Patent Publication Number: US-2023150614-A1

Title: Disconnectable yoke mooring systems and processes for using same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of co-pending U.S. patent application Ser. No. 17/962,087, filed on Oct. 7, 2022, which claims priority to U.S. Provisional Patent Application No. 63/253,710, filed on Oct. 8, 2021, which are both incorporated by reference herein. 
    
    
     FIELD 
     Embodiments described generally relate to yoke mooring systems for vessels such as oil tankers, floating production storage and offloading (FPSO) facilities, floating liquified natural gas (FLNG) facilities, floating renewable energy facilities, e.g., hydrogen/ammonia, and/or floating nuclear power facilities. More particularly, such embodiments relate to disconnectable yoke mooring systems that can be used to moor floating vessels that can be disconnected in the event of oncoming severe weather and reconnected thereafter and processes for using same. 
     BACKGROUND 
     In the offshore oil and gas industry, yoke mooring systems have been used for many years to permanently moor a vessel on a surface of a body of water. This is typically performed in relatively shallow waters, for example less than 50 meters of water. The yoke mooring system can have a yoke that is above the surface of the water or below the surface of the water. Up until recently it has not been possible to quickly disconnect from a yoke mooring system and, in particular from a submerged yoke mooring system. 
     Recent developments have made disconnectable yoke mooring systems feasible, but only when the yoke is disposed above the surface of a body of water. These above water disconnectable yoke mooring systems can be costly given that there is significant expense required to locate the yoke above the surface of the body of the water. 
     There is a need, therefore, for new disconnectable yoke mooring systems and processes for using same. 
     SUMMARY 
     Disconnectable yoke mooring systems for mooring a vessel floating on a surface of a body of water and processes for using same are provided. In some embodiments, the disconnectable yoke mooring system can include a base structure, a turntable, a yoke, a first link arm, a second link arm, a first releasable connector, a second releasable connector, a first lifting device, and a second lifting device. The base structure can be configured to be disposed on a seabed. The turntable can be configured to be connected to the base structure such that the turntable can be rotatable with respect to the base structure about a vertical axis. The yoke can have a first end and a second end. The first end of the yoke can be configured to be connected to the turntable in a manner that can permit the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that can be substantially orthogonal to the longitudinal axis of the yoke. The first link arm and the second link arm can each have a first end connected to the second end of the yoke. The first releasable connector and the second releasable connector can each include a first component disposed on a second end of the first link arm and a second end of the second link arm, respectively. The first releasable connector and the second releasable connector can each include a second component that can be configured to be disposed on the vessel. The first lifting line and the second lifting line can each have a first end configured to be connected to the second end of the first link arm and the second link arm, respectively. The first lifting device and the second lifting device can each be configured to be disposed on the vessel. The first lifting device and the second lifting device can be configured to be connected to a second end of the first lifting line and a second end of the second lifting line, respectively. When the first and second lifting devices are disposed on the vessel and connected to the second end of the first and second lifting lines, respectively, and the first end of the first and second lifting lines are connected to the second end of the first and second link arms, respectively, the first and second lifting devices can be configured to lift and lower the first and second link arms and the yoke. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The various aspects and advantages of the preferred embodiment of the present invention will become apparent to those skilled in the art upon an understanding of the following detailed description of the invention, read in light of the accompanying drawings which are made a part of this specification. 
         FIG.  1    depicts an isometric view of an illustrative disconnectable yoke mooring system, according to one or more embodiments described. 
         FIG.  2    depicts a side elevation view of the disconnectable yoke mooring system shown in  FIG.  1   . 
         FIG.  3    depicts a plan view of the disconnectable yoke mooring system shown in  FIG.  1   . 
         FIG.  4    depicts a side elevation view of another illustrative disconnectable yoke mooring system, according to one or more embodiments described. 
         FIG.  5    depict a side elevation partial cross-sectional view of an illustrative lifting arrangement that includes a chain jack and a rotary winch of for use in connecting and disconnecting a yoke mooring system, according to one or more embodiments described. 
         FIG.  6    depicts an isometric view of an illustrative lifting arrangement that includes a rotary winch that includes a first and a second independent drum and a traveling block arrangement for use in connecting and disconnecting a yoke mooring system, according to one or more embodiments described. 
         FIG.  7    depicts a side elevation view of the lifting arrangement shown in  FIG.  6   . 
         FIG.  8    depicts an isometric close-up view of a traveling block arrangement shown in  FIGS.  6  and  7   . 
         FIG.  9    depicts a side elevation view of an illustrative disconnectable yoke mooring system that includes a mooring buoy configured to assist with connection and disconnection operations of the yoke mooring system, according to one or more embodiments described. 
         FIG.  10    depicts an isometric view of another illustrative disconnectable yoke mooring system that includes a buoyancy module disposed on a yoke of the mooring system, according to one or more embodiments described. 
         FIGS.  11  and  12    depict a cross-sectional elevation view of an illustrative releasable connector in an unlocked and a locked position, respectively, according to one or more embodiments described. 
         FIGS.  13  and  14    depict a cross-sectional elevation view of an illustrative stinger that can be used in the releasable connector shown in  FIGS.  11  and  12    that includes a shock absorber arrangement, according to one or more embodiments described. 
         FIGS.  15 - 20    depict an illustrative connection process connecting a vessel to a disconnectable yoke mooring system, according to one or more embodiments described. 
     
    
    
     DETAILED DESCRIPTION 
     A detailed description will now be provided. Each of the appended claims defines a separate invention, which for infringement purposes is recognized as including equivalents to the various elements or limitations specified in the claims. Depending on the context, all references to the “invention”, in some cases, refer to certain specific or preferred embodiments only. In other cases, references to the “invention” refer to subject matter recited in one or more, but not necessarily all, of the claims. It is to be understood that the following disclosure describes several exemplary embodiments for implementing different features, structures, or functions of the invention. Exemplary embodiments of components, arrangements, and configurations are described below to simplify the present disclosure; however, these exemplary embodiments are provided merely as examples and are not intended to limit the scope of the invention. Additionally, the present disclosure may repeat reference numerals and/or letters in the various exemplary embodiments and across the Figures provided herein. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various exemplary embodiments and/or configurations discussed in the Figures. Moreover, the formation of a first feature over or on a second feature in the description that follows includes embodiments in which the first and second features are formed in direct contact and also includes embodiments in which additional features are formed interposing the first and second features, such that the first and second features are not in direct contact. The exemplary embodiments presented below may be combined in any combination of ways, i.e., any element from one exemplary embodiment may be used in any other exemplary embodiment, without departing from the scope of the disclosure. The figures are not necessarily drawn to scale and certain features and certain views of the figures can be shown exaggerated in scale or in schematic for clarity and/or conciseness. 
     Additionally, certain terms are used throughout the following description and claims to refer to particular components. As one skilled in the art will appreciate, various entities may refer to the same component by different names, and as such, the naming convention for the elements described herein is not intended to limit the scope of the invention, unless otherwise specifically defined herein. Also, the naming convention used herein is not intended to distinguish between components that differ in name but not function. Furthermore, in the following discussion and in the claims, the terms “including” and “comprising” are used in an open-ended fashion, and thus should be interpreted to mean “including, but not limited to.” Also, as used herein the indefinite articles ‘a’ and ‘an’ should be interpreted to mean “at least one” or “one or more.” 
     All numerical values in this disclosure are exact or approximate values (“about”) unless otherwise specifically stated. Accordingly, various embodiments of the disclosure may deviate from the numbers, values, and ranges disclosed herein without departing from the intended scope. 
     Further, the term “or” is intended to encompass both exclusive and inclusive cases, i.e., “A or B” is intended to be synonymous with “at least one of A and B,” unless otherwise expressly specified herein. The indefinite articles “a” and “an” refer to both singular forms (i.e., “one”) and plural referents (i.e., one or more) unless the context clearly dictates otherwise. The terms “up” and “down”; “upward” and “downward”; “upper” and “lower”; “upwardly” and “downwardly”; “above” and “below”; and other like terms used herein refer to relative positions to one another and are not intended to denote a particular spatial orientation since the apparatus and processes of using the same may be equally effective at various angles or orientations. 
       FIGS.  1 - 3    depict an isometric view, a side elevation view, and a plan view, respectively, of an illustrative disconnectable yoke mooring system  100  for mooring a vessel  101  floating on a surface  102  of a body of water  103 , according to one or more embodiments. Referring to  FIGS.  1 - 3   , in some embodiments the yoke mooring system  100  can include a base structure  104  configured to be secured to or disposed on a seabed  105  below the surface  102  of the body of water  103 . In some embodiments, the base structure  104  can be fixed or secured to the seabed  105  with driven piles or suction piles  106 , as shown. More particularly, as shown, the base structure  104  can include one or more pile sleeves  139  that can be disposed about the one or more piles  106  to fix or secure the base structure  104  to the seabed  105 . In other embodiments, the base structure  104  can be a gravity-based structure (not shown). The particular manner in which the base structure  104  can be disposed on the seabed  105  can be based, at least in part, on the seabed conditions at the site and/or expected loading forces transmitted thereto when the vessel  101  is moored to the base structure  104  via the yoke mooring system  100 . It should be understood that when the base structure  104  is a gravity-based structure, in some embodiments, the base structure  104  can maintain an acceptable orientation with respect to the seabed  105  without requiring the base structure  104  to include driven piles, suction piles, or the like that can be physically connected to the seabed  105 . 
     The yoke mooring system  100  can also include a turntable  107  that can be configured to be rotatively connected to the base structure  104 . The turntable  107  can be configured to rotate about a vertical or a substantially vertical axis  108  with respect to the base structure  104 . 
     The yoke mooring system  100  can also include a yoke structure or simply “yoke”  109  that can have a first end  110  and a second end  111 . The yoke  109  can be a fabricated, e.g., steel, structure. In some embodiments, the first end  110  of the yoke  109  can be configured to connect to the turntable  107  in a manner that can permit the yoke  109  to at least partially rotate about a longitudinal axis or roll axis  112  of the yoke  109 . In some embodiments, the yoke can also be configured to connect to the turntable  107  in a manner that can permit the yoke  109  to at least partially rotate or pivot about a second axis or pitch axis  113  that can be orthogonal or substantially orthogonal or perpendicular to the longitudinal axis  112  of the yoke  109 . In some embodiments, the second axis  113  can be within +/−10 degrees, +/−5 degrees, +/−3 degrees, or +/−1 degree of being orthogonal or perpendicular to the longitudinal axis  112  of the yoke  109 . 
     In some embodiments, the connection between the first end  110  of the yoke  109  and the turntable  107  can include a roll bearing, a bushing, or the like  114 . In some embodiments, the roll bearing, bushing, or the like  114  can be disposed on the first end  110  of the yoke  109  (as shown) or on the turntable  107  or between the first end  110  and the second end  111  of the yoke  109  in other embodiments. In some embodiments, the longitudinal axis  112  of the yoke  109  can be horizontal or substantially horizontal, e.g., within +/−10 degrees, +/−5 degrees, +/−3 degrees, or +/−1 degree, with respect to a horizontal plane when the vessel  101  is connected to the turntable  107  via the yoke mooring system  100  and is in a neutral or static position with respect to the base structure  104 . In some embodiments, the rotative or pivotable connection between the first end  110  of the yoke  109  and the turntable  107  can include at least one pitch bearing or trunnion arrangement  115 . 
     In some embodiments, the yoke  109  can include a ballast tank, a weight, or a combination thereof  116  that can be connected toward or at the second end  111  of the yoke  109 . For simplicity and ease of description a ballast tank will be further used to describe the system, but the use of the term “ballast tank” can be replaced with the term “weight” or a combination of the terms “ballast tank and a weight”. Additionally, the yoke mooring systems  100 ,  200 ,  900 , and  1000  will be further described as including the ballast tank  116 . However, it should be understood that the ballast tank  116  can be an optional component and, as such, not included in some embodiments. The ballast tank  116  can be configured to contain a ballast material. The ballast tank  116  can also be a fabricated, e.g., steel, structure. In some embodiments, the yoke  109  that includes the ballast tank  116  can be disposed below the surface  102  of the body of water  103 . The ballast material can have a specific gravity that is greater than that of the water  103 . Examples of ballast material can be or can include, but are not limited to, concrete, sand, aggregate, iron ore, magnetite, rocks, drilling mud, any other material that has a specific gravity greater than that of the water, or any combination or mixture thereof. The weight, if present, can be a body having a fixed mass, e.g., a solid metal body. 
     The yoke mooring system  100  can also include at least one link arm (two are shown,  117 ,  118 ) that can be configured to connect the second end  111  of the yoke  109 , e.g., via the ballast tank  116 , to the vessel  101 . In some embodiments, a single link arm can include two arms each having a first end connected to the ballast tank  116  or the second end  111  of the yoke  109  where the first end of each arm converges at the second end thereof such that the single link arm can include a single connector configured to connect to the vessel  101 . In other embodiments, the yoke mooring system  100  can include three, four, or more link arms that can be configured to connect the ballast tank  116  or the second end  111  of the yoke  109  to the vessel  101 . 
     In some embodiments, the link arms  117 ,  118  can be or can include one or more elongated rigid structures, one or more chains, one or more cables, or any other suitable elongated member, or any combination thereof. In some embodiments, a first end  119 ,  120  of each link arm  117 ,  118  can be configured to connect to the ballast tank  116  or the second end  111  of the yoke  109  via a coupler  121 ,  122 , respectively. Similarly, in some embodiments, a second end  123 ,  124  of each link arm  117 ,  118  can be configured to connect to the vessel  101  or, as shown, a releasable connector (two are shown,  125 ,  126 ) via a coupler  127 ,  128 , respectively. In other embodiments, the couplers  121 ,  122 ,  127 ,  128  can be or can include, but are not limited to, universal joints, ball and socket joints, flexible joints that can include a plurality of steel and rubber spherical layers laminated together to provide rotational articulation about two non-parallel axes disposed at each end thereof, a padeye, a tri-plate, or any other suitable coupler. In some embodiments, the link arms  117 ,  118  can be connected to the ballast tank  116  or the second end  111  of the yoke  109  and/or to the vessel  101  or the releasable connectors  125 ,  126  via the same type of coupler or via different types of couplers. An illustrative commercially available flex joint can include the FLEXJOINT® available from Oil States Industries. In some embodiments, the link arms  117 ,  118  can include an axial bearing disposed at one end of each link arm  117 ,  118  that can be configured to permit rotation about the axis of the link arm  117 ,  118  at one end of the link arm  117 ,  118  relative to the other end of the link arm  117 ,  118 . In other embodiments, the yoke  109  and/or the ballast tank  116  can be connected to the vessel  101  or the releasable connectors  125 ,  126  via a synthetic material such as an ultra-high molecular weight polyethylene. Illustrative synthetic materials suitable for use in fabricating the link arms can be or can include, but is not limited to, DYNEEMA® available from DSM. 
     In some embodiments, the yoke mooring system  100 , when mooring the vessel  101  to the base structure  104  can be at least partially submerged. For example, the base structure  104 , the turntable  107 , the yoke  109 , the ballast tank  116 , and a portion of the link arms  117 ,  118  can be located below the surface  102  of the water  103  and a portion of the link arms  117 ,  118  can be located above the surface  102  of the water  103  when the vessel  101  is moored to the base structure  104  of the yoke mooring system  100 . When the yoke mooring system  100  is disconnected from the yoke mooring system  100 , the link arms  117 ,  118  can also be located below the surface  102  of the water  103  (see  FIGS.  15 - 18   ). In another example, the base structure  104 , the turntable  107 , the yoke  109 , the ballast tank  116 , the link arms  117 ,  118 , and a first component of the releasable connectors  125 ,  126  can be located below the surface  102  of the water  103  when the vessel  101  is moored to the base structure of the yoke mooring system  100 . 
     In some embodiments, one or more of the link arms  117 ,  118  can include one or more in-line shock absorbers configured to reduce dynamic loading during connection and disconnection of the link arm  117 ,  118  to and from the vessel  101 . In some embodiments, the shock absorber can be a gas spring with hydraulic damping. In other embodiments, the shock absorber can be a rubber or elastomeric shock absorber. One suitable shock absorber is further described below with reference to  FIGS.  13  and  14   . 
     As noted above, in some embodiments, the yoke mooring system  100  can also include the releasable connectors  127 ,  128 ). In some embodiments, the yoke mooring system  100  can include one, two, three, four, or more releasable connectors, with the number of releasable connectors corresponding to the number of link arms. The releasable connectors  127 ,  128  can each include a first component disposed on the second ends  123 ,  124  of each link arm  117 ,  118  and a second component disposed on the vessel  101 . As shown, the first component of each releasable connectors  127 ,  128  can be connected to the second ends  123 ,  124  of the link arms  117 ,  118  via the couplers  127 ,  128 , respectively. In some embodiments, the releasable connectors  127 ,  128  can include a stinger connected to the link arms and can include a sleeve assembly connected to or mounted on the vessel (see  FIGS.  11  and  12   ). In some embodiments, the releasable connectors  127 ,  128  can include a latching mechanism that can be moved from an unlocked position to a locked position to secure the stinger within the sleeve (see  FIGS.  11  and  12   ). In other embodiments, the releasable connectors  127 ,  128  can include a mooring cradle configured to receive and secure the second ends  123 ,  124  of the link arms  117 ,  118 , respectively, to the vessel  101 . For example, the couplers  127 ,  128  can be configured to be placed into grooves of the mooring cradle and a pin or other body can be placed through the coupler such that the pin or other body can be supported by the mooring cradle. In such embodiment, a securing device, e.g., a top plate, can optionally be secured to the top of the mooring cradle to prevent the coupler from disconnecting from the mooring cradle. 
     In some embodiments, the yoke mooring system  100  can also include one or more fluid swivels  129  that can include a rotating part disposed on the turntable  107  and fixed part disposed on the base structure  104 . The fluid swivel  129  can include a fixed part (disposed on the base structure  104 , e.g., within a housing  130  of the base structure  104 , that can be coupled to a rotating part  131  disposed on the turntable  106 . The fluid swivel  129  can be configured to provide unlimited rotative fluid connectivity between one or more fluid paths therethrough. In such embodiment, one or more fluid conduits (one is shown,  132 ) configured to transfer one or more fluids from the fluid swivel  129  to the vessel  101  and/or from the vessel  101  to the fluid swivel  129  can be connected between the vessel  101  and the rotating part  131  of the fluid swivel  129 . The fixed part of the fluid swivel  129  can be in fluid communication with a subsea pipeline or pipeline end manifold  138 . 
     In some embodiments, the fluid swivel  129  can include a single fluid flow path or can include two, three, four, or more fluid flow paths therethrough. When the fluid swivel  129  includes two or more fluid flow paths therethrough, the two or more fluid flow paths can be configured to remain segregated from one another. In some embodiments, when the fluid swivel  129  includes two or more flow paths therethrough, the two or more flow paths can be configured to transfer a fluid from the rotating part  131  of the fluid swivel  129  to the vessel  101  or from the vessel  101  to the rotating part  131  of the fluid swivel  129 . In other embodiments, when the fluid swivel  129  includes two or more flow paths therethrough, at least one fluid flow path can be configured to transfer a fluid from the rotating part  131  of the fluid swivel  129  to the vessel  101  and at least one fluid flow path can be configured to transfer a fluid from the vessel  101  to the rotating part  131  of the fluid swivel  129 . 
     In some embodiments, the vessel  101  can include a riser porch system  133  disposed on the vessel  101 . The riser porch system  133  can be configured to fluidly connect the fluid conduit  132  to one or more storage tanks or other storage structures disposed on and/or within the vessel  101 . The fluid conduit  132  can be a flexible pipe, a series of rigid pipes connected together with a plurality of swivel joints, a flexible hose, or any combination thereof. In some embodiments, the fluid conduit  132  can be configured in a wave or catenary configuration and can be supported at one or more locations that can be selected from the turntable  107 , the yoke  109 , the ballast tank  116 , the link arms  117 ,  118 , and/or the vessel  101 . As shown, the fluid conduit  132  can be supported by one or more ballast tank bending shoes  136  and/or one or more turntable bending shoes  137 . 
     In some embodiments, the fluid conduit  132  can include a quick disconnect/quick connect fitting on an end of the fluid conduit connected to the vessel  101  to permit relatively fast connection and disconnection or reconnection of the fluid conduit  132  to and from the vessel  101 . In other embodiments, the fluid conduit  132  can have a quick disconnect/quick connect fitting on an end connected to the rotating part  131  of the fluid swivel  129 . In such embodiment, the fluid conduit  132  connected to the rotating part  131  of the fluid swivel  132  can be retrieved from the body of water  103  and taken with the vessel  101  upon disconnection of the vessel  101  from the yoke mooring system  100 . In still other embodiments, the fluid conduit  132  can include a quick disconnect/quick connect fitting disposed between the first and second ends thereof such that a portion of the fluid conduit  132  can remain at in the body of water and a portion of the fluid conduit  132  can be retrieved onto the vessel  101  and taken with the vessel  101  upon disconnection of the vessel  101  from the yoke mooring system  100 , as further described with reference to  FIG.  4   . 
       FIG.  4    depicts a side elevation view of another illustrative disconnectable yoke mooring system  200 , according to one or more embodiments. The yoke mooring system  200  is similar to the yoke mooring system  100  with a few differences. The first difference is that the yoke mooring system  200  can include a multi-segment fluid conduit  232 . As shown, the fluid conduit  232  can include a first segment  236  coupled between the riser porch system  133  and a junction or connection point  240  located toward the second end  123  of the first link arm  117 . The fluid conduit  232  can also include second segment  237  that can extend down a portion of the first link arm  117 . The second segment  237  can be fluidly coupled to a third segment  238  that can be in fluid communication with the rotating part  131  of the fluid swivel  129 . In the embodiment shown in  FIG.  4   , the first segment  236  and the third segment  238  can be flexible and the second segment  237  can be rigid. 
     A second difference between the yoke mooring system  100  is that the yoke mooring system  200  is depicted as including a jetting system  250 . The jetting system  250  can include a pressurized fluid source  251 , a jetting pad  252 , and a fluid conduit  253  that can be configured to convey a pressurized fluid from the pressurized fluid source  251  to the jetting pad  252  such that the pressurized fluid can be ejected toward the seabed  105  when the yoke  109  and the ballast tank  116  are about to or is/are being raised off the seabed  105  during connection of the vessel  101  to the yoke mooring system  200 . Suitable pressurized fluids can be or can include, but are not limited to, a gas, a liquid, or a mixture thereof. In some embodiments, the suitable gases can be or can include, but are not limited to, air, nitrogen, carbon dioxide, or other available gas. In some embodiments, a suitable liquid can be or can include, but is not limited to, water, e.g., sea water or fresh/potable water. 
     The jetting system  250  can help facilitate separation of the yoke  109  and the ballast tank  116  from the seabed  105 . Depending, at least in part, on the type of seabed  105 , the seabed  105  can be rather soft such that yoke  109  and the ballast tank  116  can sink into the seabed  105  thereby making it more difficult to raise the yoke  109  and the ballast tank  116  off the seabed during connection of the vessel  101  to the yoke mooring system  200 . 
     As shown in  FIG.  4   , the conduit  253 , similar to the conduit  232  can include a first segment coupled between the pressurized fluid source  251  and a junction or connection point  254  located toward the second end  123  of the first link arm  117 . The fluid conduit  232  can also include a second segment that can extend down a portion of the first link arm  117 . The second segment can be fluidly coupled to a third segment that can be in fluid communication with the jetting pad  252 . In the embodiment shown in  FIG.  4   , the first segment and the third segment of conduit  253  can be flexible and the second segment can be rigid. 
     A third difference between the yoke mooring system  100  is that the yoke mooring system  200  is depicted as including a lifting device  234  that includes a rotary winch  244  that includes a first and a second independent drum and a traveling block  245  that can be used to lift and lower the link arms  117 ,  118  and the yoke  109  and the ballast tank  116  during connection and disconnection of the vessel  101  to the yoke mooring system  200 . Illustrative lifting devices will be further described below. 
     Returning to  FIGS.  1 - 3   , the yoke mooring system  100  can also include at least one lifting line, as further described below with reference to  FIGS.  5 - 8   . In some embodiments, the yoke mooring system  100  can include one, two, three, four, or more lifting lines. Each lifting line can be configured to engage or otherwise cooperate with a lifting arrangement, as further described below with reference to  FIGS.  5 - 8   . The lifting lines can be or can include, but are not limited to, chains, wire ropes, synthetic ropes, natural ropes, or other suitable material, or any combination thereof. The first ends of the lifting lines can be configured to be connected to the second ends  123 ,  124  of the link arms  117 ,  118 , the couplers  123 ,  124  that can be connected to the second ends  123 ,  124  of the link arms  117 ,  118 , and/or to the first component of the releasable connectors  127 ,  128  that can connected to the second ends  123 ,  124  and/or the couplers  123 ,  124 . In some embodiments, a buoy can be disposed on the second ends of the lifting lines such that the second ends of the lifting lines float on the surface  102  of the body of water  103  when the yoke mooring system  100  is disconnected from the vessel  101  so that the lifting lines can be readily retrieved upon return of the vessel  101 . 
     The yoke mooring system  100  can also include at least one lifting device that can be configured to lift and lower a corresponding link arm. In some embodiments, as shown, the yoke mooring system  100  can include a first lifting device  134  and a second lifting device  135  that can be configured to lift and lower the first and second link arms  117 ,  118 , respectively. The lifting devices  134 ,  135  can independently be or include, but are not limited to, a lifting device that utilizes a linear moving mechanism, a rotary torque mechanism, or a combination thereof. Suitable lifting devices that utilize a linear moving mechanism can be or can include, but are not limited to, chain jacks, strand jacks, linear winches, or the like. Suitable lifting devices that utilize a rotary torque mechanism can be or can include, but are not limited to, rotary winches that include one or more drums, e.g., single drum rotary winches or two drum rotary winches, a powered windlass, or the like. The windlass typically includes a chain wheel that includes, e.g., seven pockets, that can grip a chain, but the chain does not roll up on a drum but instead is moved off or onto the chain wheel as the chain is pulled in or let out. The lifting devices that utilize the linear moving mechanism can be powered via an internal combustion engine-hydraulic power unit or an electric hydraulic power unit. The lifting devices that utilize the rotary torque mechanism can be powered via electricity, hydraulics, an internal combustion engine, or combination thereof. 
     In some embodiments the lifting devices  134 ,  135  can be configured such that a speed at which the lifting devices  134 ,  135  operate at can be tuned, adjusted, or otherwise correlated to account for a motion of the vessel that can be caused by wind, waves, swell, and/or current present at a given mooring location. In some embodiments, the lifting devices  134 ,  135  can be configured such that a speed at which the lifting devices  134 ,  135  operate at is not tuned, adjusted, or otherwise correlated to account for a motion of the vessel. Said another way, the lifting devices  134 ,  135  can be configured to lift and lower the first ad second link arms  117 ,  118  and the yoke  109  and the ballast tank  116  at a speed that is independent from a motion of the vessel. 
       FIG.  5    depict a side elevation view of an illustrative lifting device  500  that can include a chain jack  502  and a rotary winch  504  for use in connecting and disconnecting the yoke mooring systems  100 ,  200 ,  900 , and/or  1000  described herein, according to one or more embodiments. In some embodiments, the lifting device  500  can be disposed on a bow or a stern of the vessel. In some embodiments, a first and a second lifting device  500  can be configured to lift the first and second link arms  117 ,  118 , respectively, along with the yoke  109  and the ballast tank  116  from a position where the yoke  109  and the ballast tank  116  are resting on the seabed  105  or a landing structure, e.g., a mud mat or fenders located on the seabed  105 , to a position at which the ballast tank  116  and the link arms  117 ,  118  can be suspended from the vessel  101  via connection with the releasable connector  125 . As shown, a first component  526  of the releasable connector  125  connected to the link arm  117  can be secured to a second component  527  of the releasable connector  125  that can be disposed on the vessel  101 . The first and second lifting devices  500  can also be configured to lower one of the link arms  117 ,  118  along with the yoke  109  and the ballast tank  116  from the suspended position to a position where the yoke  109 , the ballast tank  116 , and the link arms  117 ,  118  are resting on the seabed  105  or resting on the optional landing structure. 
     In some embodiments, the first lifting device  500  can include a first rotary winch  504  and a first chain jack  502  that can be configured to lift and lower the first link arm  117  and at least a portion of the yoke  109  and the ballast tank  116 . Another or second lifting device  500  can also be configured to lift and lower the second link arm  118  and at least a portion of the yoke  109  and the ballast tank  116 . In some embodiments, the first two lifting devices, i.e., the first and second rotary winches  504 , of the first and second lifting devices  500  can be configured to lift or lower the link arms  117 ,  118  and the second two lifting devices, i.e., the first and second chain jacks  502 , of the first and second lifting devices  500  can be configured to lift or lower the yoke  109  and the ballast tank  116  along with the link arms  117 ,  118 . 
     As noted above, the yoke mooring system  100  (as well as  200 ,  900 , and  1000 ) can also include at least one lifting line. As shown in  FIG.  5   , the lifting line can include two segments coupled together. More particularly, the first segment  506  can be connected at a second end to the rotary winch  504  and a first end  508  thereof to a second end of the second segment  510  when the first segment  506  pulls in the second segment  510  via the rotary winch  504  into engagement with the chain jack  502 . As shown, the second segment  506  has engaged the chain jack and, as such, the first end of the first segment  506  has been disconnected therefrom to allow the second segment  506  to be conveyed into a storage compartment  512  configured to receive the second segment  510 . When the lifting device  500  includes the chain jack  502  the second segment  510  can be a chain. The first end of the second segment  506  can be configured to be connected to the second ends  123 ,  124  of the link arms  117 ,  118 , the couplers  127 ,  128  that can be connected to the second ends  123 ,  124  of the link arms  117 ,  118 , and/or to the first component of the releasable connectors  125 ,  126  that can be connected to the second ends  123 ,  124  and/or the couplers  127 ,  128 . In other embodiments, when the lifting device  500  includes a strand jack or a linear winch, the second segment  510  can be a cable, a wire, or the like. 
     In some embodiments, the second ends of the first segment  506  can each be connected to a first end of a corresponding retrieval line with each retrieval line having a buoy disposed or otherwise connected to the second end thereof such that the second ends of the retrieval line remain at the surface  102  of the body of water  103  when the vessel  101  is disconnected from the yoke mooring system  100 ,  200 ,  900 ,  1000 . In some embodiments, the retrieval lines can be lighter in weight, e.g., a cable, as compared to the lifting lines connected thereto that can be greater in weight, e.g., a chain having more mass per linear foot that the retrieval lines. In some embodiments, each retrieval line can be retrieved from the surface  102  of the body of water 103  and routed to a corresponding winch  504 . Each winch  504  can be used to haul in the corresponding lifting line  506  until the second end of each second segment  510  is adjacent or proximate to the chain jack  502 . The second segment  510  can then be engaged with the chain jack  502  and the chain jack(s)  502  can be used to lift the link arms  117 , the yoke  109 , and the ballast tank  116  until the first part of the releasable connector  125  can be connected to the second part of the releasable connector for connection of the yoke mooring system to the vessel. 
       FIG.  6 - 8    depict an isometric, a side elevation, and an isometric close-up view, respectively of an illustrative lifting device  600  that includes a rotary winch  602  that can include a first and a second independent drum  604 ,  606  and a traveling block  608  for use in connecting and disconnecting the yoke mooring system  100 ,  200 ,  900 , and/or  1000 , according to one or more embodiments. The lifting device  600  can include a lifting line  610  and a hoisting line  612 . A first end of the lifting line  610  can be attached to the second end of a corresponding link arm, e.g., link arm  117 , and a second end of the lifting line  610  can be attached to the first independent drum  604  of the rotary winch  602 . As shown, the lifting line  610  can be routed over one or more sheaves (two are shown,  611 ,  613 ) and against one or more sheaves  615  disposed on the top of a deck  624 . 
     The lifting line  610  can include connector  616  disposed between the first end and the second end thereof. In some embodiments, the connector  616  can include a mating surface  614 . In some embodiments, the mating surface  614  can be an exterior surface of a bull nose, as shown, or a link of a chain, a padeye, a clevis, a lug having a bore therethrough, or any other surface capable of mating or otherwise being secured to a receptacle  618  of the traveling block  608 . As shown, the receptacle  618  can be or can include a bore or other opening defined by and through the traveling block  608  into which the connector  616  can be moved into. 
     In some embodiments, the lifting line  610  can further include a float line attached at a first end thereof to the second end of the lifting line  610  and a buoy can be disposed at a second end of the float line such that the second end of the float line floats on the surface  102  of the body of water  103  when the yoke mooring system  100 ,  200 ,  900 , and/or  1000  is disconnected from the vessel  101  so that it can be readily retrieved to the vessel  101  prior to connecting the yoke mooring system to the vessel  101 . The float line can be a synthetic rope, a wire rope, natural rope, a cable, a chain, or other suitable elongated member. The lifting line  610  can be a wire rope, a synthetic rope, natural rope, a cable, a chain, any other suitable elongated member, or any combination thereof. As shown, the lifting line  610  can include a first segment  702  and a second segment  704  connected thereto via the connector  610  (see  FIG.  7   ). In some embodiments, the first segment  702  can be a rope or a cable and the second segment  704  can be a chain. In some embodiments, the buoy can be disposed at the second end of the first lifting line  610  and the float line can be excluded. In some embodiments, the rotary winch  602  can be configured as two independent rotary winches rather than a rotary winch that includes the first and second independent drums  604 ,  606 . 
     In some embodiments, a first end of the hoisting line  612  can be connected to the second independent drum  606  of the rotary winch  602 , the hoisting line  612  can be reeved or routed around a first sheave  620  or reeved or routed over another sheave  621  located between the second independent drum  606  and the first sheave  620  (as shown) and reeved or routed over the first sheave  620  disposed above the traveling block  608 , reeved or routed around a second sheave  622  disposed on the traveling block  608 , and connected at a second end thereof at a point on the vessel located above the traveling block  608 , e.g., an underside of the deck  624 . In other embodiments, the first end of the hoisting line  612  can be connected to the second independent drum  606  of the rotary winch  602 , the hoisting line  612  can be reeved or routed around the first sheave  620  or reeved or routed over another sheave  621  located between the second independent drum  606  and the first sheave  620  and reeved or routed over the first sheave  620  disposed above the traveling block  608 , reeved or routed around the second sheave  622  disposed on the traveling block  608 , reeved or routed around a third sheave  626  disposed above the traveling block  608 , reeved or routed around a fourth sheave  628  disposed on the traveling block  608 , and connected at the second end thereof at a point on the vessel located above the traveling block  608 , e.g., an underside of the deck  624 . 
     When the lifting device  600  includes the first, second, third, and fourth sheaves  620 ,  622 ,  626 ,  628 , as shown, the lifting device  600  includes a four-part lifting arrangement that can provide a 4:1 mechanical advantage that can allow the rotary winch  602  to have a lower or reduced pulling capacity. In some embodiments a two-part, a three-part, a five-part, a six-part, a seven-part, an eight-part part or more lifting arrangement can be implemented depending, at least in part, on a desired size of the rotary winch  602  and/or a weight of the yoke  109  and the ballast tank  116 . In some embodiments, the arrangement of the traveling block  608  and the fixed sheaves (disposed above the traveling block  608 ) and the traveling sheaves (disposed on the traveling block  608 ) can provide at least a 3:1 or at least a 4:1 to a 5:1, a 6:1, a 7:1, an 8:1, a 9:1, a 10:1 or greater mechanical advantage. 
     In operation, the lifting line  610  or the optional float line connected thereto can be retrieved from the surface of the body of water, the second end of the lifting line  610  can be connected to the first drum  604  of the rotary winch  602 . The rotary winch  602  can pull the lifting line  610  in until the link arm  117  has been lifted and the mating surface  614  has engaged with and been secured in the receptacle  618  defined by the traveling block  608 . In some embodiments, the connector  616  can define an outer shoulder  617  that includes the mating surface  614  that can be retained within the receptacle  618  of the traveling block  608  via a split ring  630  and one or more retainer plates (two are shown,  632 ). In other embodiments, the connector  616  can be secured to the receptacle  618  of the traveling block  608  via a hydraulic actuator, or any other connection mechanism as will be apparent to those skilled in the art. In some embodiments, once the connector  616  has been connected to the traveling block  608 , the lifting line  610  can be released and the load can be taken by the hoisting line  612  and the second drum  606  of the rotary winch  602 . In other embodiments, the first and second independent drums  604 ,  606  of the rotary winch  602  can be used together to lift the lifting line  610  and the hoisting line  612 , respectively. The hoisting line or the hoisting line and the lifting line  610  can be used to lift the link arm  117  and a portion of the yoke  109  and the ballast tank  116  until the first part of the releasable connector  125  can be connected to the second part of the releasable connector  125 , thus connecting the vessel  101  to the yoke mooring system  100 ,  200 ,  900 , and/or  1000 . 
       FIG.  9    depicts a side elevation view of an illustrative disconnectable yoke mooring system  900  that includes a mooring buoy  902  configured to assist with connection and disconnection operations of the yoke mooring system  900  to and from the vessel  101 , according to one or more embodiments. In some embodiments, the mooring buoy  902  can be connected to the yoke  109 , the turntable  107 , and/or the ballast tank  116 . In some embodiments, the mooring buoy  902  can float on the surface  102  of the body of water  103 . In other embodiments, the mooring buoy  902  can float in the body of water  103  below the surface of the body of water  103 . The mooring buoy  902  can be used to assist with mooring operations and, in particular, heading control of the vessel  101  during the connection process and can be included in any of the embodiments described herein. 
     In some embodiments, the mooring buoy  902  can be a steel buoy with a tether  904  connecting the mooring buoy  902  to the yoke  109 , the turntable  107 , and/or the ballast tank  116 . The mooring buoy  902  can include a padeye, a hook or other attachment point to attach a mooring line, hawser or other rope  906  from the mooring buoy  902  to the vessel  101 . In this way, the vessel  101  can be moored to the yoke mooring system  900  during the connection process and thus reduce or eliminate the number of tug boats or other secondary vessels for the purposes of heading control of the vessel  101  during the connection process or even eliminate the need for tug boats for the purposes of heading control of the vessel  101  during the connection process. The vessel can also be connected to the mooring buoy  902  prior to the disconnection process for the purposes of heading control. 
     In some embodiments, the yoke mooring system  900  can also include a mudmat, one or more fenders, or other landing structure(s)  908  integrated with the ballast tank  116  and/or the yoke  109 . The landing structure can provide a surface for the yoke  109  and/or the ballast tank  116  to rest on such that the yoke  109  or the ballast tank  116  does not get stuck or adhere to the seabed  105  which is possible as some seabeds can often have a very soft, muddy consistency. In some embodiments, if the yoke mooring system  900  includes the landing structure  908 , the landing structure  908  can be at least partially disposed on a bottom surface of the ballast tank  116 . 
       FIG.  10    depicts an isometric view of another illustrative disconnectable yoke mooring system  1000  that includes a buoyancy module  1002  disposed on the yoke  109  of the mooring system  1000 , according to one or more embodiments. In some embodiments, the buoyancy module  1002  can be disposed on the ballast tank  116 , as shown. In other embodiments, the buoyancy module can be disposed between the second end  111  of the yoke  109  and the first end  110  of the yoke  109 . In some embodiments, the yoke mooring system  1000  can include, one, two, three, four, or more buoyancy modules  1002 . The buoyancy module(s)  1002  can be configured to reduce the weight of the yoke  109  and ballast tank  116  by 10%, 20%, or 50% to 75%, 80%, 100%, or even more. By reducing the weight of the yoke  109  and ballast tank  116 , the corresponding size and cost of the lifting devices, e.g.,  500  and/or  600  disposed on the vessel  101  and used to raise and lower the yoke mooring system  1000  during connection and disconnection from the vessel  101  can be significantly reduced. 
     In some embodiments, each buoyancy module  1002  can be configured as a soft, flexible bladder, a series of soft, flexible bladders or as a rigid fabricated structure that can be pressure balanced with the pressure in the body of water  103  at the exterior of the buoyancy module  1002 . In some embodiments, the buoyancy module  1002  can be open via one or more ports or openings  1004  to the body of water  1003  at a position that is toward the bottom of the buoyancy module  1002 . The buoyancy module  1002  can normally be filled with water such that the weight of the yoke mooring system  1000  is a maximum and can be filled with a liquid, a gas, or a combination of a liquid and a gas prior to the disconnection or reconnection of the vessel  101  from or to the yoke mooring system  1000  such that the weight of the yoke mooring system  1000  can be reduced. In this way, the dimensions, size, and/or capacity of the lifting devices, e.g.,  500  and/or  600 , and the corresponding lifting lines can be reduced. 
     In some embodiments, the buoyancy module  1002  can be in fluid communication with a compressed fluid source  1006 . The compressed fluid source can be disposed on the vessel  101  or an auxiliary or second vessel. In some embodiments, the compressed fluid source  1006  can be a compressor or a bank of compressed gas cylinders. The compressed fluid can be air, nitrogen, exhaust gas, or any other gas or mixture of gases. The compressed fluid source  1006  can be in fluid communication with the buoyancy module  1002  via a compressed fluid conduit  1008 . The compressed fluid conduit can be a stand-alone flexible pipe, hose, or other similar type of conduit. The compressed fluid conduit can also be disposed within a control umbilical that can run from the vessel  101  to the turntable  107  and through the fluid swivel  129 . 
     In some embodiments, the amount of fluid introduced inside of the buoyancy module  1002  can be selected such that the yoke  109  and the ballast tank  116  are stable resting on the seabed during a severe weather period after the vessel  101  has been disconnected. In some embodiments, the amount of fluid within the buoyancy tank  1002  can be reduced after the yoke  109  and the ballast tank  116  have been set onto the seabed  105  thereby increasing the weight of the yoke  109  and the ballast tank  116  after disconnection to provide additional stability. In some embodiments, the fluid via line  1008  can be introduced into the buoyancy module  1002  prior to reconnecting the vessel  101  to the yoke mooring system  1000 . In some embodiments, the fluid can be introduced into the buoyancy module  1002  one time prior to a severe weather season and the fluid can be expelled from the buoyancy module  1002  upon the passing or completion of the severe weather season, e.g., prior to a hurricane or typhoon season and after a hurricane or typhoon season. 
       FIGS.  11  and  12    depict a cross-sectional elevation view of an illustrative releasable connector  1100  in an unlocked and a locked position, respectively, according to one or more embodiments. In some embodiments, the releasable connector  1100  can include a stinger  1105  and a sleeve assembly  1150 , where the stinger  1105  can be secured within the sleeve assembly  1150 . The stinger  1105  can have a first end  1106  and a second end  1107 . The first end  1107  can be connected to the second end of a link arm, e.g., link arm  117 , or can be connected to a component  1127  of the coupler  127 , as shown. The second end  1107  of the stinger can be coupled to a lifting line, e.g., lifting line  610 . In some embodiments, an optional connector structure  1111 , e.g., a padeye, a clevis, a trunnion, or the like, can be disposed on the first end  1107  of the stinger  1105 . As such, in some embodiments, the lifting line connected to the second end  1107  of the stinger  1105 , e.g., via the connector structure  1111 , can pass through the sleeve assembly  1150  when the stinger  1105  is inserted into or removed from the sleeve assembly  1150 . 
     In some embodiments, the stinger  1105  can have a generally cylindrical outer surface  1108 . The stinger  1105  can define a first groove  1109  and a second groove  1110  about at least a portion of the outer surface  1108  of the stinger  1105 . In some embodiments, the first groove  1109  and/or the second groove  1110  can extend about 50% or more, 60% or more, 70% or more, 75% or more 80% or more, 90% or more, or 95% or more of the outer surface  1108  of the stinger  1105 . In some embodiments, the first groove  1109  and/or the second groove  1110  can be circumferential grooves that extend all the way around the outer surface  1108  of the stinger  1105 . In some embodiments, the first groove  1109  can be disposed toward the second end  1107  of the stinger  1105  and the second groove  1110  can be disposed toward the first end  1106  of the stinger. It should be understood that the first and second grooves  1109 ,  1110  can be located at any desired position between the first end  1106  and the second end  1107  of the stinger  1105 . In some embodiments, an outer diameter of the second groove  1110  can be less than an outer diameter of the first groove  1109 . Said another way, the outer diameter of the stinger  1105  where the first groove  1109  is defined toward the second end  1107  thereof can be less than the outer diameter of the stinger  1105  where the second groove  1110  is defined toward the first end  1106  thereof. 
     The sleeve assembly  1150  can include an outer housing  1151 . In some embodiments, the outer housing  1151  can have a substantially cylindrical outer surface that can have a bore therethrough within which components of the sleeve assembly  1150  can be at least partially disposed. In other embodiments, however, the outer housing  1151  of the sleeve assembly  1150  can have any desired geometrical cross-sectional shape or combination of cross-sectional shapes. For example, the outer housing  1151  of the sleeve assembly  1150  can have a cross-sectional shape that can be triangular, rectangular, circular, pentagonal, hexagonal, or the like, or any combination thereof. The cross-sectional shape(s) of the outer surface of the outer housing  1151  can be configured as desired for a given application. The outer housing  1151  can be configured to be secured to the vessel  101  (see, e.g.,  FIG.  1   ), to which the stinger  1105  and a link arm, e.g.,  117 , coupled to the component  1127  of the connector  127  (or directly to the link arm  117  can be coupled together when the stinger  1105  has been inserted into and secured within the sleeve assembly  1150 . Connection systems or methods suitable for securing the outer housing  1151  of the sleeve assembly to the vessel  101  can include, but are not limited to, welding, bolts, bolts and nuts, rivets, pins, screws, mechanical connectors such as a collet connector, adhesives, or the like. 
     In some embodiments, the sleeve assembly  1150  can be configured to secure the stinger  1105  therein via a latching mechanism. The latching mechanism can include but is not limited to, one or more actuators  1156 , a first actuator ring  1157 , a first stationary inner wall  1158  disposed toward the second end  1107  of the sleeve assembly  1150 , a first split ring  1159 , a second stationary inner wall  1160  disposed toward the first end  1106  of the sleeve assembly  1150 , a second split ring  1161 , a moveable inner wall  1162  having a first end  1163  and a second end  1164 , a second actuator ring  1165 , and one or more guide rods or connecting members (not shown due to the cross-sectional view. The first split ring  1159  can be disposed on a first shoulder  1166  defined by the first stationary inner wall  1158 . The second split ring  1161  can be disposed on a second shoulder  1167  defined by the second stationary inner wall  1160 . In some embodiments, the first shoulder  1166  and/or the second shoulder  1167  can be circumferential shoulders in that the first shoulder  1166  and/or the second shoulder  1167  can extend about at least a portion of the first stationary inner wall  1158  and the second stationary inner wall  1160 , respectively. The moveable inner wall  1162  can be disposed between the first and second stationary inner walls  1158 ,  1160 . The second actuator ring  1165  can be disposed about at least a portion of a perimeter of the second end  1164  of the moveable inner wall  1162 . In some embodiments, the one or more connecting members (not visible) can be coupled to the first actuator ring  1157  and the first end  1163  of the moveable inner wall  1162 . In such embodiment, the moveable inner wall  1162  along with the second actuator ring  1165  can simultaneously move with the first actuator ring  1157 , e.g., via actuation of the one or more actuators  1156 . 
     The latching mechanism can be operated to move between a first or an unlocked position and a second or locked position by actuating the one or more actuators  1156 . The actuators  1156  can be or can include, but are not limited to, hydraulic actuators, pneumatic actuators, electric actuators, or a combination thereof. In some embodiments, the actuators  1156  can be moved from the first or unlocked position to the second or locked position by moving a piston  1168  in a manner that moves the first actuator ring  1157  between the first stationary inner wall  1158  and an outer diameter of the first split ring  1159  with sufficient force to cause the first split ring  1159  to move partially into the first groove  1110  defined by the outer surface  1108  of the stinger  1105 . The actuator  1156  can also cause the moveable inner wall  1162  and, as such, the second actuator ring  1165  to move between the second stationary inner wall  1160  and an outer diameter of the second split ring  1161  with sufficient force to cause the second actuator ring  1161  to move partially into the second groove  1109  defined by the outer surface  1108  of the stinger  1105 . Once the first and second split rings  1159 ,  1161  are partially within the first and second grooves  1110 ,  1109 , respectively, the stinger  105  is rigidly connected to the sleeve assembly  150 . To disengage or disconnect the stinger  105  from the sleeve assembly  150  the actuators  156  can be moved in a reverse manner as when moved to the second or locked position to allow the stinger  105  to be removed therefrom. 
     In some embodiments, the second split ring  1161  can be configured to support a greater axial load than the first split ring  1159  when the stinger  1105  is fully positioned within the sleeve assembly  1150  and the latching mechanism is in the locked position. In some embodiments, the first split ring  1159  can be configured to support a greater radial load than the second split ring  1161  when the stinger  1105  is fully positioned within the sleeve assembly  1150  and the latching mechanism is in the second or locked position. In some embodiments, the second split ring  1161  can be configured to support a greater total load than the first split ring  1159  when the stinger  1105  is fully positioned within the sleeve assembly  1150  and the latching mechanism is in the locked position. 
     In some embodiments, the stinger  1105  can include one or more alignment keys (two are shown,  1170 ,  1171 ) disposed on the outer surface  1108  thereof. In some embodiments, the stinger  1105  can include one, two, three, four, or more alignment keys disposed on the outer surface  1115  thereof. The alignment keys  1170 ,  1171  can each engage a guide surface that can be at least partially disposed within the moveable inner wall  1162  the latching mechanism (not visible in the figure). During insertion of the stinger  1105  into the sleeve assembly  1150  the alignment keys  1170 ,  1171  can contact the guide surface to rotatively align the stinger  1105  within the sleeve assembly  1150 . In some embodiments, the alignment keys  1170 ,  1171 , if present, can be located anywhere on the outer surface  1108  of the stinger  1105  between the first and second grooves  1109 ,  1110 . 
     In some embodiments, the first and second split rings  1159 ,  1161  can be multi-sided split rings. In some embodiments, the first and second split rings 1159 ,  1161  can include five relatively flat sides having the same or different lengths with respect to one another. In other embodiments, the split rings can have any desired cross-sectional shape such as rectangular (sets of opposing sides having the same or different lengths with respect to each set of sides), trapezoidal, e.g., with at least one set of opposing parallel sides, pentagonal, polygonal, e.g., with multiple sides with equal or unequal length, or the like. It should also be understood that the first and second grooves  1109 ,  1110  can be defined by inner walls that correspond to a cross-sectional shape of the first and second split rings  1159 ,  1161  such that the first and second grooves  1109 ,  1110  can receive the first and second split rings  1159 ,  1161  therein. In some embodiments, a suitable releasable connector  110  can include the releasable connector(s) as described in U.S. Provisional Patent Application No. 63/255,749, filed on Oct. 14, 2021. 
       FIGS.  13  and  14    depict a cross-sectional elevation view of an illustrative stinger  1300  that can be used in the releasable connector shown in  FIGS.  11  and  12    that includes a shock absorber arrangement  1300 , according to one or more embodiments. The stinger  1300  can be similar to the stinger  1105  described above with reference to  FIGS.  11  and  12   . The main difference is that the stinger  1300  can include a shock absorber arrangement  1310  at least partially disposed therein that can be configured to reduce dynamic loading during connection and disconnection of the stinger  1300  to the sleeve assembly  1150 . 
     In some embodiments, the shock absorber arrangement  1310  can be or can include one or more rubber or elastomeric shock absorber elements (four are shown,  1312 ,  1314 ,  1316 , and  1318 ) that can be configured to deform when the stinger  1300  is in a loaded state. In some embodiments, the shock absorber arrangement can be or can include a gas spring with hydraulic damping (not shown). As also shown in  FIG.  131   , the alignment keys  1170 ,  1171  can be positioned closer to the second groove  1110  than the first groove  1109  as compared to the stinger  1105 . 
     In addition to the shock absorber elements  1312 ,  1314 ,  1316 ,  1318 , the shock absorber arrangement  1310  can also include a fixed member  1320 , a moveable member  1322 , and a moveable housing  1324 . In some embodiments, the shock absorber elements  1312  and  1314  can be coupled to an outer surface  1323  of the moveable member  1322  and an inner surface  1325  of the moveable housing  1324  and the shock absorber elements  1316  and  1318  can be coupled to an outer surface  1321  of the fixed member  1320  and the inner surface  1325  of the moveable housing  1324 . In other embodiments, the shock absorber elements  1312  and  1314  can be coupled to an intermediate member  1326  of the moveable member  1322  that can be disposed about and secured to the outer surface of the moveable member  1322  and an inner surface  1325  of the moveable housing  1324  and the shock absorber elements  1316  and  1318  can be coupled to an intermediate member  1327  of the fixed member  1320  that can be disposed about and secured to the outer surface  1321  of the fixed member  1320  and the inner surface  1325  of the moveable housing  1324 . 
     The shock absorber elements  1312 ,  1314 ,  1316 , and  1318  can be made from rubber or any other suitable elastomer. In some embodiments the shock absorber elements can be made from vulcanized rubber or other thermoplastic elastomer. In some embodiments, the shock absorber elements can have a minimum tensile strength of 18 MPa, as measured according to ASTM D412-16(2021). In some embodiments, the shock absorber elements can have a minimum elongation at break of 450%, as measured according to ASTM D412-16(2021). In some embodiments, the shock absorber elements can have a minimum tear resistance of 80 kN/m, as measured according to ASTM D624-00(2020), Method B. In some embodiments, the shock absorber elements can have a maximum compression set of 25%, as measured according to ASTM D395-18, Method B. In some embodiments, the shock absorber elements can exhibit no cracking under dynamic ozone testing conditions, as measured according to ASTM D1149-18. 
     The shock absorber elements  1312 / 1314  and  1316 / 1318  can be secured to the moveable member  1322  and the fixed member  1320 , respectively, and the moveable housing  1324  via any suitable manner. In some embodiments, a bond having a sufficient strength can be formed between the shock absorber elements and the moveable housing  1324  and the moveable member  1322  or the fixed member  1320  during the manufacture of the shock absorber arrangement  1310 . In some embodiments, an adhesive can be used to secure the shock absorber elements  1312 ,  1314 ,  1316 , and  1318 . In other embodiments one or more mechanical fasteners, e.g., screws, bolts, bolts and nuts, rivets, rods, or the like, can be used to secure the shock absorber elements  1312 ,  1314 ,  1316 , and  1318 . 
     As shown in  FIG.  13   , the shock absorber elements  1312 ,  1314 ,  1316 , and  1318  are in an unloaded position. As a tension or load is applied to the connector structure  1111  (or the end of the moveable member  1322 ) the shock absorber elements  1312 ,  1314 ,  1316 , and  1318  can deform to move the shock absorber elements  1312 ,  1314 ,  1316 , and  1318  into a loaded position or state.  FIG.  14    depicts a side elevation view of the stinger  1300  in a loaded position, according to one or more embodiments. As shown in  FIGS.  13  and  14   , as the shock absorber elements  1312 ,  1314 ,  1316 , and  1318  move from the unloaded position to the loaded position the moveable housing  1324  and the moveable member  1322  move toward the first end  1107  of the stinger  1300 . The moveable member  1322  can further extend from the first end  1107  of the stinger  1300  in the loaded position as compared to the unloaded position. As shown, an end of the intermediate member  1326  can contact the first end  1107  of the stinger  1105  such that the moveable member  1222  can be prevented from moving any further toward the first end  107  of the stinger  1105 . In other embodiments, if the shock absorber element  1312  is coupled directly to the outer surface  1323  of the moveable member  1322 , a stop can be formed on the outer surface  1323  between the first end  107  of the stinger  1300  and the shock absorber element  1312  that can prevent the moveable member  1322  from extending too far out of the stinger  1300 . 
       FIGS.  15 - 20    depict an illustrative connection process connecting a vessel  101  to a disconnectable yoke mooring system  100 , according to one or more embodiments described. The particular lifting device shown in  FIGS.  15 - 20    includes the lifting device  500  described above with reference to  FIG.  5   . It should be understood that any lifting devices described herein can be used to connect the vessel  101  to the yoke mooring system  100 . Continuing with reference to  FIGS.  1 ,  5 - 8 , and  15 - 20   , in some embodiments, the vessel  101  can approach the yoke mooring system  100  and can retrieve float lines  1505  (as shown) or lifting lines  506  (two lifting lines or float lines  1505  can be present when the yoke mooring system  100  includes two link arms  117 ,  118 ) should the float line  1505  not be used. At this stage the ballast tank  116  can be resting on the seabed  105  or, as shown, on an optional landing pad  1510  and the second ends  123 ,  124  of the link arms  117 ,  118  or, as shown, the releasable connectors  125 ,  126  can also be resting on the seabed  105  (as shown) or another optional landing pad. 
     The float lines  1505  or the lifting lines  506  can be pulled in via the rotary winches  504  disposed on the vessel  101 . In some embodiments, a clump weight  1512  can be disposed on an end of the lifting lines  506  that can be removed when pulled up to the vessel. When the float lines  1505  are used, the float lines  1505  can be disconnected from the lifting lines  506  and the ends of the lifting lines  506  can be connected to the rotary winches  504 . In some embodiments, the float lines  1505  and/or the lifting lines  506  can include distance markers thereon that can be used to determine how much float line  1505  and/or lifting line  506  remains to be pulled in by the rotary winches  504 . 
     As the rotary winches  504  pull the lifting lines  506  onto the vessel, the lifting lines can begin to lift the second ends  123 ,  124  of the link arms  117 ,  118  up off the seabed  105  and toward the vessel  101 . When the second ends  123 ,  124  of the link arms are raised high enough off the seabed  105  the ballast tank  116  can begin to be lifted. In some embodiments, prior to lifting the ballast tank  116  off the seabed  105  the lifting line can include the chain  510  connected to the second ends  123 ,  124  of the link arms  117 ,  118  or, as shown, the releasable connectors  125 ,  126  disposed thereon. When the chain  510  reaches the vessel  101 , the chain  510  can be connected to the chain jack  502 , strand jack, linear winch, or the like and the chain jack  502 , strand jack, liner winch, or the like can be used to pull the ballast tank  116  and yoke  109  away from the seabed  105 . In other embodiments, prior to lifting the ballast tank  116  off the seabed the lifting line can include a mating surface configured to connect to a traveling block as discussed above with reference to  FIGS.  6 - 8   . When the mating surface  114  reaches the vessel, the mating surface  114  can be connected to the traveling block  608  and the second rotary winch  606  can be used to pull the ballast tank  116  and yoke  109  away from the seabed  105 . The link arms  117 ,  118  can be lifted off the seabed  105  such that the first component and the second component of the releasable connectors  125 ,  126  can be engaged with and secured to one another to secure the vessel  101  to the yoke mooring system  100 ,  200 ,  900 ,  1000 . 
     In some embodiments, prior to lifting the link arms  117 ,  118 , ballast tank  116 , and yoke  109  toward the vessel  101  and off the seabed  105 , one or more buoyancy modules  1002  disposed on or otherwise connected to the ballast tank  116  and/or the yoke  109  (see  FIG.  10   ) can be filled with a fluid, e.g., air, as to reduce the weight of the yoke  109  and the ballast tank  116 . In some embodiments, once the vessel  101  has been connected to the yoke mooring system  100 ,  200 ,  900 ,  1000 , water can be introduced into the one or more buoyancy modules  1002  to displace at least a portion of the fluid therefrom. 
     In some embodiments, the vessel  101  can be moored to the mooring buoy  902  floating on the surface  102  of the body of water  103  prior to or while lifting the lifting lines  506 , where the mooring buoy  902  is connected to the turntable  107  and/or the yoke  109  and/or the ballast tank  116  with a mooring line  904 . In some embodiments, the process can further include disconnecting the vessel  101  from the mooring buoy  902  upon connection of the first component of the first and second releasable connectors to the second component of the first and second releasable connectors. 
     In some embodiments, a process for disconnecting the vessel  101  secured to the mooring structure  100 ,  200 ,  900 ,  1000  can include, if present, conveying a fluid into the buoyancy module  1002  to reduce a weight of the yoke  109  with respect to the first and second lifting devices. The process can also include applying a tension to the first and second lifting lines with the first and second lifting devices to remove at least a portion of a tension load from the first and second releasable connectors  125 ,  126 . The first component from the second component of the first and second releasable connectors  125 ,  126  can be released. The first and second components of the first and second releasable connectors  125 ,  126  can be lowered toward the seabed  105  such that the yoke  109  and the ballast tank  116  can rest on the seabed. The link arms  117 ,  118  can also be lowered such that the link arms  117 ,  118  also rest on the seabed  105 . The vessel  101  can be maneuvered away from the yoke mooring system  100 ,  200 ,  900 ,  1000 . In some embodiments, when the optional buoyancy module  1002  is used, the process can also include introducing water into the buoyancy module  1002  to displace at least a portion of the fluid therefrom once the first and second components of the first and second releasable connectors  125 ,  126  have been released from one another, e.g., once the yoke  109  rests on the seabed  105 . 
     In some embodiments, as noted above, the yoke mooring system  100  can include the landing pad  1510  that can be disposed on the seabed  105  beneath at least a portion of the yoke  109  and/or ballast tank  116  such that when the yoke mooring system is disconnected, it can be set on the landing pad  1510 . The landing pad can be incorporated into any of the embodiments described herein. The landing pad  1510  can be configured as a steel frame, or steel or concrete mattresses, or other similar material. The landing pad  1510  can provide a hard surface for the yoke  109  and/or ballast tank  116  to land on such that the yoke  109  and/or ballast tank  116  does not get stuck or adhere to the seabed  105  which is possible as some seabeds can often have a very soft, muddy consistency. In some embodiments, the landing pad  1510  can encircle the base structure  104  such that the yoke mooring system  100  can be disconnected from the vessel  101  about any point of rotation around the base structure  104  while still being able to rest the yoke  109  and/or ballast tank  116  on the landing pad  1510 . In other embodiments, the landing pad  1510  can be positioned in a sector such that the yoke mooring system  100  can be disconnected from the vessel  101  with the vessel  101  in a specific orientation with respect to the base structure  104  while being able to rest the yoke  109  and/or ballast tank  116  on the landing pad  1510 . 
     The present disclosure further relates to any one or more of the following numbered embodiments: 
     1. A disconnectable yoke mooring system for mooring a vessel floating on a surface of a body of water, comprising: a base structure configured to be disposed on a seabed; a turntable configured to be connected to the base structure such that the turntable is rotatable with respect to the base structure about a vertical axis; a yoke comprising a first end and a second end, wherein the first end of the yoke is configured to be connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is substantially orthogonal to the longitudinal axis of the yoke; a first link arm and a second link arm each having a first end connected to the second end of the yoke; a first releasable connector and a second releasable connector each comprising a first component disposed on a second end of the first link arm and a second end of the second link arm, respectively, and a second component configured to be disposed on the vessel; a first lifting line and a second lifting line each having a first end configured to be connected to the second end of the first link arm and the second link arm, respectively; and a first lifting device and a second lifting device each configured to be disposed on the vessel, wherein the first lifting device and the second lifting device are configured to be connected to a second end of the first lifting line and a second end of the second lifting line, respectively, wherein, when the first and second lifting devices are disposed on the vessel and connected to the second end of the first and second lifting lines, respectively, and the first end of the first and second lifting lines are connected to the second end of the first and second link arms, respectively, the first and second lifting devices are configured to lift and lower the first and second link arms and the yoke. 
     2. The system of paragraph 1, wherein the first and second lifting devices are configured to lift and lower the first and second link arms and the yoke at a speed that is independent from a motion of the vessel. 
     3. The system of paragraph 1 or paragraph 2, wherein the second end of the yoke comprises a ballast tank or a weight, and wherein the first and second link arms are connected to the ballast tank or the weight. 
     4. The system of any one of paragraphs 1 to 3, wherein: the first lifting device comprises a first chain jack, a first strand jack, or a first linear winch, and the second lifting device comprises a second chain jack, a second strand jack, or a second linear winch. 
     5. The system of any one of paragraphs 1 to 3, wherein: the first lifting device comprises a first rotary winch and a first chain jack, the second lifting device comprises a second rotary winch and a second chain jack, the first lifting line comprises a first chain segment having a first end connected to the second end of the first link arm and a second end connected to a first end of a first retrieval line, the second lifting line comprises a second chain segment having a first end connected to the second end of the second link arm and a second end connected to a first end of a second retrieval line, the first rotary winch is configured to be connected to a second end of the first retrieval line, the second rotary winch is configured to be connected to a second end of the second retrieval line, the first rotary winch is configured to lift and lower the first link arm via the first retrieval line, the second rotary winch is configured to lift and lower the second link arm via the second first retrieval line, the first chain jack and the second chain jack are configured to lift and lower the first and second link arms and the yoke via the first chain segment and the second chain segment, respectively. 
     6. The system of any one of paragraphs 1 to 3, wherein: the first lifting device comprises a first rotary winch and a first strand jack or a first linear winch, the second lifting device comprises a second rotary winch and a second strand jack or a second linear winch, the first rotary winch is configured to lift and lower the first link arm via the first lifting line, the second rotary winch is configured to lift and lower the second link arm via second lifting line, the first strand jack or the first linear winch and the second strand jack or the second linear winch are configured to lift and lower the first and second link arms and the yoke via the first and second lifting lines, respectively. 
     7. The system of any one of paragraphs 1 to 3, wherein: the first lifting line comprises a first connector disposed between the first end and the second end thereof, the first connector comprising a mating surface, the second lifting line comprises a second connector disposed between the first end and the second end thereof, the second connector comprising a mating surface, the first lifting device comprises a first rotary winch having a first independent drum and a second independent drum, the second lifting device comprises a second rotary winch having a first independent drum and a second independent drum, the second independent drum of the first lifting device comprises a first end of a first hoisting line connected thereto, the second independent drum of the second lifting device comprises a first end of a second hoisting line connected thereto, the first hoisting line is reeved around a first sheave disposed above a first traveling block, a second sheave disposed on the first traveling block, and connected at a second end thereof at a point on the vessel located above the first traveling block, the second hoisting line is reeved around a first sheave disposed above a second traveling block, a second sheave disposed on the second traveling block, and connected at a second end thereof at a point on the vessel located above the second traveling block, the first and second traveling blocks each comprise a receptacle configured to receive the mating surface of the first and second lifting lines, respectively, and the first drum of the first rotary winch and the first drum of the second rotary winch are configured to lift the first and second lifting lines, respectively, to move the mating surfaces of the first and second connectors, respectively, to permit engagement of the mating surfaces with the receptacles of the first and second traveling blocks, respectively 
     8. The system of paragraph 7, wherein: the first hoisting line is reeved around the first sheave disposed above the first traveling block, the second sheave disposed on the first traveling block, a third sheave disposed above the first traveling block, a fourth sheave disposed on the first traveling block, and connected at the second end thereof at the point on the vessel located above the first traveling block, the second hoisting line is reeved around the first sheave disposed above the second traveling block, the second sheave disposed on the second traveling block, a third sheave disposed above the second traveling block, a fourth sheave disposed on the second traveling block, and connected at the second end thereof at the point on the vessel located above the second traveling block. 
     9. The system of any one of paragraphs 1 to 8, further comprising a buoyancy module disposed on the yoke toward the second end thereof, wherein the buoyancy module is configured to contain a fluid within an internal volume thereof. 
     10. The system of paragraph 9, wherein the buoyancy module comprises a flexible bladder. 
     11. The system of any one of paragraphs 1 to 10, further comprising: a swivel comprising a fixed part disposed on the base structure and a rotatable part disposed on the turntable; and a fluid transfer conduit in fluid communication with the rotatable part of the swivel and the vessel, wherein the fixed part of the swivel is in fluid communication with a subsea pipeline, and wherein the fluid transfer conduit is configured to transfer a fluid from the rotating part of the swivel to the vessel or from the vessel to the rotating part of the swivel. 
     12. The system of claim  11 , wherein the fluid transfer conduit comprises a first flexible conduit in fluid communication with the vessel and a first end of a rigid conduit coupled to one of the first and second link arms and a second flexible conduit in fluid communication with the rotatable part of the swivel and a second end of the rigid conduit. 
     13. The system of paragraph 12, wherein the first flexible conduit is configured to be disconnected from the rigid conduit and remain with the vessel when the submerged yoke mooring system is disconnected from the vessel, and wherein the rigid conduit and the second flexible conduit are configured to remain with the submerged yoke mooring system when the submerged yoke mooring system is disconnected from the vessel. 
     14. The system of any one of paragraphs 1 to 13, further comprising a landing pad configured to be disposed on the seabed, and wherein the landing pad is configured to support at least a portion of the yoke when the submerged yoke mooring system is disconnected from the vessel. 
     15. The system of any one of paragraphs 1 to 13, further comprising: one or more fenders disposed on the yoke, or one or more fenders configured to be disposed on a landing pad that configured to be disposed on the seabed, wherein the one or more fenders are configured to absorb an impact force when the submerged yoke mooring system is disconnected from the vessel and lowered onto the seabed. 
     16. The system of any one of paragraphs 1 to 15, further comprising a mooring buoy floating on the surface of the water, wherein the mooring buoy is connected to the turntable, the yoke, or a combination thereof. 
     17. The system of any one of paragraphs 1 to 16, further comprising a jetting system, wherein, when the first and second lifting devices are disposed on the vessel and connected to the second end of the first and second lifting lines, respectively, and the first end of the first and second lifting lines are connected to the second end of the first and second link arms, respectively, the jetting system is configured to eject a gas, a liquid, or a combination thereof from the yoke toward the seabed prior to or when the first and second lifting devices disposed on the vessel lift the first and second link arms and the yoke. 
     18. The system of any one of paragraphs 1 to 17, wherein: the first component of the first releasable connector comprises a first stinger comprising a first end and a second end, the first component of the second releasable connector comprises a second stinger comprising a first end and a second end, an outer surface of the first and second stingers defines a first groove located toward the first end thereof and a second groove located toward the second end thereof, the first end of the first stinger is connected to the second end of the first link arm, the first end of the second stinger is connected to the second end of the second link arm, the first end of the first lifting line is connected to the second end of the first stinger, the first end of the second lifting line is connected to the second end of the second stinger, the second component of the first releasable connector comprises a first sleeve assembly comprising a first end, a second end, and a first latching mechanism, the second component of the second releasable connector comprises a second sleeve assembly comprising a first end, a second end, and a second latching mechanism, the first sleeve assembly is configured to receive the first stinger and secure the first stinger therein via the first latching mechanism, and the second sleeve assembly is configured to receive the second stinger and secure the second stinger therein via the second latching mechanism. 
     19. The system of paragraph 18, wherein the stinger further comprises a shock absorber arrangement at least partially disposed therein, and wherein the shock absorber arrangement is configured to reduce dynamic loading during connection of the stinger to the sleeve assembly. 
     20. The system of any one of paragraphs 1 to 19, wherein the yoke is configured to be disposed below the surface of the body of water when the vessel is moored to the yoke mooring system. 
     21. A process for connecting a vessel to a disconnectable yoke mooring system, comprising: positioning the vessel near the yoke mooring system, wherein the yoke mooring system comprises: a base structure disposed on a seabed; a turntable connected to the base structure such that the turntable is rotatable with respect to the base structure about a vertical axis; a yoke having a first end connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is orthogonal to the longitudinal axis of the yoke; a first link arm and a second link arm each having a first end connected to a second end of the yoke; a first releasable connector and a second releasable connector each comprising a first component disposed on a second end of the first link arm and a second end of the second link arm, respectively, and a second component disposed on the vessel, wherein the yoke and the first and second link arms are resting on a seabed; a first lifting line comprising a first chain segment having a first end connected to the second end of the first link arm and a second end connected to a first end of a first retrieval line; a second lifting line comprising a first chain segment having a first end connected to the second end of the second link arm and a second end connected to a first end of a second retrieval line; a first lifting device comprising a first rotary winch and a first chain jack disposed on the vessel; and a second lifting device comprising a second rotary winch and a second chain jack disposed on the vessel; connecting a second end of the first retrieval line to the first rotary winch; connecting a second end of the second retrieval line to the second rotary winch; hauling in the first retrieval line and the second retrieval line with the first and second rotary winches until the second end of the first and second chain segments reach the first and second chain jacks, respectively; connecting the first and the second chain segments to the first and the second chain jacks, respectively; lifting the first and second link arms and the yoke with the first and second chain jacks; and connecting the first component of the first and second releasable connectors with the second component of the first and second releasable connectors, respectively, to secure the vessel to the yoke mooring system. 
     22. A process for connecting a vessel to a disconnectable yoke mooring system, comprising: positioning the vessel near the yoke mooring system, wherein the yoke mooring system comprises: a base structure disposed on a seabed; a turntable connected to the base structure such that the turntable is rotatable with respect to the base structure about a vertical axis; a yoke having a first end connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is orthogonal to the longitudinal axis of the yoke; a first link arm and a second link arm each having a first end connected to a second end of the yoke; a first releasable connector and a second releasable connector each comprising a first component disposed on a second end of the first link arm and a second end of the second link arm, respectively, and a second component disposed on the vessel, wherein the yoke and the first and second link arms are resting on a seabed; a first lifting line having a first end connected to the second end of the first link arm; a second lifting line having a first end connected to the second end of the second link arm; a first lifting device comprising a first rotary winch and a first strand jack or a first linear winch disposed on the vessel; and a second lifting device comprising a second rotary winch and a second strand jack or a second linear winch disposed on the vessel; connecting a second end of the first lifting line to the first rotary winch; connecting a second end of the second lifting line to the second rotary winch; hauling in the first lifting line and the second lifting line with the first and second rotary winches until the first and second link arms are raised off the seabed while the yoke remains on the seabed; connecting the first lifting line to the first strand jack or the first linear winch; connecting the second lifting line to the second strand jack or the second linear winch; lifting the first and second link arms and the yoke with the first strand jack or the first linear winch and the second strand jack or the second linear winch; and connecting the first component of the first and second releasable connectors with the second component of the first and second releasable connectors, respectively, to secure the vessel to the yoke mooring system. 
     23. A process for connecting a vessel to a disconnectable yoke mooring system, comprising: positioning the vessel near the yoke mooring system, wherein the yoke mooring system comprises: a base structure disposed on a seabed; a turntable connected to the base structure such that the turntable is rotatable with respect to the base structure about a vertical axis; a yoke having a first end connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is orthogonal to the longitudinal axis of the yoke; a first link arm and a second link arm each having a first end connected to a second end of the yoke; a first releasable connector and a second releasable connector each comprising a first component disposed on a second end of the first link arm and a second end of the second link arm, respectively, and a second component disposed on the vessel, wherein the yoke and the first and second link arms are resting on a seabed; a first lifting line comprising a first connector disposed between a first end and a second end thereof, the first connector comprising a mating surface, and the first end of the first lifting line is connected to the second end of the first link arm; a second lifting line comprising a second connector disposed between a first end and a second end thereof, the second connector comprising a mating surface, and the first end of the second lifting line is connected to the second end of the second link arm; a first lifting device comprising a first rotary winch having a first independent drum and a second independent drum disposed on the vessel; a second lifting device comprising a second rotary winch having a first independent drum and a second independent drum disposed on the vessel; a first hoisting line having a first end connected to the second independent drum of the first rotary winch, wherein the first hoisting line is reeved around a first sheave disposed above a first traveling block, a second sheave disposed on the first traveling block, and connected at a second end thereof at a point on the vessel located above the first traveling block; a second hoisting line having a first end connected to the second independent drum of the second rotary winch, wherein the second hoisting line is reeved around a first sheave disposed above a second traveling block, a second sheave disposed on the second traveling block, and connected at a second end thereof at a point on the vessel located above the second traveling block, wherein the first and second traveling blocks each comprise a receptacle configured to receive the mating surface of the first and second connectors, respectively; connecting the second end of the first lifting line to the first independent drum of the first rotary winch; connecting the second end of the second lifting line to the first independent drum of the second rotary winch; hauling in the first and the second lifting line with the first independent drums of the first and second rotary winches until the mating surfaces of the first and second lifting are in an engageable position with receptacles of the first and second traveling blocks, respectively; securing the first and second connectors to the receptacles of the first and second traveling blocks, respectively; lifting the first and second link arms and the yoke with the second independent drums of the first and second lifting devices respectively; and connecting the first component of the first and second releasable connectors with the second component of the first and second releasable connectors, respectively, to secure the vessel to the yoke mooring system. 
     24. A process for connecting a vessel to a disconnectable yoke mooring system, comprising: positioning the vessel near the yoke mooring system, wherein the yoke mooring system comprises: a base structure disposed on a seabed; a turntable connected to the base structure such that the turntable is rotatable with respect to the base structure about a vertical axis; a yoke having a first end connected to the turntable in a manner permitting the yoke to at least partially rotate about a longitudinal axis of the yoke and to at least partially rotate about a second axis that is orthogonal to the longitudinal axis of the yoke; a buoyancy module disposed on the yoke toward the second end thereof, wherein the buoyancy module is configured to contain a fluid within an internal volume thereof; a first link arm and a second link arm each having a first end connected to a second end of the yoke; a first releasable connector and a second releasable connector each comprising a first component disposed on a second end of the first link arm and a second end of the second link arm, respectively, and a second component disposed on the vessel, wherein the yoke and the first and second link arms are resting on a seabed; a first lifting line having a first end connected to the second end of the first link arm; a second lifting line having a first end connected to the second end of the second link arm; and a first lifting device and a second lifting device disposed on the vessel; connecting a second end of the first lifting line to the first lifting device; connecting a second end of the second lifting line to the second lifting device; conveying a fluid into the buoyancy module to reduce a weight of the yoke with respect to the first and second lifting devices; hauling in the first lifting line and the second lifting line with the first and second lifting devices, respectively, until the first component of the first and second releasable connectors are in an engagement position with respect to the second component of the first and second releasable connectors, wherein the fluid is conveyed into the buoyancy module before and/or while the first and second lifting lines are hauled in; and connecting the first component of the first and second releasable connectors to the second component of the first and second releasable connectors, respectively, to secure the vessel to the yoke mooring system. 
     25. The process of paragraph 24, further comprising mooring the vessel to a mooring buoy floating on the surface of the body of water prior to lifting the first and second retrieval lines, wherein the mooring buoy is connected to the turntable and/or the yoke with a mooring line. 
     26. The process of paragraph 25, further comprising disconnecting the vessel from the mooring buoy upon connection of the first component of the first and second releasable connectors to the second component of the first and second releasable connectors. 
     27. The process of any one of paragraphs 24 to 26, further comprising introducing water into the buoyancy module to displace at least a portion of the fluid therefrom upon connection of the first component of the first and second releasable connectors to the second component of the first and second releasable connectors. 
     28. The process of any one of paragraph 27, further comprising: conveying a fluid into the buoyancy module to reduce a weight of the yoke with respect to the first and second lifting devices; applying a tension to the first and second lifting lines with the first and second lifting devices to remove at least a portion of a tension load from the first and second releasable connectors; releasing the first component from the second component of the first and second releasable connectors; lowering the first component of the first and second releasable connectors toward the seabed such that the yoke rests on the seabed; and maneuvering the vessel away from the yoke mooring system. 
     29. The process of paragraph 28, further comprising introducing water into the buoyancy module to displace at least a portion of the fluid therefrom once the yoke rests on the seabed. 
     Certain embodiments and features have been described using a set of numerical upper limits and a set of numerical lower limits. It should be appreciated that ranges including the combination of any two values, e.g., the combination of any lower value with any upper value, the combination of any two lower values, and/or the combination of any two upper values are contemplated unless otherwise indicated. Certain lower limits, upper limits and ranges appear in one or more claims below. All numerical values are “about” or “approximately” the indicated value, and take into account experimental error and variations that would be expected by a person having ordinary skill in the art. 
     Various terms have been defined above. To the extent a term used in a claim can be not defined above, it should be given the broadest definition persons in the pertinent art have given that term as reflected in at least one printed publication or issued patent. Furthermore, all patents, test procedures, and other documents cited in this application are fully incorporated by reference to the extent such disclosure can be not inconsistent with this application and for all jurisdictions in which such incorporation can be permitted. 
     While certain preferred embodiments of the present invention have been illustrated and described in detail above, it can be apparent that modifications and adaptations thereof will occur to those having ordinary skill in the art. It should be, therefore, expressly understood that such modifications and adaptations may be devised without departing from the basic scope thereof, and the scope thereof can be determined by the claims that follow.