessel  100 , 
     (iii) engine  606 ,  616 ,  626 ,  636  for the second vessel  110 , and 
     (iv) steerage system  607 ,  617 ,  627 ,  637  for the second vessel  110 . 
     In one embodiment, the overall bridge controller computer  420  is located on one of the two vessels  100 ,  110 . 
     In one embodiment, the first and/or second vessels  100 ,  110  are used vessels and taken out of service to be structurally combined and integrated. 
     In one embodiment a first vessel  100  and a second vessel  110  are structurally combined and integrated, the 
     (1) first vessel  100  comprising:
         (a) a hull,   (b) a plurality of engines  506 ,  516 ,  526 ,  536  for the first vessel  100 , each powering the hull of the first vessel  100 , and   (c) a plurality of steerage systems  507 ,  517 ,  527 ,  537  for the first vessel  100 , each steering the first vessel  100 ;       

     (2) second vessel  110  comprising:
         (a) a hull,   (b) a plurality of engines  606 ,  616 ,  626 ,  636  for the second vessel  110 , each powering the hull of the second vessel  110 , and   (c) a plurality of steerage systems  607 ,  617 ,  627 ,  637  for the second vessel  110 , each steering the second vessel  110 ,
 
and
       

     including an overall bridge controller computer  420  operatively connected to each of the engines  506 ,  516 ,  526 ,  536  for the first vessel  100 , steerage systems  507 ,  517 ,  527 ,  537  for the first vessel  100 , engines  606 ,  616 ,  626 ,  636  for the second vessel  110 , and steerage systems  607 ,  617 ,  627 ,  637  for the second vessel  110 , wherein the overall bridge controller computer  420  can directly or indirectly control the following: 
     (i) one or more of the engines  506 ,  516 ,  526 ,  536  for the first vessel  100 , 
     (ii) one of more of the steerage systems  507 ,  517 ,  527 ,  537  for the first vessel  100 , 
     (iii) one or more of the engines  606 ,  616 ,  626 ,  636  for the second vessel  110 , and 
     (iv) one or more of the steerage systems  607 ,  617 ,  627 ,  637  for the second vessel  110 . 
       FIGS. 11-14  show another embodiment of the apparatus of the present invention designated generally by the numeral  66 . Oil production apparatus or catamaran floating oil/gas production apparatus  66  has a pair of spaced apart hulls, vessels or barges  67 ,  68 . Frames  69 ,  70  are spaced apart from each other, each frame supported by vessels or hulls  67 ,  68  as seen in  FIGS. 11-14 . Hulls  67 ,  68  can be existing barges or support vessels or new custom built barges or support vessels. Hulls  67 ,  68  can provide oil and condensate storage. Produced oil and condensate could also be stored in an attending floating storage and offloading tanker  82  via flexible hose connection  84 . The apparatus  66  can be positioned on a selected locale or station by spread mooring, taut leg mooring, or dynamic positioning. 
     As with the embodiments of  FIGS. 1-10 , catamaran floating oil production apparatus  66  connects each frame  69  or  70  to each vessel or hull  67 ,  68  with connections. Frame  69  connects to vessel or hull  68  with a hinge/pivot/pivotal connection  86 . Frame  69  connects to vessel or hull  67  with universal joint connection  87 . Frame  70  connects to vessel or hull  68  with a universal joint connection  88 . Frame  70  connects to vessel or hull  67  with a hinge/joint/pivot/pivotal connection  85  (see  FIGS. 11-14 ). 
     Each frame  69 ,  70  supports an oil production platform. Oil production platform  71  is supported by frame  70 . Oil production platform  72  is supported by frame  69  as seen in  FIGS. 11-13 . A space  90  is positioned in between the frames  69 , 70  and platforms  71 ,  72 . Thus, each oil production platform  71 ,  72  is able to move with its frame independently of the other oil production platform. 
     The platforms  71 ,  72  each have a deck that can carry any of various components useful in production of oil and/or gas. For example, in  FIGS. 11 and 12 , platform  71  has crew quarters or personnel building  73 , heliport  74  and crane  75 . Spool  83  can be mounted to platform  71 . Platform  72  can have additional cranes  76 ,  77  and deck openings  80  that are receptive of riser pipes  81 . One or more production riser pipes  81  run from subsea wells to the surface, each riser pipe suspended from one or both of the frames  69 ,  70  or from one or both hulls  67 ,  68 . Each platform  71 , 72  can have a platform deck. In the drawings, platform  71  has deck  78 . Platform  72  has deck  79 . One or more gas injection risers can be provided, running from the surface and suspended from one or both frames  69 ,  70  or from one or both hulls  67 ,  68  to subsea gas injection wells. One or more injection risers can be provided running from the surface and suspended from one or both frames  69 ,  70  or from one or both hulls  67 ,  68  to subsea water injection wells. 
     Spool  83  can store an elongated flow line, hose or conduit  84  that enables transfer of oil between platform  71  or  72  and tanker  82 . Each hull or vessel  67 ,  68  can be used to contain oil that is transferred from a subsea well to apparatus  66  using risers or riser pipes  81 . Piping (not shown) on platforms  71 ,  72  can be provided for transmission of oil from risers or riser pipes  81  to hulls  67 ,  68  or to flow line  84  and then to tanker  82 . 
       FIGS. 15-16  show an alternate embodiment of the apparatus of the present invention, designated generally by the numeral  91  on water surface  89 . Vessels  67 ,  68  are provided. Frame  70  can be the same as frame  70  of  FIGS. 11-14 , connecting to vessel  67  at hinge/pivot/pivotal connection  85  and to vessel  68  with universal joint connection  88 . In  FIGS. 15-16 , frame  69  is replaced with an arch shaped frame  92  having lower end portions  93 ,  94 . Lower end portion  93  attaches to vessel  68  with pivot/pivotal connection/hinge  86 . Lower end portion  94  connects to vessel  67  with universal joint connection  87 . As with the embodiment of  FIGS. 11-14 , frame  70  can support an oil production platform  71  (or  72 ) with a deck and selected oil production components such as crew quarters  73 , crane(s)  75 ,  76 ,  77 , riser pipes  81 , riser pipe openings(s)  80 , spool(s)  83 , heliport  74  or other selected oil and/or gas well drilling components or equipment. The embodiment of  FIGS. 15-16  has particular utility for hostile marine environments such as the North Sea. 
       FIG. 17  shows a plan view of an alternate embodiment of the apparatus  95  having two frames or gantries  13 ,  14  supported on two vessels, hulls, or barges  11 ,  12 . Hinged connections  15  (e.g., four (4)) are provided at spaced apart intervals to form a connection between each frame or gantry  13 ,  14  and the barges  11 ,  12 . In this configuration, the hinged or pinned connections  15  provide roll releases only. In this embodiment of  FIG. 17 , there is no single pin-in-pin connection option between one side of a gantry or frame  13 ,  14  and the vessel, hull or barge  11 ,  12 . The embodiment of  FIG. 17  results in there being no relative motion between the two frames or gantries  13 ,  14 . Note also that with this configuration of  FIG. 17 , any number of gantries or frames  13 ,  14  could be connected to the barges, hulls or vessels  11 ,  12 . The same applications currently described for other embodiments would also work with this embodiment, including accommodations, production platforms, and others described herein. 
     The embodiment of  FIG. 17  can provide a floating oil production apparatus or crew quarters that employs first and second vessels  11 ,  12 , each said vessel  11 ,  12  having a vessel deck  21 ,  22  that is elevated above a surrounding water surface  89 . A first frame or gantry  13  spans between the vessels  11 ,  12 . A second frame  14  spans between the vessels  11 ,  12 . Each of the frames  13 ,  14  can be configured like the frames  13 ,  14  in  FIGS. 1-8 and 11-14 . Each frame  13 ,  14  can include a horizontally extending truss having first and second end portions and vertically extending truss sections each extending from the horizontally extending truss portion downwardly below the horizontally extending truss section (e.g. see  FIG. 8 ). The frames  13 ,  14  are spaced apart and connect to the vessels  11 ,  12  in a configuration that spaces the vessels  11 ,  12  apart as seen in the plan view of  FIG. 17 . 
     Each of the frames is connected to each of the vessel decks with hinged connections  15 . In  FIG. 17 , there are four (4) hinged or pivotal connections  15  of frame  13  to vessel  11  and four (4) hinged or pivotal connections  15  of frame  13  to vessel  12 . Similarly there are four (4) hinged or pivotal connections  15  of frame  14  to vessel  11  and four (4) hinged or pivotal connections  15  of frame  14  to vessel  12 . 
     An oil production platform  71  or  72  or crew quarters  30  can be supported on only one of the frames. However, each of the frames  13 ,  14  can support an oil production or drilling platform  71  or  72  or crew quarters  30 . 
     As with the embodiments of  FIGS. 1-16 , one or more risers  81  can extend between the seabed and the production or drilling platform  71  or  72 . 
     One or both vessels  11 ,  12  can be dynamically positioned vessels. 
     One or both of the vessels  11 ,  12  can have a pilot house  31  and the dynamic positioning functions of each vessel  11 ,  12  can be controlled from the single said pilot house  31 . 
     The horizontally extending truss has a lower portion elevated above the vessel decks and an upper portion spaced above said lower portion. 
     The oil production platform or drilling platform rests upon said upper portion of the horizontally extending truss. 
     The hinged connection  15  can include multiple spaced apart pinned connections. 
     Each frame can extend a distance that is greater than the spacing between the vessels. 
     Each frame upper portion can occupy a plane. 
     The dynamic positioning functions of at least one vessel  11  or  12  include thruster functions, steering functions and propulsion functions. 
     The dynamic positioning functions of both vessels  11 ,  12  can include thruster functions, steering functions and propulsion functions. 
     Each frame can have a deck portion  21  or  22  and the vertically extending truss sections span between the deck portions  21 ,  22  and the horizontally extending truss section. 
     Multiple load spreader platforms  23 - 26  can be attached to the deck portions  21 ,  22 . The first and second frames  13 ,  14  can each be mounted on load spreader platforms  23 - 26 . 
     Each vessel  11 ,  12  can be a work boat (e.g. see  FIGS. 1-5 ) having a bow portion  28  with a pilot house  27 , a deck portion  21  behind the pilot house  27 , one or more load spreader platforms  23 ,  24  attached to the deck portion  21  and wherein the first and second frames  13 ,  14  are mounted on the one or more load spreader platforms  23 ,  24 . 
     Each frame  13 ,  14  can support an oil production platform or oil well drilling platform  71 ,  72 . 
     The system of the present invention can be mooring using a spread mooring system or dynamic positioning (DP). The spread mooring can be achieved using a wide range in number of mooring lines (e.g., from 4 to 16 individual lines). The mooring lines can be constructed from all steel wire, all steel chain, a combination of steel wire and steel chain, a combination of steel wire and clump weights, a combination of steel wire, steel chain and clump weights, a combination of steel wire and fiber rope, or a combination of steel chain and fiber rope. 
     Each gantry or frame  69 ,  70  can have two wide sides (i.e., no pin-to-pin in either gantry), which locks the gantries  69 ,  70  rigidly to the barges  67 ,  68  in pitch motions but prevents any relative motions between the gantries. This arrangement allows for piping or hoses  96 ,  97  to be easily run between two gantries  69 ,  70 . In this embodiment there can be more than two (2) gantries.  FIGS. 18-20  are perspective views of another embodiment of the apparatus of the present invention showing flexible hoses  96 .  97  connecting production equipment located on two separate gantries  69 ,  70 . 
     In the case where there is a combination of pinned connection universal joints, there is relative motion between the gantries  69 ,  70 . In such a case, flexible high pressure hoses  96 ,  97  can be preferably used to connect oil and gas production and compression equipment located on the two gantries  69 ,  70 . 
       FIGS. 21-23  are perspective views of another embodiment of the apparatus of the present invention showing a single large gantry  98  that preferably supports all of the production equipment, accommodations and risers, and a second structural-only gantry  99  to provide structural continuity. 
     The following is a list of parts and materials suitable for use in the present invention. 
     PARTS LIST 
     
       
         
           
               
            
               
                   
               
               
                 PARTS LIST 
               
            
           
           
               
               
            
               
                 Part Number 
                 Description 
               
               
                   
               
            
           
           
               
               
            
               
                 10 
                 marine housing apparatus/quarterboat/personnel 
               
               
                   
                 housing/platform 
               
               
                 11 
                 barge/vessel/hull/dynamically positioned vessel 
               
               
                 12 
                 barge/vessel/hull/dynamically positioned vessel 
               
               
                 13 
                 frame/forward frame 
               
               
                 14 
                 frame/aft frame 
               
               
                 15 
                 hinge/pivot/pivotal connection 
               
               
                 16 
                 universal joint connection 
               
               
                 17 
                 hinge/pivot/pivotal connection 
               
               
                 18 
                 universal joint connection 
               
               
                 19 
                 deck beam/interface 
               
               
                 20 
                 deck beam/interface 
               
               
                 21 
                 deck 
               
               
                 22 
                 deck 
               
               
                 23 
                 load spreader platform 
               
               
                 24 
                 load spreader platform 
               
               
                 25 
                 load spreader platform 
               
               
                 26 
                 load spreader platform 
               
               
                 27 
                 pilot house/cabin 
               
               
                 28 
                 bow 
               
               
                 29 
                 stern 
               
               
                 30 
                 personnel housing/crew quarters/building/hotel 
               
               
                 31 
                 pilot house/cabin 
               
               
                 32 
                 bow 
               
               
                 33 
                 stern 
               
               
                 34 
                 second housing/crew quarters 
               
               
                 35 
                 aft crew quarters/personnel housing 
               
               
                 36 
                 crane 
               
               
                 37 
                 post 
               
               
                 38 
                 pivotal connection 
               
               
                 39 
                 cabin 
               
               
                 40 
                 boom 
               
               
                 41 
                 bearing 
               
               
                 42 
                 support 
               
               
                 43 
                 post 
               
               
                 44 
                 boom bearing support post 
               
               
                 45 
                 truss 
               
               
                 50 
                 longitudinal, horizontal members 
               
               
                 51 
                 longitudinal, horizontal members 
               
               
                 52 
                 longitudinal, horizontal members 
               
               
                 53 
                 longitudinal, horizontal members 
               
               
                 54 
                 vertical member 
               
               
                 55 
                 diagonal member 
               
               
                 56 
                 post 
               
               
                 57 
                 post 
               
               
                 58 
                 cross bracing 
               
               
                 59 
                 transverse horizontal member, upper 
               
               
                 60 
                 transverse horizontal member, lower 
               
               
                 61 
                 horizontal beam 
               
               
                 62 
                 diagonal support/beam 
               
               
                 63 
                 cross bracing 
               
               
                 64 
                 pivot/pivotal connection 
               
               
                 65 
                 pivot/pivotal connection 
               
               
                 66 
                 oil production apparatus/catamaran floating oil 
               
               
                   
                 production apparatus/drilling apparatus 
               
               
                 67 
                 vessel hull/dynamically positioned vessel/barge 
               
               
                 68 
                 vessel hull/dynamically positioned vessel/barge 
               
               
                 69 
                 frame 
               
               
                 70 
                 frame 
               
               
                 71 
                 oil production platform/drilling platform 
               
               
                 72 
                 oil production platform/drilling platform 
               
               
                 73 
                 crew quarters/building 
               
               
                 74 
                 heliport 
               
               
                 75 
                 crane 
               
               
                 76 
                 crane 
               
               
                 77 
                 crane 
               
               
                 78 
                 deck 
               
               
                 79 
                 deck 
               
               
                 80 
                 deck opening 
               
               
                 81 
                 riser pipe 
               
               
                 82 
                 tanker 
               
               
                 83 
                 spool 
               
               
                 84 
                 flow line/hose/conduit/hose connection 
               
               
                 85 
                 hinge/pivot/pivotal connection 
               
               
                 86 
                 hinge/pivot/pivotal connection 
               
               
                 87 
                 universal joint connection 
               
               
                 88 
                 universal joint connection 
               
               
                 89 
                 sea surface/water surface 
               
               
                 90 
                 space 
               
               
                 91 
                 oil production apparatus 
               
               
                 92 
                 arch shaped frame 
               
               
                 93 
                 lower end portion 
               
               
                 94 
                 lower end portion 
               
               
                 95 
                 oil production apparatus/catamaran floating oil 
               
               
                   
                 production apparatus/drilling apparatus 
               
               
                 96 
                 piping or hoses 
               
               
                 97 
                 piping or hoses 
               
               
                 98 
                 gantry/large gantry 
               
               
                 99 
                 gantry/structural-only gantry 
               
               
                 100 
                 vessel 
               
               
                 110 
                 vessel 
               
               
                 115 
                 frame 
               
               
                 400 
                 overall DP Controller computer 
               
               
                 410 
                 structurally integrated and combined vessel/system 
               
               
                 420 
                 bridge controller computer 
               
               
                 500 
                 DP controlled thruster 
               
               
                 502 
                 position referencing system 
               
               
                 504 
                 DP controller 
               
               
                 506 
                 engine 
               
               
                 507 
                 rudder steerage 
               
               
                 508 
                 vessel bridge controller 
               
               
                 510 
                 DP controlled thruster 
               
               
                 512 
                 position referencing system 
               
               
                 514 
                 DP controller 
               
               
                 516 
                 engine 
               
               
                 517 
                 rudder steerage 
               
               
                 518 
                 vessel bridge controller 
               
               
                 520 
                 DP controlled thruster 
               
               
                 522 
                 position referencing system 
               
               
                 524 
                 DP controller 
               
               
                 526 
                 engine 
               
               
                 527 
                 rudder steerage 
               
               
                 528 
                 vessel bridge controller 
               
               
                 530 
                 DP controlled thruster 
               
               
                 532 
                 position referencing system 
               
               
                 534 
                 DP controller 
               
               
                 536 
                 engine 
               
               
                 537 
                 rudder steerage 
               
               
                 538 
                 vessel bridge controller 
               
               
                 600 
                 DP controlled thruster 
               
               
                 602 
                 position referencing system 
               
               
                 604 
                 DP controller 
               
               
                 606 
                 engine 
               
               
                 607 
                 rudder steerage 
               
               
                 608 
                 vessel bridge controller 
               
               
                 610 
                 DP controlled thruster 
               
               
                 612 
                 position referencing system 
               
               
                 614 
                 DP controller 
               
               
                 616 
                 engine 
               
               
                 617 
                 rudder steerage 
               
               
                 618 
                 vessel bridge controller 
               
               
                 620 
                 DP controlled thruster 
               
               
                 622 
                 position referencing system 
               
               
                 624 
                 DP controller 
               
               
                 626 
                 engine 
               
               
                 627 
                 rudder steerage 
               
               
                 628 
                 vessel bridge controller 
               
               
                 630 
                 DP controlled thruster 
               
               
                 632 
                 position referencing system 
               
               
                 634 
                 DP controller 
               
               
                 636 
                 engine 
               
               
                 637 
                 rudder steerage 
               
               
                 638 
                 vessel bridge controller 
               
               
                   
               
            
           
         
       
     
     All measurements disclosed herein are at standard temperature and pressure, at sea level on Earth, unless indicated otherwise. All materials used or intended to be used in a human being are biocompatible, unless indicated otherwise. 
     The foregoing embodiments are presented by way of example only; the scope of the present invention is to be limited only by the following claims.