Patent ID: 7779916

Claim:
A subsea intervention system, comprising: a floating vessel; a source of coiled tubing at the floating vessel; a seabed installation including a wellhead; a riser having first and second ends, said first end being operatively connected to said floating vessel and said second end operatively connected to said seabed installation, the riser providing a conduit between the floating vessel and the wellhead for the coiled tubing; at least one injector at the floating vessel for pushing the coiled tubing into the riser; and a carousel proximate the wellhead comprising a plurality of chambers with intervention tools in at least two of said chambers, wherein the riser is a compliant guide, wherein the system further comprises a plurality of sensing units disposed at spaced intervals along the compliant guide, wherein the sensing units monitor the radius, pressure, ovality, wall thickness and movements in three-dimensional space of the compliant guide, and wherein the compliant guide includes a rudder assembly comprising a plurality of opposed control surfaces or wings rotatable about an axis extending substantially perpendicularly to an axis of the compliant guide for controlling movement of the compliant guide, and wherein the rotation of the plurality of opposed control surfaces or wings is controlled by sensors and a fiber optic line disposed along the compliant guide.