Patent Description:
In the drilling, production, and transportation of offshore oil and gas, mooring systems have been used to connect floating production, storage, and offloading (FPSO) vessels, floating storage and offloading (FSO) vessels, and other floating vessels to various tower structures in the sea. Some conventional mooring systems are permanent, meaning the connected vessel can be maintained on location even in <NUM>-year survival environmental conditions. Other conventional mooring systems are disconnectable, allowing vessels to leave the field to avoid severe weather events and conditions such as harsh seas, typhoons, hurricanes and icebergs.

Tower mooring systems are a type of mooring solution. Conventional tower structures typically include a bearing system that allows one part to rotate around a fixed geostatic part. When moored to the rotating part of the tower structure with a mooring connection, the vessel can weathervane around the geostatic part of the tower structure. Typical mooring connections include a hawser system or other rope, chain or elongated connection. Another mooring connection has been a soft yoke wishbone type system or tower yoke mooring system, which includes a rigid steel frame that can be connected to the tower structure using a series of hinges and to the vessel with the help of a pendulum structure.

Conventional tower yoke mooring systems can be disconnected to avoid typhoons, hurricanes, icebergs, and other extremely dangerous conditions that may or may not have appropriate advance notice, but the process is extremely time consuming and requires complex systems and external intervention in very limited sea states. These significant disconnect and reconnect sequence times can result in more lost production time, injury, or worse. During heavy sea states, the disconnection and reconnection process can also be susceptible to contact between the yoke, vessel, and/or tower, causing damage. Such mooring support structure is known from <CIT>. Another exemplary mooring support structure is known from <CIT>.

There is a need, therefore, for improved mooring systems and processes for using same.

Mooring support structures, systems for mooring vessels, and processes for using same are provided. A mooring system as defined in the appended claims <NUM>-<NUM> is provided. A process for disconnecting a vessel floating on a surface of a body of water moored to a mooring support structure as defined in the appended claims <NUM>-<NUM> that includes disconnecting a yoke head from a yoke head connector is also provided.

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.

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. 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.

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 methods of using the same may be equally effective at various angles or orientations.

<FIG> depicts a schematic of an illustrative mooring support structure <NUM>, according to one or more embodiments. The mooring support structure <NUM> can be a raised tower or other structure <NUM> fixedly attached to the seafloor <NUM>. The mooring support structure <NUM> can be a floating, anchored, or moored structure. The mooring support structure <NUM> can include a base or jacket structure <NUM>. The base structure <NUM> can be fixedly attached to the seafloor <NUM> or connected to one or more pilings or piling foundations. The base structure <NUM> can be fixedly connected to a dock or other man-made structure, a coastal defense structure, land above sea-level, land below sea-level, and/or combinations thereof. The base structure <NUM> can also be floating, anchored, or moored. Coastal defense structures can be or can include, but are not limited to, a jetty, a groin, a seawall, a breakwater, or the like. In some embodiments, the base structure <NUM> can include a turntable <NUM> disposed thereon. The turntable <NUM> can be configured to at least partially rotate about the base structure <NUM>.

In some embodiments, the base structure <NUM> can include a support column <NUM> disposed thereon. The support column <NUM> can include a plurality of decks (three are shown) <NUM>, <NUM>, <NUM> disposed about and/or on the support column <NUM> at various elevations above and/or below a water line <NUM>. The outer most portions of each deck <NUM>, <NUM>, <NUM> can define a keep out zone or perimeter about the column <NUM>. The decks <NUM>, <NUM>, <NUM> can be arranged and designed to support various processing equipment, manifolds, etc. In some embodiments, the turntable <NUM> can be disposed on the support column <NUM>. In some embodiments, the turntable <NUM> can include a bearing <NUM> to allow the turntable to freely weathervane about the mooring support structure <NUM>. In other embodiments, the turntable <NUM> can be configured to or adapted to have a limited rotation travel about the column <NUM>, for example, the rotational travel can be limited to less than plus or minus one-hundred and eighty degrees about the column <NUM>. The rotational travel of the bearing <NUM> can be configured to or adapted to be limited to less than plus or minus ninety degrees, plus or minus forty-five degrees, plus or minus thirty degrees, plus or minus fifteen degrees, or any rotational travel limitations therebetween including eliminating all rotational travel about the turntable <NUM>. To limit the rotational travel of the bearing <NUM>, the bearing <NUM> can include mechanical stops, shock absorbers, springs, chains, cables, electric motors, hydraulic cylinders and/or combinations thereof. One or more decks, e.g., the decks <NUM>, <NUM>, can be located above the turntable <NUM> and the decks <NUM>, <NUM> can rotate about the mooring support structure <NUM> with the turntable <NUM>.

At least one post <NUM> can be connected at a first end to the turntable <NUM> and can extend out from the turntable <NUM>. In some embodiments, the post <NUM> can be connected at the first end to a pitch bearing <NUM> that can be connected to the turntable <NUM> and can extend out from the pitch bearing <NUM>. In some embodiments, the post <NUM> can be connected at the first end to a roll bearing <NUM> that can be connected to and extend from the turntable <NUM>. In some embodiments, the pitch bearing <NUM> and the roll bearing <NUM> can be connected to each other and can be disposed between the post <NUM> and the turntable <NUM>. The pitch bearing <NUM> and the roll bearing <NUM> can allow the post <NUM> to rotate about the pitch bearing <NUM> and/or the roll bearing <NUM>. For example, the post <NUM> can be connected to the roll bearing <NUM> that can include a race with bearings to allow for rotational movement about and relative to a longitudinal axis defined between the first end and a second end of the post <NUM>. The pitch bearing <NUM> can allow the post to rotate in an upward or downward direction with respect to the turntable <NUM>. The post <NUM> can have any desired shape, e.g., a cylindrical shape, a cuboid shape, a triangular prism, or any other desired shape. The post <NUM> can be formed from one or more tubular members. Each tubular member can have a circular, squared, triangular, or other polygonal cross-sectional shape. The post <NUM> can be rigid and can have a fixed length. In some embodiments, the post <NUM> can be or can include two or more members. In some embodiments, the post <NUM> with the two or more members can be configured in a telescoping arrangement with respect to one another. As explained further below, the post <NUM> can be stored in a compact configuration and can telescope from the compact configuration to a fully extended length or vice versa.

A support member <NUM> can be attached to and extend from a mooring support structure anchor or anchor location <NUM> on the mooring support structure <NUM>. The anchor location <NUM> can include a winch, hydraulic cushion cylinder, and/or other damping system <NUM> from which the support member <NUM> can be attached or extend. The anchor location <NUM> can be at an elevated position above the turntable <NUM>. The anchor location <NUM> can rotate with the turntable <NUM> and the support member <NUM> can extend from the anchor location <NUM> and rotate with the turntable <NUM>. The anchor location <NUM> can be a fixed post or other fixed structure and the support member <NUM> can connect thereto via a rotatable connection that can rotate about the fixed post. For example, the anchor location <NUM> can be a bearing disposed on or about a fixed post. The support member <NUM> can be connected to and extend from the bearing such that the support member <NUM> can rotate with the turntable <NUM> while the fixed post remains stationary. The anchor location <NUM> can be or can include an eyelet, a post, a bearing disposed on or about a fixed post or other structure, a grommet, an indentation, an aperture, a protrusion, or any other structure or combination of structures to which the support member <NUM> can attach. The support member <NUM> can be a rope, chain, wire, rigid rod, flexible rod, piston and rod, hydraulic cylinder, or any combination or one or more thereof. The length of the support member <NUM> can be varied such that an angle at which the post <NUM> extends from the turntable <NUM> can be varied or otherwise adjusted to any desired angle. The winch, hydraulic cushion cylinder, and/or other damping system <NUM> can vary the length of the support member <NUM> and thereby vary the angle at which the post <NUM> extends from the turntable <NUM>. The length of the support member <NUM> can be from or between about one-hundred, seventy-five, sixty, fifty, forty, thirty, twenty, fifteen, ten, five, four, three, two, or one meters long. One or more hydraulic or pneumatic cylinders and/or arms <NUM> can be attached between the turntable <NUM> and/or pitch bearing <NUM> and the post <NUM> or roll bearing <NUM> to support the post <NUM> and/or vary or otherwise adjust the angle at which the post <NUM> extends from the turntable <NUM>.

The support member <NUM> can be attached to the post <NUM> at a post anchor location <NUM>. The post anchor location <NUM> can be located anywhere along the post <NUM>. For example, the post anchor location <NUM> can be located proximal to the second end of the post <NUM>. The post anchor location <NUM> can be located about half-way between the first end and the second end of the post <NUM>. The post anchor location <NUM> can be located at a point measured from the second end of the post <NUM> toward the first end of the post <NUM> at about ninety-five, ninety, eighty, seventy-five, seventy, sixty-five, sixty, fifty-five, forty-five, forty, thirty-five, thirty, twenty-five, twenty, fifteen, ten, or five percent of the measured distance. The post anchor location <NUM> can be or can include an eyelet, a post, a grommet, an indentation, an aperture, a winch, a protrusion, or any other structure or combination of structures to which the support member <NUM> can attach. The support member <NUM> can be disposed at the post anchor location <NUM> about an outer perimeter of the post, e.g., in a looped configuration.

A yoke head connector <NUM> can be connected to the second end of the at least one post <NUM>. In some embodiments, the at least one post <NUM> can be a first post and a second post. A first yoke head connector and a second yoke head connector can be connected to the second end of the first post and the second post, respectively. A surface <NUM> on the distal end of the yoke head connector <NUM> can be oriented perpendicular to a centerline defined through the center and along the length of the post <NUM>. The surface <NUM> can be oriented at other angles. As described further below, the yoke head connector <NUM> can be configured to or adapted to cooperatively attach to a yoke head (<NUM>, shown in <FIG>).

The length of the post <NUM>, the yoke head connector <NUM>, or the combination thereof can provide a disconnection location <NUM> at a distal end of the yoke head connector <NUM>, between the mooring support structure <NUM> and a vessel <NUM> (see <FIG>) such that during disconnection, the yoke head <NUM> can be separated from the yoke head connector <NUM> without contacting the mooring support structure <NUM>. The disconnection location <NUM> at the distal end of the yoke head connector <NUM> can be provided such that during disconnection, the yoke head <NUM> can fall by gravity, for example along an arc <NUM>, without contacting the mooring support structure <NUM>. Although the fall direction is depicted as along the arc <NUM>, the yoke head <NUM> can fall by gravity along any path. Said another way, the disconnection location <NUM> at the distal end of the yoke head connector <NUM> can be located such that when the yoke head <NUM> is disconnected from the yoke head connector <NUM>, the yoke head <NUM> can fall, e.g., by gravity along the arc <NUM> or other path, from the yoke head connector <NUM> without contacting the mooring support structure <NUM>. The disconnection location <NUM> can be outside the perimeter of any deck, for example deck <NUM>, located below the post <NUM>.

<FIG> depicts a schematic of the mooring support structure <NUM> shown in <FIG> prior to disconnection from a yoke mooring system <NUM> disposed on a vessel <NUM>, according to one or more embodiments. The yoke mooring system ("YMS") <NUM> can be located or otherwise disposed on the vessel <NUM>. The yoke mooring system <NUM> can include a yoke <NUM>, a yoke head <NUM>, a ballast tank <NUM>, and one or more link or extension arms <NUM> connected to a vessel support structure <NUM>. The yoke mooring system <NUM> can also include a yoke lift and cushion system <NUM> and/or a first or ballast tank pull-back winch system <NUM>. The yoke lift and cushion system <NUM> and the ballast tank pull-back winch system <NUM> can be electric, pneumatic, hydraulic, or a combination thereof. The ballast tank pull-back winch system <NUM> can also have motion compensation, including active heave compensation (AHC) and/or passive heave compensation (PHC). The ballast tank pull-back winch system <NUM> can use any combination of active heave compensation, passive heave compensation, and tension control to rapidly and accurately lift and/or pull-back the yoke <NUM> as needed in harsh offshore environments.

The yoke lift and cushion system <NUM> can be disposed on the vessel <NUM>. In some embodiments, the yoke lift and cushion system <NUM> can be disposed on the vessel support structure <NUM> or one portion of the yoke lift and cushion system <NUM> can be disposed on the vessel <NUM> and a second portion can be disposed on the vessel support structure <NUM>. The yoke lift and cushion system <NUM> can include one or more winches <NUM> (one is shown) and/or one or more cushion cylinders <NUM> (one is shown). The yoke lift and cushion system <NUM> can be connected proximal to the second end or distal end of the yoke <NUM>. The connection between the yoke lift and cushion system <NUM> and the yoke <NUM> can be via one or more elongated supports or first elongated supports <NUM> (one is shown). The elongated support <NUM> can be any rope, cable, wire, chain, or the like, as well as any combinations of the same. The cushion cylinder <NUM> can be or can include one or more shock absorbers, one or more torsional springs, one or more wire line tensioners, one or more N-Line tensioners, one or more hydraulic and/or pneumatic cylinders with one or more oil and/or gas accumulators, and combinations thereof. In some embodiments, the cushion cylinder <NUM> can be or can include one or more shock absorbers and/or one or more passive heave compensators (PHC), such as those available from CRANEMASTER®. The elongated support <NUM> can be connected to the winch <NUM> at one end, routed over or around a portion of the cushion cylinder <NUM>, and connected to the yoke <NUM> at the other end. The elongated support <NUM> can be routed over or around at least a portion of and connected at one end to the cushion cylinder <NUM> and connected at the other end to the yoke <NUM>. One or more elongated supports <NUM> can be connected at one end to the winch <NUM> and at the other end to the yoke <NUM>. One or more other elongated supports <NUM> can be connected at one end to the cushion cylinder <NUM> and at the other end to the yoke <NUM>. The winch <NUM> and the cushion cylinder <NUM> can work separately or in combination to lift, lower, cushion, passively support, and/or otherwise control the yoke <NUM> during operations.

In some embodiments, the cushion cylinder <NUM> can be or can include a wire line tensioner. The wire line tensioner can be an accumulator loaded hydraulic/pneumatic cylinder. The wire line tensioner can include a pully system through which the elongated support <NUM> can be routed and/or attached to the wire line tensioner. A pre-defined tension can be applied to the yoke <NUM> through the elongated support <NUM> routed through the pulley system. The wire line tensioner can cushion the yoke <NUM> from the motions of the vessel <NUM>, e.g., motions such as heave, roll, and/or pitch. The wire line tensioner can also act to slow, arrest, cushion, passively support, and/or otherwise control a fall of the yoke <NUM> during disconnection. In some embodiments, the cushion cylinder <NUM> can be or can include an N-Line tensioner where a piston within the N-Line tensioner can be connected directly to the yoke <NUM>, or to the yoke <NUM> via the elongated support <NUM>. A pulley system can also be included to route the elongated support <NUM> to the yoke <NUM>. The piston can be cooperatively disposed within a cylinder within the N-Line tensioner. The cylinder can be connected to the vessel support structure <NUM>. When the piston extends it can reduce the total fluid volume within an associated chamber and hence compress a fluid in the chamber that in turn increases the pressure acting upon the piston. Accordingly, the N-Line tensioner can slow, arrest, cushion, passively support, and/or otherwise control the fall of the yoke <NUM> during disconnection. The N-Line tensioner can also cushion the yoke <NUM> from the motions of the vessel <NUM>, e.g., motions such as heave, roll, and/or pitch.

As shown in <FIG>, the ballast tank <NUM> can be connected to the ballast tank pull-back winch system <NUM> via one or more elongated supports or second elongated supports <NUM> (one is shown). The elongated support <NUM> can be any rope, cable, wire, chain, rigid bar, or the like, as well as any combinations of the same. Accordingly, the yoke <NUM> and ballast tank <NUM> are able to freely move with respect to the vessel <NUM>, and such movement can be limited, manipulated, or otherwise controlled by the yoke lift and cushion system <NUM> and the ballast tank pull-back winch system <NUM>.

As explained in more detail below, the yoke lift and cushion system <NUM> and the ballast tank pull-back winch system <NUM> can be passive and/or can include constant tension control at the requisite tensions and loads to safely manipulate and control the movement of the yoke <NUM> and/or ballast tank <NUM> while connecting and/or disconnecting to the mooring support structure <NUM> using only the facilities located on the vessel <NUM> itself. The yoke lift and cushion system <NUM> and the ballast tank pull-back winch system <NUM> can be used independently, or together. The yoke lift and cushion system <NUM> and the ballast tank pull-back winch system <NUM> can each be or can each include a dedicated hydraulic power unit and any combination of one or more winches, controls, compensating cylinders, sheaves, accumulators and/or oil coolers. The one or more winches and one or more compensating cylinders can be used in parallel or in series. The one or more compensating cylinders can be vertical or horizontal. In certain embodiments, the one or more winches and the one or more compensating cylinders can be used in tandem (i.e., series) such that the compensating cylinders work at high speeds and low tension to gather the lines rapidly to control the back and forth and up and down movement of the yoke <NUM>, ballast tank <NUM>, or both. The winches can also be designed to handle higher tension requirements, such as during the initial lift and/or during ballast tank pull back for storage, for example.

In operation, the yoke lift and cushion system <NUM>, for example, can be used to cushion movement of the yoke <NUM>, including vertical movement of the yoke <NUM>, while connecting to and/or disconnecting from the mooring support structure <NUM>. For example, the yoke lift and cushion system <NUM> can be used to raise, lower and hold the yoke <NUM> in position as the vessel <NUM> is pushed or pulled to the mooring support structure <NUM> for connection and to support and lift the yoke <NUM> during disconnection from the mooring support structure <NUM>. During disconnection, the yoke lift and cushion system <NUM> can control or cushion the movement of the yoke <NUM>, allowing control of the yoke <NUM> via the cushion cylinder <NUM>. Accordingly, active heave compensation can be eliminated from the yoke lift and cushion system <NUM> and the overall complexity of the associated components can be significantly simplified. For example, the winch <NUM> can be set to freely release the elongated support <NUM> such that the cushion cylinder <NUM> can be all that controls the elongated support <NUM>. In this example, the cushion cylinder <NUM> can cushion or slow the rate of decent of the yoke <NUM> during disconnection rather than being required to have an ability to quickly arrest the decent so as to avoid contacting components of the mooring support structure <NUM> and/or to avoid damage to the yoke <NUM> and/or yoke head <NUM> due to it hitting the water line <NUM> at too high a speed.

The cushion cylinder <NUM> can limit the distance the yoke <NUM> can fall after disconnection by limiting the length of the elongated support <NUM> that can spool or otherwise extend from the yoke lift and cushion system <NUM>. For example, before or after disconnection, the elongated support <NUM> can be disconnected from the winch <NUM> and attached to the cushion cylinder <NUM> or the winch <NUM> can be prevented from moving and the cushion cylinder <NUM> can react to any movement of the yoke <NUM>, thereby limiting the amount of the elongated support <NUM> that can extend from the cushion cylinder <NUM> to the amount of elongated support <NUM> that may be routed through the cushion cylinder <NUM>. The amount of elongated support <NUM> routed through the cushion cylinder <NUM> can be such that the yoke <NUM> can fall no more than about <NUM> meter, <NUM> meters, <NUM> meters to about <NUM> meters, <NUM> meters, <NUM> meters or more after disconnection, for example from the disconnection location <NUM> at the distal end of the yoke head connector <NUM>, toward the water line <NUM>. The length of the elongated support <NUM> can be chosen to prevent the yoke <NUM> or yoke head <NUM> from entering the water <NUM> or allow the yoke <NUM> or yoke head <NUM> to enter the water <NUM>. The overall length of the yoke <NUM> and yoke head <NUM> along with a distance between the water line <NUM> and the ballast tank <NUM> can be selected to prevent the yoke <NUM> or the yoke head <NUM> from entering the water <NUM>, regardless the length of the elongated support <NUM> extending from the cushion cylinder <NUM>. The winch <NUM> can be allowed to freely release the elongated support <NUM> and the cushion cylinder <NUM> can cushion the motion of the yoke <NUM> while the yoke falls by gravity toward the water line <NUM>. The winch <NUM> can be separately connected to the yoke <NUM> before or after the yoke <NUM> has been disconnected and the winch <NUM> can lift the yoke <NUM> up for stowage, sail away, and transport or for reconnection.

The ballast tank pull-back winch system <NUM> can be used to hold and control movement of the ballast tank <NUM>, including the horizontal movement of the ballast tank <NUM>, while connected, during disconnection, and during storage for transit. The ballast tank pull-back winch system <NUM> can be used to affect the yaw angle of the ballast tank <NUM> and the yoke <NUM>. During disconnection, for example, the yoke lift and cushion system <NUM> and the ballast tank pull-back winch system <NUM> can be used together to lift, lower, pullback, hold, cushion, passively support, and/or otherwise control the yoke <NUM>, preventing the yoke <NUM> from colliding with the mooring support structure <NUM> and causing physical damage to itself or the tower or both. The ballast tank pull-back winch system <NUM> could be used to manipulate and control movement of the ballast tank during disconnection and connection. In certain embodiments, the ballast tank pull-back winch system <NUM> is not used during connection or disconnection.

Still referring to <FIG>, the yoke <NUM> can be any elongated structure with sufficient strength to connect the vessel <NUM> to an offshore structure. For example, the yoke <NUM> can be formed from one or more tubular members or legs (<NUM>, <NUM> shown in <FIG>). Each tubular member can have a circular, squared, or other polygonal cross-sectional shape. In certain embodiments, the yoke <NUM> can have two legs arranged in a "V" shape in plan view that are connected to the ballast tank <NUM> at one end and connected to the yoke head <NUM> at the other end.

The yoke head <NUM> can be a conical coupler that can accept the yoke head connector <NUM> therein, as shown, therethrough, there around, or combinations thereof. The yoke head connector <NUM> can be a conical coupler that can accept the yoke head <NUM> there around, as shown, therein, therethrough, or combinations thereof. In other words, the yoke head <NUM> and the yoke head connector <NUM> can be complimentary connectors that can interact to form at least a mechanical connection therebetween. Both the yoke head <NUM> and the yoke head connector <NUM> can have conical or frusto-conical shaped surfaces: an inner or outer surface of the yoke head <NUM> (female or male) and an outer or inner surface of the yoke head connector <NUM> (male or female). These complementary conical surfaces can provide a sliding surface to facilitate and guide the connection between the yoke head <NUM> and the yoke head connector <NUM>. An aperture can be formed in the yoke head <NUM> and can slide over portions of the yoke head connector <NUM> for connection between the yoke head <NUM> and the yoke head connector <NUM>. An aperture can be formed in the yoke head connector <NUM> and can slide over portions of the yoke head <NUM> for connection therebetween. It should be understood that the yoke head <NUM> and the yoke head connector <NUM> can have any desired configuration with conical only being one example.

When connected, the ballast tank <NUM>, extension arms <NUM> and yoke <NUM> can form a somewhat "L" shaped frame in elevation view. As explained in more detail below, the ballast tank <NUM>, extension arms <NUM>, and yoke <NUM> can provide a restoring force for mooring the vessel <NUM> to the mooring support structure <NUM>.

The vessel support structure <NUM> can be a raised tower or other framed structure for supporting the yoke <NUM>, the ballast tank <NUM>, and the extension arms <NUM>. The vessel support structure <NUM> can include a generally vertical section <NUM> and a generally horizontal section <NUM>. The generally horizontal section <NUM> can be cantilevered over a side of the vessel <NUM> including the bow or the stern. The generally horizontal section <NUM> can extend beyond the side of the vessel <NUM> and can help support the weight of the ballast tank <NUM>, extension arms <NUM>, and yoke <NUM>.

The ballast tank <NUM> can be any container, drum or the like capable of holding water, high density concrete blocks, or other ballast. The ballast tank <NUM> can be connected to the yoke <NUM> and/or the extension arm(s) <NUM>. The ballast tank <NUM> can be connected to the vessel support structure <NUM> via the one or more extension arms <NUM>. As such, the ballast tank <NUM> can be configured to or adapted to move back and forth and/or an up and down with respect to the vessel support structure <NUM>. The ballast tank <NUM> can be configured to or adapted to move back and forth and/or an up and down below the vessel support structure <NUM>. The ballast tank <NUM> can serve as a counterbalance or restoring force as the vessel <NUM> moves at sea.

The extension arms <NUM> can be connected to the vessel support structure <NUM> on the generally horizontal section <NUM> via one or more upper U-joints <NUM>. The extension arms <NUM> can also be connected to the ballast tank <NUM> using one or more lower U-joints <NUM>. The extension arms <NUM> can include one or more jointed sections that are mechanically connected together. The extension arms <NUM> can each be or include rigid pipe, conduit, rods, chains, wire, combinations thereof, or the like. The vessel support structure <NUM> via connection through the extension arms <NUM> can suspend the ballast tank <NUM>. The U-joints <NUM>, <NUM> are provided as one type of coupler that can be used, however, any type of coupling that permits angular movement between its connections can be equally employed.

By "vessel" it can be meant any type of floating structure including but not limited to tankers, boats, ships, FSO's, FPSO's and the like. It should be appreciated by those skilled in the art that the yoke mooring system <NUM> can be mounted or otherwise disposed on converted vessels as well as new-built vessels.

<FIG> depicts a schematic of the illustrative mooring support structure <NUM> after the yoke <NUM> has fallen away from the yoke head connector <NUM> disposed on the mooring support structure <NUM> and the yoke <NUM> further includes a buoyancy tank <NUM>, according to one or more embodiments. The vessel <NUM> may need to be disconnected from the mooring support structure <NUM> for various reasons, for example due to completion or cessation of operations or excessive environmental condition causing safety concerns. In some embodiments, to disconnect the vessel <NUM> from the mooring support structure <NUM>, the propulsion system/engines of the vessel <NUM> can be engaged, such as using a stern thrust, prior to or after the disconnection of the yoke head <NUM>. The thrust can be supplied by the propulsion system/engines, or by using one or more external interventions, either exclusively or in combination with the propulsion system engines of the vessel, such as by one or more tugs, boats, ships or other vessel(s). The thrust can create a tension away from the mooring support structure <NUM> and should be sufficient to overcome any current or wave forces acting on the vessel <NUM>. One or more hoses or flow lines and/or cables can be disconnected before or after the vessel thrust is applied. In other embodiments, to disconnect the vessel <NUM> from the mooring support structure <NUM>, the propulsion system/engines of the vessel <NUM> can be disengaged, such that no thrust is produced during disconnection of the yoke head <NUM> from the yoke head connector <NUM>. As such, in some embodiments, the vessel <NUM> and/or external intervention can be configured to not apply any thrust to urge the vessel away from the mooring support structure <NUM> when the yoke head <NUM> is disconnected from the yoke head connector <NUM>. In other embodiments, the vessel <NUM> and/or external intervention can be configured to apply thrust to urge the vessel away from the mooring support structure <NUM> when the yoke head <NUM> is disconnected from the yoke head connector <NUM>.

With the thrust applied to urge the vessel <NUM> away from the mooring support structure <NUM> before or after the yoke head <NUM> is disconnected from the yoke head connector <NUM>, the vessel <NUM> can move away from the mooring support structure <NUM>. The motion away from the mooring support structure <NUM> can separate the yoke head <NUM> from the yoke head connector <NUM>. As explained further below, the yoke head <NUM> can fall away from the yoke head connector <NUM> without reversing the trust. In these embodiments, the yoke head <NUM> can fall away from the yoke head connector <NUM> without contacting the mooring support structure <NUM>. The cushion cylinder <NUM> can control the movement of the yoke <NUM> without the need for active control systems. Optionally, a buoyancy tank <NUM> can be connected to the yoke <NUM> proximate the distal end of the yoke <NUM> and/or yoke head <NUM> to support floating at least a portion of the yoke <NUM> and/or yoke head <NUM>, should the yoke <NUM> or the yoke head <NUM> and a portion of the yoke <NUM> enter the water <NUM>. The buoyancy tank <NUM> could be connected and sized in a such a way as to prevent the yoke <NUM> and/or yoke head <NUM> from entering the water <NUM>.

Back and forth movement (or horizontal movement) of the ballast tank <NUM> and hence the yoke head <NUM> can be reduced or dampened using the capabilities of the ballast tank pull-back winch system <NUM> during the disconnection operation. Side to side movement of the ballast tank <NUM> can be further reduced or dampened using the capabilities of a spring line winch system <NUM>. Working in combination with the yoke lift and cushion system <NUM>, which can be located above the yoke <NUM>, the ballast tank pull-back winch system <NUM> located laterally or near lateral to the ballast tank <NUM>, and optionally in combination with the spring line winch system <NUM>, the example combinations can effectively and reliably control the yoke <NUM>, which can significantly reduce the risk of banging or otherwise contacting the yoke <NUM> and/or yoke head <NUM> with the mooring support structure <NUM> or the vessel <NUM>. Applying the thrust to urge the vessel <NUM> away from the mooring support structure <NUM> before or after the yoke head <NUM> is disconnected from the yoke head connector <NUM> can also reduce the risk of banging or otherwise contacting the yoke <NUM> and/or yoke head <NUM> with the mooring support structure <NUM> or the vessel <NUM>. This operation can be particularly useful in relatively harsh conditions, which presents a real danger of collision between the vessel <NUM> and the mooring support structure <NUM>, and/or the yoke <NUM> or yoke head <NUM> and the mooring support structure <NUM>.

Still referring to <FIG>, in some embodiments a second winch system or pull-in winch system <NUM> can be utilized to facilitate connection between the yoke head <NUM> and the yoke head connector <NUM>. The pull-in winch system <NUM> can pull the vessel <NUM> toward the mooring support structure <NUM> by providing a pull-in line <NUM> from the pull-in winch system <NUM> through the yoke <NUM> to the mooring support structure <NUM>. The pull-in winch system <NUM> and the pull-in line <NUM> can provide guidance for the structural connection of the yoke <NUM> to the mooring support structure <NUM>. After the yoke head <NUM> and yoke head connector <NUM> are connected, the pull-in line <NUM> can be disconnected from the mooring support structure <NUM> and stowed on or along the yoke <NUM> or elsewhere on the yoke mooring system <NUM>. Accordingly, the pull-in line <NUM> can be, but does not need to be, disposed between the yoke head <NUM> and the yoke head connector <NUM> before and/or after disconnection. The pull-in line <NUM> can be any rope, cable, chain, wire or the like, as well as any combinations of the same. Similar to the winch systems <NUM>, the pull-in winch system <NUM> can be or can include a dedicated hydraulic power unit and any combination of one or more winches, controls, compensating cylinders, sheaves, accumulators and/or oil coolers to provide rapid and reliable response times.

<FIG> depicts an enlarged perspective view of the yoke head connector <NUM> shown in <FIG> prior to connection to or after disconnection from the yoke head <NUM>, according to one or more embodiments. The yoke head connector <NUM> can be connected to the post <NUM> and the post <NUM> can be connected to the pitch bearing <NUM> that can include one or more joints or connectors that allow for pivotal movement relative to the turntable <NUM>. The pitch bearing <NUM> can include a trunnion mounted connector <NUM> that can extend outwardly from a trunnion housing <NUM>. The post <NUM> can be connected to or include the trunnion mounted connector <NUM>. The one or more hydraulic or pneumatic cylinders and/or arms <NUM> can help move the post <NUM> and yoke head connector <NUM> to facilitate the connection with the yoke head <NUM>. The legs <NUM>, <NUM> can be connected to the yoke head <NUM>. The connections can be achieved by welding, bolting, forming, machining, forging, sand casting, and the like, or combinations thereof.

To facilitate this connection, the yoke head connector <NUM> can be a receptacle that can receive the yoke head <NUM>. One or more apertures <NUM> (one is shown) can be formed through at least a portion of the yoke head connector <NUM> and one or more apertures <NUM> (one is shown) can be formed through at least a portion of the yoke head <NUM>. When the yoke head connector <NUM> and the yoke head <NUM> are brought together, the apertures <NUM>, <NUM> can be aligned such that a shaft or mechanical lock (<NUM> shown in <FIG>) can be inserted through the apertures <NUM>, <NUM> to mechanically connect the yoke head connector <NUM> and the yoke head <NUM>. Suitable mechanical locks can be or can include an interference sleeve lock, such as for example, the BEAR-LOC® locking device, manufactured by Wellman Dynamics Machining and Assembly Inc. of York, Pa.

<FIG> depicts an enlarged perspective view of another illustrative yoke head <NUM> and yoke head connector <NUM> after being connected to one another, according to one or more embodiments. As noted above, the post <NUM> can be solid, as depicted with reference to <FIG>, or can include two or more interconnecting tubular members <NUM>,<NUM> (two are shown) as depicted with reference to <FIG>. The interconnecting tubular member <NUM> can telescope inwardly, over or inside of tubular member <NUM>, toward the turntable <NUM> into a collapsed configuration, as depicted in <FIG>, and subsequently telescope out to the full length of the post <NUM>.

The collapsed configuration for post <NUM> can be maintained through the use of mechanical pins, hydraulics, pneumatics, or combinations thereof. The telescoping of the post <NUM> can provide the post <NUM> with a variable length. The variable length of post <NUM> can allow the vessel <NUM> to be brought closer to the mooring support structure <NUM> during operations. During disconnection operations, the post <NUM> can telescope out to its full length allowing for disconnection without the risk of the yoke head <NUM> contacting the mooring support structure <NUM>.

The telescoping action and the extended configuration for post <NUM> can be controlled and maintained in various ways. For example, a mechanical, hydraulic, and/or pneumatic mechanism such as a brake or mechanical lock, can be incorporated into the post <NUM> to hold the post <NUM> at one or more lengths. In some embodiments, the post <NUM> can be a hydraulic piston and cylinder capable of extending and retracting. As such, a length of the post <NUM> can be adjustable such that during connection and/or disconnection of the yoke head <NUM> and the yoke head connector <NUM> the connection location can be at a first location and after connection and/or disconnection of the yoke head <NUM> and the yoke head connector <NUM> the connection location can be at a second location, where the second location can be closer to the mooring support structure <NUM> than the first location. In some embodiments, the distance between the first location and the second location can be about <NUM>, about <NUM>, about <NUM>, about <NUM>, about <NUM>, or about <NUM> to about <NUM>, about <NUM>, about <NUM>, about <NUM>, or more. In some embodiments, the extended configuration for post <NUM> can be maintained through the use of stern thrust from the vessel <NUM> prior to disconnection from the mooring support structure <NUM> and during the disconnection process.

<FIG> depicts a schematic of an illustrative mooring support structure <NUM> having an angled yoke head connector <NUM>, according to one or more embodiments. The angled yoke head connector <NUM> can be or can include a conical coupler that can accept the yoke head <NUM> there around, therein, as shown, therethrough, or combinations thereof. A surface <NUM> formed across at least a portion of a distal end of the angled yoke head connector <NUM> can be oriented at an angle α not perpendicular to a centerline <NUM> defined through the center and along the length of the post <NUM>, in a downward direction, or otherwise toward, but not necessarily parallel to, the water line <NUM>. A longitudinal centerline <NUM> through the angled yoke head connector <NUM> can be oriented at the angle α, not colinear with the longitudinal centerline <NUM> of the post <NUM>, in a downward direction, or otherwise toward, but not necessarily perpendicular to, the water line <NUM>. The longitudinal centerline <NUM> through the angled yoke head connector <NUM> can be oriented at an angle not colinear with the longitudinal centerline <NUM> of the post <NUM> and the longitudinal centerline <NUM> extending from a distal end of the yoke head connector <NUM> can be oriented in a downward direction.

An aperture <NUM> can be formed within the yoke head <NUM> for accepting at least a portion of the angled yoke head connector <NUM>. The aperture <NUM> can be oriented upward at an angle greater than zero degrees to a center line <NUM> along the length of the yoke <NUM> to align the aperture <NUM> with the angled yoke head connector <NUM> for connection. The angled yoke head connector <NUM> can have conical or frusto-conical shaped surfaces: an outer or inner surface of the angled yoke head connector <NUM> (male or female). These conical surfaces can provide a sliding surface to facilitate and guide the connection between the yoke head <NUM> and the angled yoke head connector <NUM>. It should be understood that the yoke head <NUM> and the yoke head connector <NUM> can have any desired configuration with conical only being one example.

<FIG> depicts an illustrative schematic depicting an enlarged perspective view of the angled yoke head connector <NUM> shown in <FIG> after disconnection from or before connection to the yoke head <NUM>, according to one or more embodiments. The downward orientation of the angled yoke head connector <NUM> can be fixed during fabrication. The downward orientation of the angled yoke head connector <NUM> can be selected and set prior to connection with the yoke head <NUM>. For example, the connection between the post <NUM> and the angled yoke head connector <NUM> can be or can include a bearing that can be rotated and then locked at a particular angle. The bearing can allow the angled yoke head connector <NUM> to rotate around the distal end of the post <NUM>. Once the desired orientation is achieved, the orientation can be fixed by securing the bearing so that it can no longer rotate. The angled yoke head connector <NUM> can be connected to the post <NUM> via a ball joint, one or more eyelets, one or more bearings, or combinations thereof, such that the desired orientation can be selected in the field and secured. It should be readily appreciated by those skilled in the art that there are many other ways to connect the angled yoke head connector <NUM> to the post <NUM> without going outside the scope of the embodiments herein.

The angle β between a centerline <NUM> of the aperture <NUM> and a centerline <NUM> of the leg <NUM> can be selected and fixedly set during fabrication. For example, the legs <NUM>, <NUM> can be secured at a connection location <NUM>, by welding, bolting, or other connection means, such that the angle β is set during the yoke <NUM> fabrication process. The angle β can be selected in the field and set prior to connection with the angled yoke head connector <NUM>. For example, the connection location <NUM> can be or can include a bearing connected between the yoke head <NUM> and the legs <NUM>, <NUM>, that can be rotated and then locked at a particular angle. The bearing can allow the yoke head <NUM> to rotate about the connection location <NUM> to select the angle β. Once the angle β is achieved, the angle β can be fixed by securing the bearing so that it can no longer rotate. Connection and disconnection between the yoke head <NUM> and the angled yoke head connector <NUM> can be achieved as describe herein, with reference at least to <FIG> and/or <FIG> and <FIG>.

<FIG> depicts a schematic of an illustrative mooring support structure <NUM> having multi-yoke head connectors <NUM>, <NUM> and multi-yoke heads <NUM>, <NUM>, according to one or more embodiments. The multi-yoke head mooring system <NUM> can include two or more yoke heads (two are shown) <NUM>, <NUM> on the yoke <NUM> and two or more complimentary connectors, yoke head connectors (two are shown) <NUM>, <NUM>, connected to a yoke head connector frame <NUM>. The yoke heads <NUM>, <NUM> and the yoke head connectors <NUM>, <NUM> can be similar in design and function to the yoke head <NUM> and <NUM>, respectively in <FIG>, <FIG>, and <FIG>, and the yoke head connector <NUM>, respectively, in <FIG>, <FIG>, and <FIG>. For example, apertures <NUM>, <NUM> can be formed in yoke head connectors <NUM>, <NUM> such that the yoke head connectors <NUM>, <NUM> can slide over portions of the yoke heads <NUM>, <NUM> for connection between the yoke head connectors <NUM>, <NUM> and the yoke heads <NUM>, <NUM>. Likewise, the yoke heads <NUM>, <NUM> and the yoke head connectors <NUM>, <NUM> can also have any desired configuration with conical being one example.

As shown, the yoke head connectors <NUM>, <NUM> can be angled yoke head connectors, with reference to <FIG> and <FIG>, and the yoke heads <NUM>, <NUM> can be configured at a complimentary angle to connect with the yoke head connectors <NUM>, <NUM>. Referring again to <FIG>, the yoke <NUM> can include two or more legs <NUM>, <NUM> that are connected to the ballast tank <NUM> at one end and a cross member <NUM> at the other end. In certain embodiments, the legs <NUM>, <NUM>, the ballast tank <NUM>, and the cross-member <NUM> together can form a trapezoidal shape in plan view, or any shape, and can support the two or more yoke heads <NUM>, <NUM>. The trapezoidal shape can control side-to-side movement of the ballast tank <NUM> without the need for spring lines, with reference to <FIG> and as further explained below with reference to <FIG>
Referring again to <FIG>, the yoke head connector frame <NUM> can be connected to the turntable <NUM> and can support the two or more yoke head connectors <NUM>, <NUM>. One or more support members <NUM> can be connected to and can support the yoke head connector frame <NUM> and can be configured or adapted to keep the yoke head connector frame <NUM> at a particular angle with respect to the column <NUM> or to change the angle. The yoke head connector frame <NUM> can have three or more legs <NUM>, <NUM>, <NUM> (three are shown) arranged in a "V" shape in plan view, as shown, or any shape, to support the two or more yoke head connectors <NUM>, <NUM>. The yoke head connectors <NUM>, <NUM> can be connected to the yoke head connector frame <NUM>. In other embodiments, each yoke head connector <NUM>, <NUM> can be connected to separate posts, similar to post <NUM> with reference to <FIG> and <FIG>, and each post can be connected to the turntable <NUM> and independently supported by one or more support members <NUM>.

<FIG> depicts a schematic plan view of the bow of the vessel shown in <FIG> that depicts an illustrative arrangement for a plurality of winches that can be used to control movement of the ballast tank <NUM>, according to one or more embodiments. For example, the spring line winch system <NUM> can be used in combination with the ballast tank pull-back winch system <NUM> for controlling movement of the ballast tank <NUM> using two or more elongated supports or two or more third elongated supports (spring lines) <NUM>. The third elongated supports <NUM> can be wires, ropes, cables, chains, or the like, as well as any combinations of the same or the like. In particular, the ballast tank pull-back winch system <NUM> can be used to primarily control the forward and back movement of the ballast tank <NUM> (e.g. to and from the vessel structure <NUM>), while the spring line winch system <NUM> can be used to primarily control the side-to-side movement of the ballast tank <NUM>. Similar to the other winch systems <NUM>, <NUM>, the spring line winch system <NUM> can be or can include a dedicated hydraulic power unit and any combination of one or more winches, controls, compensating cylinders, accumulators, and coolers to provide rapid and reliable response times. Two horizontal cylinders <NUM> and sheaves <NUM> are shown and configured to work in tandem or in series with the pull-back winches <NUM> and the spring line winches <NUM> for controlling movement of the ballast tank <NUM>.

<FIG> depicts a partial cross section view of the working internals of an illustrative version of a yoke head <NUM> and a yoke head connector <NUM> prior to connection, according to one or more embodiments. The yoke head <NUM> and the yoke head connector <NUM> form a disconnectable yoke head assembly. A suitable disconnectable yoke head assembly can include the yoke head assembly disclosed in <CIT>. The yoke head connector <NUM> can be arranged and designed to cooperate with the yoke head <NUM>. Both the yoke head <NUM> and the yoke head connector <NUM> can have conical or frusto-conical shaped surfaces: an inner surface <NUM> of the yoke head <NUM> (female) and an outer surface <NUM> of the yoke head connector <NUM> (male).

<FIG> depicts the partial cross section view of the working internal shown in <FIG> after connection, according to one or more embodiments. Referring to <FIG> and <FIG>, a hydraulic and/or pneumatic connection assembly <NUM> can be mounted or otherwise disposed within the yoke head connector <NUM>. The hydraulic connection assembly <NUM> can include a housing <NUM> having a bore <NUM> formed therethrough. The housing <NUM> can have an outwardly facing shoulder <NUM> and an extension or projection <NUM> formed thereon. One or more spaced apart fingers or collet segments <NUM> can be disposed about the housing <NUM> between the shoulder <NUM> and the projection <NUM>. The outwardly facing shoulder <NUM> can be adjacent to and in contact with the fingers <NUM>.

A movable sleeve <NUM> can be disposed about the housing <NUM>. The movable sleeve <NUM> can have an inwardly directed flange <NUM> at one end and a band <NUM> at an opposite end. The band <NUM> can be adjacent to and configured to contact the one or more fingers <NUM>. Linear movement of the sleeve <NUM> in a first direction (toward the vessel <NUM>) allows the fingers <NUM> to rotate or pivot to a closed or locked position and linear movement of the sleeve <NUM> in an opposite, second direction (toward the tower <NUM>) allows the fingers <NUM> to rotate or pivot about the outer surface of the housing <NUM> to an open or unlocked position.

One or more hydraulic and/or pneumatic cylinders or actuators <NUM> can used to move the sleeve <NUM> about the outer surface of the housing <NUM>, allowing the fingers <NUM> to rotate or pivot open and close. The one or more actuators <NUM> can be positioned between and connected to the inwardly directed flange <NUM> of the movable sleeve <NUM> and the outwardly facing shoulder <NUM> of the stationary housing <NUM>. When more than one actuator <NUM> is used, the actuators <NUM> can be controlled by a singular control to provide simultaneous operation and movement of the sleeve <NUM>. The actuators <NUM> can be actuated from the mooring support structure <NUM> by accumulators and telemetry-controlled valves. Accumulators and telemetry-controlled valves are known to those skilled in the art.

Still referring to <FIG> and <FIG>, the yoke head <NUM> can include a mating hub <NUM> for receiving and connecting to the hydraulic connection assembly <NUM> of the yoke head connector <NUM>. An annular adapter or member <NUM> can be disposed on the yoke head <NUM> and can be used to mount the mating hub <NUM>. The mating hub <NUM> also can be an annular member having a bore <NUM> formed therethrough. The mating hub <NUM> can include a recessed section or receptacle <NUM> that can be sized and shaped to receive the projection <NUM> on the assembly housing <NUM>. The mating hub <NUM> can also include a notched or profiled outer surface <NUM>. The profiled outer surface <NUM> can be configured to engage and hold a similarly contoured profile that can be disposed on the fingers <NUM> such that when the fingers <NUM> rotate or pivot to their locked or closed position, the shaped profiles located on the fingers <NUM> and the outer surface <NUM> of the mating hub <NUM> matingly engage one other, as depicted in <FIG>.

Referring to <FIG>, as depicted the actuators <NUM> have moved the moveable sleeve <NUM> in the first direction toward the vessel <NUM>, pushing the fingers <NUM> to rotate or pivot inwardly (toward the outer surface of the housing <NUM>), such that the fingers <NUM> on the connector <NUM> engage the recessed profile <NUM> of the mating hub <NUM>. In this closed position, the fingers <NUM> are generally parallel to the bore <NUM> of the housing <NUM> and overlap the profiled outer surface <NUM> on the mating hub <NUM>, forming a lock and key engagement therebetween. Also, in this closed position, the projection <NUM> on the housing <NUM> can be located within the receptacle <NUM> of the mating hub <NUM>. As such, the yoke head connector <NUM> can be fully engaged with the yoke head <NUM> and the vessel <NUM> can be securely moored to the mooring support structure <NUM>. While engaged, the yoke head <NUM> cannot move or rotate independent of the yoke head connector <NUM>.

It should be readily appreciated by those skilled in the art that the hydraulic connection assembly <NUM> and the mating hub <NUM>, as provided herein, permit a quick disconnect under load and can be performed at sea, under harsh conditions. It should also be readily appreciated that the working internals and surfaces of the yoke head <NUM> and the yoke head connector <NUM> can be switch
One process for disconnecting a moored vessel from a tower structure at sea can include: optionally orienting the disconnection location between the yoke head and the yoke head connector such that when the yoke head is separated from the yoke head connector, the yoke head can fall by gravity from the yoke head connector without contacting the mooring support structure; optionally applying stern thrust to the vessel, away from the mooring support structure; releasing the yoke head from the yoke head connector, where the yoke head is connected to a yoke, the yoke is connect to the ballast tank, and the ballast tank is connected, via one or more extension arms, to a vessel support structure disposed on the vessel; optionally controlling vertical movement of the yoke using a yoke lift and cushion system or a cushion cylinder located on or secured to the vessel support structure; and optionally controlling the back and forth movement (or horizontal movement) of the ballast tank using a first winch system located on the vessel.

Another process for disconnecting a moored vessel from a tower structure at sea can include: orienting a disconnection location between a yoke head and a yoke head connector connected to a mooring support structure such that when the yoke head is separated from the yoke head connector, the yoke head falls by gravity from the yoke head connector without contacting the mooring support structure, where: the yoke head is connected to a yoke, the yoke is connected to a ballast tank, and the ballast tank is connected to the vessel; and the floating vessel includes: a vessel support structure disposed on the vessel, one or more extension arms suspended from the vessel support structure; the ballast tank connected to the one or more extension arms, the ballast tank configured to or adapted to move back and forth below the support structure, a yoke lift and cushion system or a cushion cylinder located on the support structure, the yoke lift and cushion system or cushion cylinder connected to the yoke proximate the distal end of the yoke via one or more first elongated supports, and a ballast tank pull-back winch system connected to the ballast tank via one or more second elongated supports; releasing the yoke head from the yoke head connector; optionally applying stern thrust to the vessel, away from the tower structure; controlling vertical movement of the yoke using the cushion cylinder; and controlling the back and forth movement (or horizontal movement) of the ballast tank using the ballast tank pull-back winch system; optionally controlling the side-to-side movement of the ballast tank using a spring line winch system.

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.

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.

Claim 1:
A mooring system, comprising:
a mooring support structure (<NUM>) comprising:
a base structure (<NUM>);
a turntable (<NUM>) disposed on the base structure (<NUM>), wherein the turntable (<NUM>) is configured to at least partially rotate about the base structure (<NUM>);
a post (<NUM>) extending from and connected at a first end to the turntable (<NUM>) and a second end extending out from the turntable (<NUM>), wherein the post (<NUM>) comprises a yoke head connector (<NUM>, <NUM>) disposed on a second end thereof; and
a vessel support structure (<NUM>) disposed on a vessel (<NUM>) floating on a surface (<NUM>) of a body of water (<NUM>);
at least one extension arm (<NUM>) suspended from the vessel support structure (<NUM>);
a ballast tank (<NUM>) connected to the at least one extension arm (<NUM>), the ballast tank (<NUM>) configured to move back and forth below the vessel support structure (<NUM>);
a yoke (<NUM>) extending from and connected at a first end to the ballast tank (<NUM>), wherein the yoke (<NUM>) comprises a yoke head (<NUM>) disposed on a second end thereof, wherein the yoke head (<NUM>) is disconnectedly engaged with the yoke head connector (<NUM>, <NUM>), wherein a length of the post (<NUM>) is configured to provide a connection location between the yoke head (<NUM>) and the yoke head connector (<NUM>, <NUM>) such that when the yoke head (<NUM>) is disconnected from the yoke head connector (<NUM>, <NUM>), the yoke head (<NUM>) falls from the yoke head connector (<NUM>, <NUM>) toward the surface (<NUM>) of the body of water (<NUM>) without contacting the mooring support structure (<NUM>); and
a first elongated support (<NUM>) connected at a first end to the vessel support structure (<NUM>) and connected at a second end to the yoke (<NUM>), wherein the elongated support (<NUM>) is configured to support the yoke (<NUM>) when the yoke head (<NUM>) is disconnected from the yoke head connector (<NUM>, <NUM>).