Patent Publication Number: US-10780954-B2

Title: Systems and methods for in situ assessment of mooring lines

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Patent Application Ser. No. 62/648,690, filed Mar. 27, 2018, the contents of which as are incorporated by reference herein in their entirety. 
    
    
     ACKNOWLEDGEMENT OF GOVERNMENT SUPPORT 
     This invention within the present disclosure was made with government support under Contract No. 89233218CNA000001 awarded by the U.S. Department of Energy. The government has certain rights in the invention. 
    
    
     PARTIES TO JOINT RESEARCH AGREEMENT 
     The research work described herein was also performed under a Cooperative Research and Development Agreement (CRADA) between Los Alamos National Laboratory (LANL) and Chevron under the LANL-Chevron Alliance, CRADA number LA05C10518. 
     TECHNICAL FIELD 
     The present disclosure relates generally to subsea operations, and more particularly to systems, methods, and devices for in situ assessment of mooring lines used in sub sea operations. 
     BACKGROUND 
     In certain subsea operations (e.g., oil exploration and production), particularly in deep water, equipment can be exposed to a harsh environment. High pressures, low temperatures, and turbulence are but a few of the factors that can lead to the deterioration of equipment in a field operation. In deep water operations, mooring lines are often used to keep a platform or other structure stable relative to a point on the subsea floor or other point of reference. 
     SUMMARY 
     In general, in one aspect, the disclosure relates to a system that includes at least one measuring device that captures and collects multiple two-dimensional images of a mooring line disposed in water. The system can also include a mooring line assessment system that includes a controller communicably coupled to the at least one measuring device. The controller can receive the two-dimensional images from the at least one measuring device. The controller can also generate a three-dimensional reconstruction of the mooring line based on the two-dimensional images. The controller can further present the three-dimensional reconstruction to a user. The two-dimensional images are captured while the mooring line is in situ. 
     In another aspect, the disclosure can generally relate to a mooring line assessment system that includes a controller. The controller can receive multiple two-dimensional images of a mooring line disposed in water, where the two-dimensional images are captured by at least one measuring device. The controller can also generate a three-dimensional reconstruction of the mooring line based on the two-dimensional images. The controller can further present the three-dimensional reconstruction to a user. The two-dimensional images are captured while the mooring line is in situ. 
     In yet another aspect, the disclosure can generally relate to a method for assessing a mooring line disposed in water. The method can include receiving multiple two-dimensional images from at least one measuring device, where the two-dimensional images are of the mooring line while disposed in the water. The method can also include generating a three-dimensional reconstruction of the mooring line based on the two-dimensional images. The method can further include presenting the three-dimensional reconstruction to a user. 
     These and other aspects, objects, features, and embodiments will be apparent from the following description and the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The drawings illustrate only example embodiments and are therefore not to be considered limiting in scope, as the example embodiments may admit to other equally effective embodiments. The elements and features shown in the drawings are not necessarily to scale, emphasis instead being placed upon clearly illustrating the principles of the example embodiments. Additionally, certain dimensions or positions may be exaggerated to help visually convey such principles. In the drawings, reference numerals designate like or corresponding, but not necessarily identical, elements. 
         FIG. 1  shows a field system in which mooring lines are used. 
         FIGS. 2A and 2B  show various views of a mooring line. 
         FIGS. 3A and 3B  show two-dimensional images of a mooring line captured by a measuring device. 
         FIG. 4  shows a system diagram of an in situ mooring line assessment system in accordance with certain example embodiments. 
         FIG. 5  shows a computing device in accordance with certain example embodiments. 
         FIGS. 6A-6D  show various views of a three-dimensional model of a section of a mooring line in accordance with certain example embodiments. 
         FIG. 7  shows a flowchart of a method for assessing a mooring line in accordance with certain example embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     In general, example embodiments provide systems, methods, and devices for in situ mooring line assessment. While example embodiments are described herein as analyzing mooring lines used in oilfield operations, example embodiments can also be used in other applications or operations in which mooring lines are used subsea. Example embodiments of in situ mooring line assessment provide a number of benefits. Such benefits can include, but are not limited to, avoiding downtime in a field operation, enable preventative maintenance practices with respect to mooring lines, improved root cause diagnostics of mooring line failures, reduced operating costs, and compliance with industry standards that apply to mooring lines used in certain environments. 
     Example embodiments discussed herein can be used in any type of a number of environments (e.g., subsea, hazardous, fresh water, salt water). Examples of a user may include, but are not limited to, an engineer, a mooring line manufacturer, a contractor that installs or repairs mooring lines, an operator, a consultant, an inventory management system, an inventory manager, a regulatory entity, a foreman, a company man, a maintenance and labor scheduling system, and a manufacturer&#39;s representative. 
     In the foregoing figures showing example embodiments of in situ assessment of mooring lines, one or more of the components shown may be omitted, repeated, and/or substituted. Accordingly, example embodiments of in situ assessment of mooring lines should not be considered limited to the specific arrangements of components shown in any of the figures. For example, features shown in one or more figures or described with respect to one embodiment can be applied to another embodiment associated with a different figure or description. 
     Further, if a component of a figure is described but not expressly shown or labeled in that figure, the label used for a corresponding component in another figure can be inferred to that component. Conversely, if a component in a figure is labeled but not described, the description for such component can be substantially the same as the description for the corresponding component in another figure. The numbering scheme for the various components in the figures herein is such that each component is a three digit number and corresponding components in other figures have the identical last two digits. 
     In addition, a statement that a particular embodiment (e.g., as shown in a figure herein) does not have a particular feature or component does not mean, unless expressly stated, that such embodiment is not capable of having such feature or component. For example, for purposes of present or future claims herein, a feature or component that is described as not being included in an example embodiment shown in one or more particular drawings is capable of being included in one or more claims that correspond to such one or more particular drawings herein. 
     While example embodiments described herein are directed to mooring lines, example systems can also be applied to any devices and/or components, regardless of the environment in which such devices and/or components are disposed. In certain example embodiments, mooring lines that are assessed in situ using example systems are subject to meeting certain standards and/or requirements. For example, the National Electrical Manufacturers Association (NEMA), the Occupational Health and Safety Administration (OSHA), the Environmental Protection Agency (EPA), the Department of Energy (DOE), the Society of Petroleum Engineers (SPE), and the American Petroleum Institute (API) set standards related to petroleum operations. Use of example embodiments described herein meet (and/or allow a corresponding device to meet) such standards when required. 
     Example embodiments of in situ assessment of mooring lines will be described more fully hereinafter with reference to the accompanying drawings, in which example embodiments of in situ assessment of mooring lines are shown. In situ assessment of mooring lines may, however, be embodied in many different forms and should not be construed as limited to the example embodiments set forth herein. Rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of in situ assessment of mooring lines to those of ordinary skill in the art. Like, but not necessarily the same, elements (also sometimes called components) in the various figures are denoted by like reference numerals for consistency. 
     Terms such as “first”, “second”, and “within” are used merely to distinguish one component (or part of a component or state of a component) from another. Such terms are not meant to denote a preference or a particular orientation, and are not meant to limit embodiments of in situ assessment of mooring lines. In the following detailed description of the example embodiments, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the description. 
       FIG. 1  shows a field system  100  in which mooring lines  175  are used. The system  100  includes a semi-submersible platform  105  that floats in a large and deep body of water  194 . Part of the platform  105  is above the water line  193 , and the rest of the platform  105  is in the water  194  below the water line  193 . The platform  105  in this case is used for subterranean field operations, in which exploration and production phases of the field operation are executed to extract subterranean resources (e.g., oil, natural gas, water, hydrogen gas) from and/or inject resources (e.g., carbon monoxide) into the subterranean formation  110 . To accomplish this, a riser  197  is disposed between the platform  105  and the subsea surface  102 , and field equipment (e.g., casing, tubing string) is disposed within the riser  197 . 
     To help keep the platform  105  from deviating too far from its position along the water line  193  (in this case, in a horizontal direction), multiple mooring lines  175  are used. Each mooring line  175  in this case has one end attached to part of the platform  105  (in this case, part of the platform  105  that is disposed in the water  194 ), and the other end is anchored, using an anchor device  181 , in the subterranean formation  110  below the surface  102 . In addition, or in the alternative, mooring lines  175  can be anchored to other objects and/or have different orientations compared to what is shown in  FIG. 1 . For example, one or more mooring lines  175  can be laid out on the surface  102  and anchored to other mooring lines  175  that are attached to the platform  105 . In any case, each mooring line  175  can be several thousand feet long. Each mooring line  175  can be a single continuous line or multiple shorter line segments that are coupled end-to-end to each other. 
     These mooring lines  175  can deteriorate over time from factors such as, but not limited to, normal wear (e.g., movement), a saline environment in the water  194 , and objects in the water  194  that rub against or bump into a mooring line  175 . If a mooring line  175  deteriorates enough, it can fail (e.g., break), which can jeopardize the entire system  100  by allowing the platform  105  to deviate too far from its originally-anchored position. Since a mooring line  175  can be extremely long, and because of the logistics involved, replacing a mooring line  175  can cost millions or tens of millions of dollars. Further, the field operations of the platform  105  must be suspended during the replacement of a mooring line  175 , leading to additional costs to a field operation performed by the system  100 . 
     For this reason, it is important to evaluate (assess the health of) each mooring line  175  while the mooring lines  175  are in situ (in the water  194 ). In this way, rather than waiting for a mooring line  175  to fail before being forced to take action in replacing it, example embodiments can be used to provide an indication as to whether a mooring line  175  is failing, how much longer the mooring line  175  is expected to be useful before failing, what portions of the mooring line  175  are failing, and other relevant information about a mooring line  175 . This information can lead to more strategic decision-making as to when to replace mooring lines  175 . 
     For example, when multiple mooring lines  175  are identified as failing, a user (e.g., an oil company, a rig operator) can choose a strategically convenient time in the field operation to suspend performance and replace the multiple mooring lines  175  at one time, reducing the overall cost to replace (e.g., using the same mobility equipment for the multiple mooring lines  175 ) and minimizing down time. As another example, a visual inspection (as by a diver) of the mooring lines  175  can show a tear or other problem with a mooring line  175 , and a user (e.g., an operator) must replace the mooring line  175  to comply with applicable regulatory and safety requirements, unless the user can demonstrate that the tear or other problem with the mooring line  175  does not compromise the strength and integrity of the mooring line  175 . 
     The problem is that, particularly in deep water  194  where pressures are extremely high (e.g., in excess of 5000 psi), equipment is not available to capture comprehensive three-dimensional images of mooring lines  175  in situ (disposed in water  194 ). While technology currently exists to work in such depths and under such pressure to capture two-dimensional images (as shown below with respect to  FIGS. 3A and 3B ), there is currently no meaningful way to use these two-dimensional images to assess the health or status of a mooring line  175 . Fortunately, example embodiments can convert these two-dimensional images of a mooring line into an accurate, fully functional three-dimensional reconstruction (also called a model or an evaluation) of the mooring line, allowing for a complete and accurate assessment of the mooring line. 
       FIGS. 2A and 2B  show various views of a mooring line  275 . Specifically,  FIG. 2A  shows part of a mooring line  275 .  FIG. 2B  shows cut segments of the mooring line  275 . Referring to  FIGS. 1-2B , the mooring line  275  of  FIGS. 2A and 2B  can be substantially the same as the mooring lines  175  of  FIG. 1 . A mooring line  275  can have one or more of a number of features and/or characteristics. For example, the mooring line  275  of  FIGS. 2A and 2B  has an outer sheath  282  that encases an inner portion  284 . In  FIG. 2B , the outer sheath  282  is removed and replaced by duct tape so that each segment of the mooring line  275  retains its circular cross-sectional shape. 
     In this case, both the inner portion  284  and the outer sheath  282  of the mooring line  275  are made of polyester. Alternatively, or additionally, the inner portion  284  and the outer sheath  282  of the mooring line  275  can be made of one or more other materials, including but not limited to nylon, rubber, metal, and hemp. When the mooring lines  275  are made of a material of similar density, such as polyester, it is difficult to resolve images acquired when the mooring lines  275  are in water  194 . 
       FIGS. 3A and 3B  show two-dimensional images  385  of a mooring line captured by a measuring device. Specifically,  FIG. 3A  shows a two-dimensional image  385  of one side of a mooring line, and  FIG. 3B  shows a two-dimensional image  385  of another side of a mooring line that is approximately 90° from the image  385  of  FIG. 3A . The measuring device used to capture these two-dimensional images  385  is described below with respect to  FIG. 4 . In this case, the two-dimensional images  385  of the mooring line segment are x-rays or other forms of radiation (e.g., gamma rays, neutrons). Without being able to convert these two-dimensional images  385  into an accurate three-dimensional model, the two-dimensional images  385  reveal very little with respect to the condition of the mooring line. 
       FIG. 4  shows a system diagram of a system  400  that includes a mooring line assessment system  499  in accordance with certain example embodiments. The system  400  can include a user  450 , a network manager  480 , one or more measuring devices  440 , and the mooring line assessment system  499 . The mooring line assessment system  499  can include one or more of a number of components. Such components, can include, but are not limited to, a controller  404 . The controller  404  of the mooring line assessment system  499  can also include one or more of a number of components. Such components, can include, but are not limited to, an assessment engine  406 , a communication module  408 , a timer  410 , a power module  412 , a storage repository  430 , a hardware processor  420 , a memory  422 , a transceiver  424 , an application interface  426 , and, optionally, a security module  428 . The components shown in  FIG. 4  are not exhaustive. Any component of the example system  400  can be discrete or combined with one or more other components of the system  400 . For example, in some cases, the user  450  can be part of the mooring line assessment system  499 . 
     Referring to  FIGS. 1-4 , the user  450  is the same as a user defined above. The user  450  can use a user system (not shown), which may include a display (e.g., a GUI). The user  450  interacts with (e.g., sends data to, receives data from) the controller  404  of the mooring line assessment system  499  via the application interface  426  (described below). The user  450  can also interact with a network manager  480  and/or one or more measurement devices  440 . Interaction between the user  450 , one or more of the measurement devices  440 , the mooring line assessment system  499 , and/or the network manager  480  can occur using communication links  405 . 
     Each communication link  405  can include wired (e.g., Class 1 electrical cables, Class 2 electrical cables, electrical connectors, power line carrier, RS485) and/or wireless (e.g., Wi-Fi, visible light communication, cellular networking, Bluetooth, WirelessHART, ISA100) technology. For example, a communication link  405  can be (or include) one or more electrical conductors that are coupled to one or more components of the mooring line assessment system  499 . A communication link  405  can transmit signals (e.g., power signals, communication signals, control signals, data) between the mooring line assessment system  499 , one or more of the measurement devices  440 , the user  450 , and/or the network manager  480 . One or more communication links  405  can also be used to transmit signals between components of the mooring line assessment system  499 . 
     The network manager  480  is a device or component that controls all or a portion of a communication network that includes the controller  404  of the mooring line assessment system  499 , measurement devices  440 , and the user  450  that are communicably coupled to the controller  404 . The network manager  480  can be substantially similar to the controller  404 . Alternatively, the network manager  480  can include one or more of a number of features in addition to, or altered from, the features of the controller  404  described below. As described herein, communication with the network manager  480  can include communicating with one or more other components of the system  400 . In such a case, the network manager  480  can facilitate such communication. 
     The measuring devices  440  can be any type of sensing device that measure or capture one or more parameters associated with a mooring line. Examples of measuring devices  440  can include, but are not limited to, a radiation scanner, an MRI (magnetic resonance imaging) device, an active infrared sensor, a radiation source (e.g., x-ray, gamma ray, neutron), a radiation detector or imaging device (e.g., a camera, a flat panel, an array of discrete detectors), and a positioning system for arranging these devices (e.g., radiation source, radiation detector) around and along the mooring line. A measuring device  440  can include, in addition to the actual sensor, any ancillary components or devices used in conjunction with the sensor, including but not limited to a current transformer, a voltage transformer, a resistor, an integrated circuit, electrical conductors, electrical connectors, and a terminal block. A measuring device  440  can operate continuously, at fixed intervals, periodically, based on the occurrence of an event, based on a command received from the assessment engine  406 , and/or based on some other factor. 
     The user  450 , one or more of the measuring devices  440 , and/or the network manager  480  can interact with the controller  404  of the mooring line assessment system  499  using the application interface  426  in accordance with one or more example embodiments. Specifically, the application interface  426  of the controller  404  receives data (e.g., information, communications, instructions, updates to firmware) from and sends data (e.g., information, communications, instructions) to the user  450 , one or more of the measurement devices  440 , and/or the network manager  480 . The user  450 , one or more of the measurement devices  440 , and/or the network manager  480  can include an interface to receive data from and send data to the controller  404  in certain example embodiments. Examples of such an interface can include, but are not limited to, a graphical user interface, a touchscreen, an application programming interface, a keyboard, a monitor, a mouse, a web service, a data protocol adapter, some other hardware and/or software, or any suitable combination thereof. 
     The controller  404 , the user  450 , one or more of the measurement devices  440 , and/or the network manager  480  can use their own system or share a system in certain example embodiments. Such a system can be, or contain a form of, an Internet-based or an intranet-based computer system that is capable of communicating with various software. A computer system includes any type of computing device and/or communication device, including but not limited to the controller  404 . Examples of such a system can include, but are not limited to, a desktop computer with a Local Area Network (LAN), a Wide Area Network (WAN), Internet or intranet access, a laptop computer with LAN, WAN, Internet or intranet access, a smart phone, a server, a server farm, an android device (or equivalent), a tablet, smartphones, and a personal digital assistant (PDA). Such a system can correspond to a computer system as described below with regard to  FIG. 5 . 
     Further, as discussed above, such a system can have corresponding software (e.g., user software, sensor software, controller software, network manager software). The software can execute on the same or a separate device (e.g., a server, mainframe, desktop personal computer (PC), laptop, PDA, television, cable box, satellite box, kiosk, telephone, mobile phone, or other computing devices) and can be coupled by the communication network (e.g., Internet, Intranet, Extranet, a LAN, a WAN, or other network communication methods) and/or communication channels, with wire and/or wireless segments according to some example embodiments. The software of one system can be a part of, or operate separately but in conjunction with, the software of another system within the system  400 . 
     In some cases, the controller  404  of the mooring line assessment system  499  and its various components can be disposed in a common enclosure. For example, the controller  404  (which in this case includes the assessment engine  406 , the communication module  408 , the real-time clock  410 , the power module  412 , the storage repository  430 , the hardware processor  420 , the memory  422 , the transceiver  424 , the application interface  426 , and the optional security module  428 ) can be disposed in the cavity formed by one or more enclosure walls. In alternative embodiments, any one or more of these or other components of the mooring line assessment system  499  can be disposed on such an enclosure and/or remotely from such an enclosure. 
     The storage repository  430  can be a persistent storage device (or set of devices) that stores software and data used to assist the controller  404  in communicating with the user  450  and the network manager  480  within the system  400  (and, in some cases, with other systems). In one or more example embodiments, the storage repository  430  stores one or more protocols  432 , algorithms  433 , and stored data  434 . The protocols  432  can be any of a number of steps or processes followed to assess a mooring line. One or more protocols can also be used to send and/or receive data between the controller  404 , one or more measuring devices  440 , the user  450 , and the network manager  480 . One or more of the protocols  432  used for communication (also called a communication protocol herein) can be a time-synchronized protocol. Examples of such time-synchronized protocols can include, but are not limited to, a highway addressable remote transducer (HART) protocol, a wirelessHART protocol, and an International Society of Automation (ISA) 100 protocol. In this way, one or more of the communication protocols  432  can provide a layer of security to the data transferred within the system  400 . 
     The algorithms  433  can be any formulas, mathematical models, matrices, and/or other similar data manipulation or processing tools that the assessment engine  406  of the controller  404  uses to assess the condition of a mooring line (e.g., mooring line  175 ) at a point in time. An example of an algorithm  433  is a model that generates a three-dimensional model of a mooring line based on a number of two-dimensional images (e.g., two dimensional images  385 ) of the mooring line captured by a measuring device  440 . A protocol  432  can dictate when and how the two-dimensional images of the mooring line are captured by a measuring device  440 , when and how these two-dimensional images are transferred to the storage repository  430  and/or the assessment engine  406 , which algorithm(s)  433  are used by the assessment engine  406  to generate the three-dimensional model, and which algorithm(s)  433  are used by the assessment engine  406  to assess the condition of the mooring line based on the three-dimensional model. The assessment engine  406  can use computed tomography (CT) to generate the three-dimensional model of the mooring line. 
     Algorithms  433  can be focused on the mooring lines (e.g., mooring lines  175 ). For example, there can be one or more algorithms  433  that focus on the expected useful life of a mooring line  175 . Another example of an algorithm  433  is comparing and correlating data collected with a particular mooring line  175  with corresponding data from one or more other mooring lines  175 . Any algorithm  433  can be altered (for example, using machine-learning techniques such as alpha-beta) over time by the assessment engine  406  based on actual performance data so that the algorithm  433  can provide more accurate results over time. 
     As another example, when one or more mooring lines  175  are determined to begin failing, a protocol  432  can direct the assessment engine  406  to generate an alarm for predictive maintenance. In addition, or in the alternative, an algorithm  433  can be used to determine the remaining useful life of the mooring line  175  before replacement is required. If data from other mooring lines  175  is used in an algorithm  433  to predict the performance of a particular mooring line  175 , then the assessment engine  406  can determine which other mooring lines  175  are used for their previous data. Such a determination can be made based on one or more of a number of factors, including but not limited to age of the mooring line  175 , make/manufacture of the mooring line  175 , composition of materials of the mooring line  175 , environment (e.g., depth of water, geographic location, terrain of ocean floor), and time that the mooring line  175  has been in water. 
     As yet another example, a combination of algorithms  433  and protocols  432  can be used to determine whether a damaged mooring line  175  should have a section cut out and replaced or completely replaced. If a section should be cut out and replaced, additional algorithms  433  and protocols  432  can be used to determine the location and size of the section to be removed. One or more algorithms  433  and protocols  432  can be used to assess a mooring line  175  using previous assessments of the same mooring line  175  and/or assessments of one or more different mooring lines. An alarm can be generated by the assessment engine  406  when the efficiency of the mooring line  175  falls below a threshold value, indicating failure of the mooring line  175 . 
     As stated above, an algorithm  433  can use any of a number of mathematical formulas and/or models. For example, an algorithm  433  can use linear or polynomial regression. In some cases, an algorithm  433  can be adjusted based on the two-dimensional images (e.g., two-dimensional images  385 ) generated by a measuring device  440 . For example, an algorithm  433  that includes a polynomial regression can be adjusted based on two-dimensional images measured by a measuring device  440 . An algorithm  433  can be used in correlation analysis. In such a case, an algorithm can use any of a number of correlation and related (e.g., closeness-to-fit) models, including but not limited to Chi-squared and Kolmogorov-Smirnov. 
     For example, an algorithm  433  can develop a stress versus life relationship using accelerated life testing for the mooring line  175 . One instance would be an actual useful life of a mooring line  175  versus a modeled or estimated profile of a mooring line  175 , where the profile can be based, at least in part, on stored data  434  measured for other mooring lines  175 . As another example, an algorithm  433  can be used by the assessment engine  406  to measure and analyze real-time application stress conditions of a mooring line  175  over time and use developed models to estimate the life of the mooring line  175 . In such a case, mathematical models can be developed using one or more mathematical theories (e.g., Arrhenius theory, Palmgran-Miner Rules) to predict useful life of the mooring line  175  under real stress conditions. As yet another example, an algorithm  433  can use predicted values and actual data to estimate the remaining life of the mooring line  175 . 
     Stored data  434  can be any data associated with a mooring line  175  (including other mooring lines), any measurements taken by the measuring devices  440 , threshold values, results of previously run or calculated algorithms, and/or any other suitable data. Such data can be any type of data, including but not limited to historical data (e.g., for a mooring line  175 , for other mooring lines, calculations) and previously-made forecasts. The stored data  434  can be associated with some measurement of time derived, for example, from the timer  410 . Examples of stored data  434  can include characteristics of the mooring line  175 , including but not limited to the cross-sectional shape of the mooring line  175 , the cross-sectional circumference of the mooring line  175 , the material of the mooring line  175 , and make/manufacturer of the mooring line  175 , the age of the mooring line  175 , the number of hours in service of the mooring line  175 , any prior repairs of the mooring line  175 , and any prior two-dimensional images  385  and three-dimensional reconstructions (e.g., three dimensional reconstruction  670  below) of the mooring line  175 . 
     Examples of a storage repository  430  can include, but are not limited to, a database (or a number of databases), a file system, a hard drive, flash memory, some other form of solid state data storage, or any suitable combination thereof. The storage repository  430  can be located on multiple physical machines, each storing all or a portion of the protocols  432 , the algorithms  433 , and/or the stored data  434  according to some example embodiments. Each storage unit or device can be physically located in the same or in a different geographic location. 
     The storage repository  430  can be operatively connected to the assessment engine  406 . In one or more example embodiments, the assessment engine  406  includes functionality to communicate with the user  450  and the network manager  480  in the system  400 . More specifically, the assessment engine  406  sends information to and/or receives information from the storage repository  430  in order to communicate with the user  450  and the network manager  480 . As discussed below, the storage repository  430  can also be operatively connected to the communication module  408  in certain example embodiments. 
     In certain example embodiments, the assessment engine  406  of the controller  404  controls the operation of one or more components (e.g., the communication module  408 , the timer  410 , the transceiver  424 ) of the controller  404 . For example, the assessment engine  406  can activate the communication module  408  when the communication module  408  is in “sleep” mode and when the communication module  408  is needed to send data received from another component (e.g., the user  450 , the network manager  480 ) in the system  400 . 
     As another example, the assessment engine  406  can acquire the current time using the timer  410 . The timer  410  can enable the controller  404  to assess a mooring line  175 , even when the controller  404  has no communication with the network manager  480 . As yet another example, the assessment engine  406  can direct one or more of the measuring devices  440  to generate two-dimensional images (e.g., two-dimensional images  385 ) of a mooring line  175  and send such images to the network manager  480 . 
     The assessment engine  406  can be configured to perform a number of functions that help prognosticate and monitor the health of a mooring line  175 , either continually or on a periodic basis. For example, the assessment engine  406  can execute any of the algorithms  433  stored in the storage repository  430 . As a specific example, the assessment engine  406  can collect images (using the measuring devices  440 ) of a mooring line  175 , store (as stored data  434  in the storage repository  430 ) those images, and evaluate, using one or more algorithms  433  and/or protocols  432 , the performance of the mooring line  175 , whether on a one-off basis or over time. 
     The assessment engine  406  can analyze and detect short-term problems that can arise with a mooring line  175 . For example, the assessment engine  406  can compare new data (as measured by a measuring device  440 ) to a reference curve (part of the stored data  434 ) for that particular mooring line  175  or for a number of mooring lines of the same type (e.g., manufacturer, model number, current rating). The assessment engine  406  can determine whether the current data fits the curve, and if not, the assessment engine  406  can determine how severe a problem with the mooring line  175  might be based on the extent of the lack of fit. 
     The assessment engine  406  can also analyze and detect long-term problems that can arise with a mooring line  175 . For example, the assessment engine  406  can compare a model derived from new data (as measured by a measuring device  440 ) to historical models derived from historical data (part of the stored data  434 ) for that particular mooring line  175  and/or for a number of mooring lines of the same type (e.g., manufacturer, model number, current rating). In such a case, the assessment engine  406  can make adjustments to one or more of the curves based, in part, on actual performance and/or data collected while testing one or more of the mooring lines  175  while those mooring line  175  are in water (in situ) or out of water. 
     The assessment engine  406  can determine whether a mooring line  175  is failing or has failed. In such a case, the assessment engine  406  can generate an alarm for predictive maintenance, schedule the required maintenance, reserve a replacement mooring line in an inventory management system, order a replacement mooring line, schedule contractors and/or other workers to remove a failed mooring line  175  and replace with a new mooring line, and/or perform any other functions that actively repair or replace the failing mooring line  175 . 
     The assessment engine  406  can provide control, communication, and/or other similar signals to the user  450 , the network manager  480 , and the measuring devices  440 . Similarly, the assessment engine  406  can receive control, communication, and/or other similar signals from the user  450 , the network manager  480 , and the measuring devices  440 . The assessment engine  406  can control each of the measuring devices  440  automatically (for example, based on one or more algorithms  433 ) and/or based on control, communication, and/or other similar signals received from another device through a communication link  405 . 
     In certain embodiments, the assessment engine  406  of the controller  404  can communicate with one or more components of a system external to the system  400  in furtherance of prognostications and evaluations of a mooring line  175 . For example, the assessment engine  406  can interact with an inventory management system by ordering a new mooring line  175  to replace an existing in situ mooring line  175  that the assessment engine  406  has determined to have failed or is failing. As another example, the assessment engine  406  can interact with a workforce scheduling system by scheduling a maintenance crew to repair or replace a mooring line  175  when the assessment engine  406  determines that the mooring line  175  requires maintenance or replacement. In this way, the controller  404  is capable of performing a number of functions beyond what could reasonably be considered a routine task. 
     In certain example embodiments, the assessment engine  406  can include an interface that enables the assessment engine  406  to communicate with one or more components (e.g., measuring devices  440 ) of the system  400 . For example, if the measuring devices  440  operate under IEC Standard 62386, then the measuring devices  440  can have a serial communication interface that will transfer data (e.g., stored data  434 ) measured by the measurement devices  440 . In such a case, the assessment engine  406  can also include a serial interface to enable communication with the measuring devices  440 . Such an interface can operate in conjunction with, or independently of, the protocols  432  used to communicate between the controller  404 , the one or more measuring devices  440 , the user  450 , and/or the network manager  480 . 
     The assessment engine  406  (or other components of the controller  404 ) can also include one or more hardware components and/or software elements to perform its functions. Such components can include, but are not limited to, a universal asynchronous receiver/transmitter (UART), a serial peripheral interface (SPI), a direct-attached capacity (DAC) storage device, an analog-to-digital converter, an inter-integrated circuit (I 2 C), and a pulse width modulator (PWM). 
     In certain example embodiments, the communication module  408  of the controller  404  determines and implements the communication protocol (e.g., from the protocols  432  of the storage repository  430 ) that is used when the assessment engine  406  communicates with (e.g., sends signals to, receives signals from) the user  450 , the network manager  480 , and/or one or more of the measuring devices  440 . In some cases, the communication module  408  accesses the stored data  434  to determine which communication protocol is used to communicate with a measurement device  440  associated with the stored data  434 . In addition, the communication module  408  can interpret the protocol  432  of a communication received by the controller  404  so that the assessment engine  406  can interpret the communication. 
     The communication module  408  can send and receive data between the controller  404 , network manager  480 , one or more of the measuring devices  440 , and/or the users  450 . The communication module  408  can send and/or receive data in a given format that follows a particular protocol  432 . The assessment engine  406  can interpret the data packet received from the communication module  408  using the protocol  432  information stored in the storage repository  430 . The assessment engine  406  can also facilitate the data transfer with the measurement devices, and network manager  480 , and/or a user  450  by converting the data into a format understood by the communication module  408 . 
     The communication module  408  can send data (e.g., protocols  432 , algorithms  433 , stored data  434 , alarms) directly to and/or retrieve data directly from the storage repository  430 . Alternatively, the assessment engine  406  can facilitate the transfer of data between the communication module  408  and the storage repository  430 . The communication module  408  can also provide encryption to data that is sent by the controller  404  and decryption to data that is received by the controller  404 . The communication module  408  can also provide one or more of a number of other services with respect to data sent from and received by the assessment system  404 . Such services can include, but are not limited to, data packet routing information and procedures to follow in the event of data interruption. 
     The timer  410  of the controller  404  can track clock time, intervals of time, an amount of time, and/or any other measure of time. The timer  410  can also count the number of occurrences of an event, whether with or without respect to time. Alternatively, the assessment engine  406  can perform the counting function. The timer  410  is able to track multiple time measurements concurrently. The timer  410  can track time periods based on an instruction received from the assessment engine  406 , based on an instruction received from the user  450 , based on an instruction programmed in the software for the controller  404 , based on some other condition or from some other component, or from any combination thereof. 
     The timer  410  can be configured to track time when there is no power delivered to the controller  404  using, for example, a super capacitor or a battery backup. In such a case, when there is a resumption of power delivery to the controller  404 , the timer  410  can communicate any aspect of time to the controller  404 . In such a case, the timer  410  can include one or more of a number of components (e.g., a super capacitor, an integrated circuit) to perform these functions. 
     The power module  412  of the controller  404  provides power to one or more components (e.g., assessment engine  406 , timer  410 ) of the controller  404 . The power module  412  can include one or more of a number of single or multiple discrete components (e.g., transistor, diode, resistor), and/or a microprocessor. The power module  412  may include a printed circuit board, upon which the microprocessor and/or one or more discrete components are positioned. In some cases, power measuring devices  442  can measure one or more elements of power that flows into, out of, and/or within the power module  412  of the controller  404 . The power module  412  can receive power from a power source external to the system  400 . 
     The power module  412  can include one or more components (e.g., a transformer, a diode bridge, an inverter, a converter) that receives power (for example, through an electrical cable) and generates power of a type (e.g., alternating current, direct current) and level (e.g., 12V, 24V, 120V) that can be used by the other components of the mooring line assessment system  499 . The power module  412  can use a closed control loop to maintain a preconfigured voltage or current with a tight tolerance at the output. The power module  412  can also protect some or all of the rest of the electronics (e.g., hardware processor  420 , transceiver  424 ) of the mooring line assessment system  499  from surges generated in the line. In addition, or in the alternative, the power module  412  can be a source of power in itself. For example, the power module  412  can include a battery. As another example, the power module  412  can include a localized photovoltaic power system. 
     In certain example embodiments, the power module  412  of the controller  404  can also provide power and/or control signals, directly or indirectly, to one or more of the measuring devices  440 . In such a case, the assessment engine  406  can direct the power generated by the power module  412  to one or more of the measuring devices  440 . In this way, power can be conserved by sending power to the measuring devices  440  when those devices need power, as determined by the assessment engine  406 . 
     The hardware processor  420  of the controller  404  executes software, algorithms  433 , and firmware in accordance with one or more example embodiments. Specifically, the hardware processor  420  can execute software on the assessment engine  406  or any other portion of the controller  404 , as well as software used by the user  450 , one or more of the measuring devices  440 , and the network manager  480 . The hardware processor  420  can be an integrated circuit, a central processing unit, a multi-core processing chip, SoC, a multi-chip module including multiple multi-core processing chips, or other hardware processor in one or more example embodiments. The hardware processor  420  can be known by other names, including but not limited to a computer processor, a microprocessor, and a multi-core processor. 
     In one or more example embodiments, the hardware processor  420  executes software instructions stored in memory  422 . The memory  422  includes one or more cache memories, main memory, and/or any other suitable type of memory. The memory  422  can include volatile and/or non-volatile memory. The memory  422  is discretely located within the controller  404  relative to the hardware processor  420  according to some example embodiments. In certain configurations, the memory  422  can be integrated with the hardware processor  420 . 
     In certain example embodiments, the controller  404  does not include a hardware processor  420 . In such a case, the controller  404  can include, as an example, one or more field programmable gate arrays (FPGAs), one or more insulated-gate bipolar transistors (IGBTs), one or more integrated circuits (ICs). Using FPGAs, IGBTs, ICs, and/or other similar devices known in the art allows the controller  404  (or portions thereof) to be programmable and function according to certain logic rules and thresholds without the use of a hardware processor. Alternatively, FPGAs, IGBTs, ICs, and/or similar devices can be used in conjunction with one or more hardware processors  420 . 
     The transceiver  424  of the controller  404  can send and/or receive control and/or communication signals. Specifically, the transceiver  424  can be used to transfer data between the controller  404 , one or more of the measurement devices  440 , the user  450 , and the network manager  480 . The transceiver  424  can use wired and/or wireless technology. The transceiver  424  can be configured in such a way that the control and/or communication signals sent and/or received by the transceiver  424  can be received and/or sent by another transceiver that is part of the user  450 , one or more of the measurement devices  440 , and/or the network manager  480 . The transceiver  424  can use any of a number of signal types, including but not limited to radio signals. 
     When the transceiver  424  uses wireless technology, any type of wireless technology can be used by the transceiver  424  in sending and receiving signals. Such wireless technology can include, but is not limited to, Wi-Fi, visible light communication, cellular networking, and Bluetooth. The transceiver  424  can use one or more of any number of suitable communication protocols (e.g., ISA100, HART) when sending and/or receiving signals. Such communication protocols can be stored in the protocols  432  of the storage repository  430 . Further, any transceiver information for the user  450 , one or more of the measurement devices  440 , and/or the network manager  480  can be part of the stored data  434  (or similar areas) of the storage repository  430 . 
     Optionally, in one or more example embodiments, the security module  428  secures interactions between the controller  404 , the user  450 , one or more of the measurement devices  440 , and/or the network manager  480 . More specifically, the security module  428  authenticates communication from software based on security keys verifying the identity of the source of the communication. For example, user software may be associated with a security key enabling the software of the user  450  to interact with the controller  404 . Further, the security module  428  can restrict receipt of information, requests for information, and/or access to information in some example embodiments. 
       FIG. 5  illustrates one embodiment of a computing device  518  that implements one or more of the various techniques described herein, and which is representative, in whole or in part, of the elements described herein pursuant to certain exemplary embodiments. Computing device  518  is one example of a computing device and is not intended to suggest any limitation as to scope of use or functionality of the computing device and/or its possible architectures. Neither should computing device  518  be interpreted as having any dependency or requirement relating to any one or combination of components illustrated in the example computing device  518 . 
     Computing device  518  includes one or more processors or processing units  514 , one or more memory/storage components  515 , one or more input/output (I/O) devices  516 , and a bus  517  that allows the various components and devices to communicate with one another. Bus  517  represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. Bus  517  includes wired and/or wireless buses. 
     Memory/storage component  515  represents one or more computer storage media. Memory/storage component  515  includes volatile media (such as random access memory (RAM)) and/or nonvolatile media (such as read only memory (ROM), flash memory, optical disks, magnetic disks, and so forth). Memory/storage component  515  includes fixed media (e.g., RAM, ROM, a fixed hard drive, etc.) as well as removable media (e.g., a Flash memory drive, a removable hard drive, an optical disk, and so forth). 
     One or more I/O devices  516  allow a user to enter commands and information to computing device  518 , and also allow information to be presented to the user and/or other components or devices. Examples of input devices include, but are not limited to, a keyboard, a cursor control device (e.g., a mouse), a microphone, a touchscreen, and a scanner. Examples of output devices include, but are not limited to, a display device (e.g., a monitor or projector), speakers, outputs to a lighting network (e.g., DMX card), a printer, and a network card. 
     Various techniques are described herein in the general context of software or program modules. Generally, software includes routines, programs, objects, components, data structures, and so forth that perform particular tasks or implement particular abstract data types. An implementation of these modules and techniques are stored on or transmitted across some form of computer readable media. Computer readable media is any available non-transitory medium or non-transitory media that is accessible by a computing device. By way of example, and not limitation, computer readable media includes “computer storage media”. 
     “Computer storage media” and “computer readable medium” include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, computer recordable media such as RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which is used to store the desired information and which is accessible by a computer. 
     The computer device  518  is connected to a network (not shown) (e.g., a local area network (LAN), a wide area network (WAN) such as the Internet, cloud, or any other similar type of network) via a network interface connection (not shown) according to some exemplary embodiments. Those skilled in the art will appreciate that many different types of computer systems exist (e.g., desktop computer, a laptop computer, a personal media device, a mobile device, such as a cell phone or personal digital assistant, or any other computing system capable of executing computer readable instructions), and the aforementioned input and output means take other forms, now known or later developed, in other exemplary embodiments. Generally speaking, the computer system  518  includes at least the minimal processing, input, and/or output means necessary to practice one or more embodiments. 
     Further, those skilled in the art will appreciate that one or more elements of the aforementioned computer device  518  is located at a remote location and connected to the other elements over a network in certain exemplary embodiments. Further, one or more embodiments is implemented on a distributed system having one or more nodes, where each portion of the implementation (e.g., assessment engine  406 ) is located on a different node within the distributed system. In one or more embodiments, the node corresponds to a computer system. Alternatively, the node corresponds to a processor with associated physical memory in some exemplary embodiments. The node alternatively corresponds to a processor with shared memory and/or resources in some exemplary embodiments. 
       FIGS. 6A-6D  show various views of a three-dimensional reconstruction  670  of a section of a mooring line in accordance with certain example embodiments. Specifically,  FIG. 6A  shows a top-front-side perspective view of the three-dimensional reconstruction  670  of the section of the mooring line.  FIG. 6B  shows a cross-sectional top view of the three-dimensional reconstruction  670  of the section of the mooring line.  FIG. 6C  shows a cross-sectional front view of the three-dimensional reconstruction  670  of the section of the mooring line.  FIG. 6D  shows a cross-sectional side view of the three-dimensional reconstruction  670  of the section of the mooring line. 
     Referring to  FIGS. 1-6D , three-dimensional reconstruction  670  of the section of the mooring line of  FIGS. 6A-6D  is generated by the assessment engine  406  using multiple two-dimensional images (e.g., the two-dimensional images  385 ). The three-dimensional reconstruction  670  can be manipulated (e.g., by a user  450 , by the assessment engine  406 ) in any of a number of ways. For example, as shown in  FIGS. 6A-6D , segmentation of the three-dimensional reconstruction  670  can be performed along one or more of three axes. In this case, there is plane  671  (along the x-y axis), plane  672  (along the y-z axis), and plane  673  (along the x-z axis). Each of these planes  671  can be moved, tilted, and/or otherwise manipulated to analyze all parts of the mooring line (e.g., mooring line  175 ). 
     The three-dimensional reconstruction  670  shown in  FIG. 6B  is viewed perpendicular to plane  673 . The three-dimensional reconstruction  670  shown in  FIG. 6C  is viewed perpendicular to plane  671 . The three-dimensional reconstruction  670  shown in  FIG. 6D  is viewed perpendicular to plane  672 . These various views of the three-dimensional reconstruction  670  can be manipulated to find problems that can lead to failure of the mooring line. 
     For example, as shown in  FIG. 6B , the three-dimensional reconstruction  670  can reveal a an object  674  (e.g., a wooden dowell, a stray piece of steel) that has become embedded within the inner portion of the mooring line. The object  674  is also shown in  FIG. 6D . As another example, unraveling or fraying of the edges of the mooring line is shown as element  677  in  FIGS. 6C and 6D . As still another example, a hole  676  (also called a sub-rope break  676  by those of ordinary skill in the art) in the inner portion of the mooring line is shown in  FIG. 6C . 
     In certain example embodiments, the assessment engine  406  can use one or more protocols  432 , algorithms  433 , and stored data  434  to analyze the entire three-dimensional reconstruction  670 , identify each hole (e.g., hole  676 ), object (e.g., object  674 ), frayed edges (frayed edge  677 ), and other irregularity that appears in the reconstruction  670 . This analysis by the assessment engine  406  can lead to an assessment of the mooring line, including whether certain portions of the mooring line have failed or are failing. This analysis by the assessment engine  406  can also lead to specific recommendations (e.g., cut out and replace a particular section of the mooring line, replace the mooring line within the next 30 days using the same make/model of mooring line, replace the mooring line immediately with a mooring line of a different make/model). The assessment engine  406  can also automatically order any materials (e.g., a new mooring line) and schedule any contractors needed to enable the recommendation of the assessment engine  406 . The assessment engine  406  performs all of these tasks while the mooring line remains in situ (in the water  194  with the field system  100 ). 
       FIG. 7  shows a flowchart of a method  760  for assessing a mooring line in accordance with certain example embodiments. While the various steps in this flowchart are presented and described sequentially, one of ordinary skill in the art will appreciate that some or all of the steps can be executed in different orders, combined or omitted, and some or all of the steps can be executed in parallel depending upon the example embodiment. Further, in one or more of the example embodiments, one or more of the steps described below can be omitted, repeated, and/or performed in a different order. For example, the process of assessing a mooring line can be a continuous process, and so the START and END steps shown in  FIG. 7  can merely denote the start and end of a particular series of steps within a continuous process. 
     In addition, a person of ordinary skill in the art will appreciate that additional steps not shown in  FIG. 7  can be included in performing these methods in certain example embodiments. Accordingly, the specific arrangement of steps should not be construed as limiting the scope. In addition, a particular computing device, as described, for example, in  FIG. 5  above, can be used to perform one or more of the steps for the methods described below in certain example embodiments. For the methods described below, unless specifically stated otherwise, a description of the controller (e.g., controller  404 ) performing certain functions can be applied to the control engine (e.g., control engine  406 ) of the controller. 
     Referring to  FIGS. 1-7 , the example method  760  of  FIG. 7  begins at the START step and proceeds to step  761 , where two-dimensional images  385  of a mooring line  175  are received. The two-dimensional images  385  can be received by the assessment engine  406  of the mooring line assessment system  499 . The two-dimensional images  385  can be captured by one or more measurement devices  440 . The two-dimensional images  385  are captured while the mooring line  175  is in situ (in water  194 , often at great depths). 
     In step  762 , a three-dimensional reconstruction  670  of the mooring line is generated. The three-dimensional reconstruction  670  is generated by the assessment engine  406  using the two-dimensional images  385 . The assessment engine  406  can also use one or more protocols  432 , one or more algorithms  433 , and/or stored data  434  to generate the three-dimensional reconstruction  670 . In some cases, the three-dimensional reconstruction  670  is presented to a user  450 , and the user  450  assesses the three-dimensional reconstruction  670  determine issues that may exist with the mooring line  175  and where along the mooring line  175  those issues are located. Alternatively, the assessment engine  406  can assess the three-dimensional reconstruction  670 , as in step  763 . 
     In step  763 , the mooring line  175  is assessed using the three-dimensional reconstruction  670 . This assessment is made by the assessment engine  406 . At times, this assessment can be made based on inputs from a user  450  to set parameters within which the assessment engine  406  must operate. The assessment can include ascertaining flaws and anomalies in the mooring line. 
     In step  764 , a recommendation is submitted to repair or replace the mooring line  175 . The recommendation is made by the assessment engine  406  and can be made to a user  450 . The recommendation can be very specific. For example, if the recommendation is to repair the mooring line  175 , the recommendation can include a precise segment of the mooring line  175  to replace, the make/model of mooring line to use in replacing the segment, and how the new segment should be coupled to the original portions of the mooring line  175 . As another example, if the recommendation is to replace the mooring line  175 , the recommendation can include when the mooring line should be replaced (e.g., based on remaining useful life of mooring line, based on schedule of operations for the field system  100 ), the make/model of the new mooring line  175 , an order placed with the manufacturer of new mooring line  175 , and scheduling of a workforce to remove the existing mooring line  175  and install the new mooring line  175 . When step  764  is complete, the process proceeds to the END step. 
     Example embodiments can generate estimates of the remaining useful life of a mooring line based on actual, real-time data, using current two-dimensional images of the mooring line, In some cases, an assessment of a mooring line can also include previously-captured two-dimensional images of the mooring line and/or previously-captured two-dimensional images of one or more other mooring lines. Example embodiments can determine that a mooring line has failed. In some cases, example embodiments can project when failure of a mooring line may occur due to measured information (e.g., two-dimensional images). Example embodiments can also help ensure efficient allocation of maintenance and/or replacement resources for a damaged or failed mooring line. Example embodiments can further provide a user with options to prolong the useful life of a mooring line. 
     Although embodiments described herein are made with reference to example embodiments, it should be appreciated by those skilled in the art that various modifications are well within the scope and spirit of this disclosure. Those skilled in the art will appreciate that the example embodiments described herein are not limited to any specifically discussed application and that the embodiments described herein are illustrative and not restrictive. From the description of the example embodiments, equivalents of the elements shown therein will suggest themselves to those skilled in the art, and ways of constructing other embodiments using the present disclosure will suggest themselves to practitioners of the art. Therefore, the scope of the example embodiments is not limited herein.