Cross-Reference to Related Applications

[0001] Not applicable.

Field of the Invention

[0002] The present disclosure relates generally to the field of fluid pressure controls. More particularly, the present disclosure relates to fluid pressure controls applied to systems that undergo repeated fluid pressurization for qualification or testing purposes.

Background

[0003] Many conventional systems in various fields of operation are operated or function via subjection to fluid under pressure. Some of these systems require routine testing to ensure the integrity of the system to sustain or maintain the required fluid pressure for normal operation. One such system used in the oil and gas industry is a blowout preventer (BOP). BOPS are used to prevent potentially catastrophic events known as blowouts, where high pressures and uncontrolled flow from a well reservoir can blow tubing, tools, and drilling fluid out of a wellbore. Blowouts present a serious safety hazard and can be extremely costly to remediate.

[0004] Conventional BOPs comprise one or more sets of reversibly operable "ram-type" pressure control elements, for example "blind rams" and "shear rams", along with sealing elements. Blind rams fully close an interior bore of the BOP housing to hydraulically isolate the well below the BOP housing. Shear rams may be provided to enable cutting through conduit and/or drilling tools disposed within the interior bore in the BOP housing and subsequently closing to hydraulically isolate the well below the shear rams. Annular seals may be used where it is desired to hydraulically isolate the well while enabling a conduit such as drill pipe, or other drilling tools to pass through the interior bore of the BOP housing.

[0005] Each of the foregoing ram-type pressure control elements may be disposed in opposed pairs on the BOP housing and may be hydraulically pushed across the wellbore to close off the wellbore. Hydraulic fluid pressure to operate the various ram-type elements and/or the annular seals may be controlled by a hydraulic fluid line extending from a control valve manifold to the drilling platform, and by providing a plurality of accumulators each having hydraulic fluid and gas (e.g., nitrogen) under pressure to supply a relatively large volume of fluid rapidly in the event it becomes necessary to close any one or more of the ram elements in the BOP. A plurality of ram elements may be connected to each other to form a BOP "stack" assembly (i.c., arranged one atop the other).

[0006] Per industry standards and government regulations BOP pressure tests are periodically conducted (e.g., at 12-14-day intervals) to corroborate the integrity of the unit and the equipment, to verify that the BOP has the capacity to withstand the reservoir fluids and pressure in case of a blowout. To test the integrity of the rams, a plug is typically inserted within the BOP to provide a barrier for a column of hydraulic fluid pumped in under pressure to expose the equipment to a fluid pressure effect. Generally, all rams on a BOP should be tested, which entails systematic isolation and pumping of fluids to each of the rams in the unit. Conventional pressure testing of BOPs typically entails the conveyance of hydraulic fluid via one or more lines from a separate pressurized hydraulic fluid supply, which often results in significant down time for well operations.

[0007] A need remains for improved techniques to provide fluid pressure control effectively and efficiently for equipment, tools, and systems entailing fluids under pressure during operation.

Summary

[0008] According to an aspect of the invention, a fluid pressurization unit includes an enclosure configured to link to a vessel having an internal fluid passage. The enclosure has a moveable member therein, wherein the moveable member is configured for selective insertion within and/or withdrawal from the vessel internal passage to respectively increase and/or decrease the pressure of fluid in the vessel internal fluid passage when the enclosure is linked to the vessel.

[0009] According to another aspect of the invention, a method for controlling a fluid pressure in a vessel includes linking an enclosure to a vessel having an internal fluid passage, wherein the enclosure is configured with a moveable member therein; and selectively actuating the moveable member for insertion within and/or withdrawal from the vessel internal passage to respectively increase and/or decrease the pressure of fluid in the vessel internal fluid passage.

Brief Description of the Drawings

[0010] The following figures form part of the present specification and are included to further demonstrate certain aspects of the present disclosure and should not be used to limit or define the claimed subject matter. The claimed subject matter may be better understood by reference to one or more of these drawings in combination with the description of embodiments disclosed herein. Consequently, a more complete understanding of the present embodiments and further features and advantages thereof may be acquired by referring to the following description taken in conjunction with the accompanying drawings, in which like reference numerals may identify like elements, wherein:

[0011] FIG. 1A shows a cross section schematic of a fluid pressurization unit in a passive state according to an example of the present disclosure.

[0012] FIG. IB shows the fluid pressurization unit of FIG. 1A in an actuated state according to an example of the present disclosure.

[0013] FIG. 2 shows a schematic of a fluid pressurization unit incorporated in a vessel consisting of a blowout preventer according to an example of the present disclosure.

[0014] FIG. 3 shows a schematic of a fluid pressurization unit incorporated in a vessel consisting of another blowout preventer according to an example of the present disclosure.

[0015] FIG. 4A shows a cross section schematic of another fluid pressurization unit according to an example of the present disclosure.

[0016] FIG. 4B shows the fluid pressurization unit of FIG. 4A in an actuated state according to an example of the present disclosure.

[0017] FIG. 4C shows the fluid pressurization unit of FIG. 4A in another actuated state according to an example of the present disclosure.

[0018] FIG. 5A shows a cross section schematic of another fluid pressurization unit according to an example of the present disclosure.

[0019] FIG. 5B shows the fluid pressurization unit of FIG. 5A in an actuated state according to an example of the present disclosure.

[0020] FIG. 6A shows a cross section schematic of another fluid pressurization unit according to an example of the present disclosure.

[0021] FIG. 6B shows the fluid pressurization unit of FIG. 6A in an actuated state according to an example of the present disclosure.

[0022] FIG. 7 shows a cross section schematic of another fluid pressurization unit according to an example of the present disclosure. Detailed Description

[0023] The foregoing description of the figures is provided for the convenience of the reader. It should be understood, however, that the embodiments are not limited to the precise arrangements and configurations shown in the figures. Also, the figures are not necessarily drawn to scale, and certain features may be shown exaggerated in scale or in generalized or schematic form, in the interest of clarity and conciseness. Figures of the disclosed embodiments may not show all the conduits (e.g., tubing, piping, electrical wiring, etc.) interconnected between the described components for clarity of the illustration. Nevertheless, it will be understood by those skilled in the art how the components are linked together to operate as disclosed herein.

[0024] While various embodiments are disclosed herein, in the interest of clarity all features of an actual implementation may not be described in this specification. In the development of any such actual embodiment, numerous implementation- specific decisions may need to be made to achieve the design-specific goals, which may vary from one implementation to another. It will be appreciated that such a development effort, while possibly complex and time-consuming, would nevertheless be a routine undertaking for persons of ordinary skill in the art having the benefit of this disclosure. The following detailed description of exemplary embodiments, read in conjunction with the accompanying drawings, is merely illustrative and is not to be taken as limiting the scope of the invention.

[0025] FIG. 1A shows an embodiment of a fluid pressurization unit 10 according to this disclosure. The cross section of FIG. 1A shows the fluid pressurization unit 10 linked to a vessel 12 having an internal passage 14 configured to sustain a fluid under pressure. As used herein for purposes of this disclosure, the word “vessel” is not to be limited to any structure or device; it is meant to encompass any apparatus configured with one or more internal passages to sustain and/or contain a fluid under pressure as described herein (e.g., BOP, Frac Stack, gate valves, conventional valves, etc.). The fluid pressurization unit 10 has an enclosure 16 housing a piston 18 with a large surface area 20 at one end compared to a smaller surface area 22 at an opposing end. As shown in FIG. 1A, the fluid pressurization unit 10 is affixed to the vessel 12 such that the piston 18 end with the smaller surface area 22 is directly exposed to the internal passage 14. The piston 18 includes seals 24, 26 (e.g., O-rings) to restrict fluid passage within the enclosure 16. The enclosure 16 includes a fluid port 28 to accept fluid under pressure to push the piston 18 into the internal passage 14. Fluid pressurization unit 10 embodiments of this disclosure may be implemented to receive several types of fluids to move the piston 18, including via pneumatic actuation.

[0026] FIG. IB shows the fluid pressurization unit 10 of FIG. 1A after the piston 18 has been actuated via fluid pressure through the fluid port 28. Prior to actuation of the fluid pressurization unit 10, the internal passage 14 in the vessel 12 has been filled with fluid (e.g., hydraulic fluid) and the passage has been isolated from fluid communication with other passages or ports in the vessel. As fluid is introduced into the enclosure 16 to push the large surface area 20 of the piston 18, a pressure intensification occurs as the smaller surface area 22 is in direct fluid communication with the fluid in the passage 14. As the piston 18 end travels into the internal passage 14, the fluid pressure in the passage increases and internal vessel 12 pressurization is achieved to test the integrity of the internal passage (including associated seals and elastomers). [0027] Embodiments of the fluid pressurization units 10 may also be implemented with a second fluid port 29 on the enclosure 16 to accept fluid under pressure to push the piston 18 back to the retracted or passive position when de-pressurization of the internal passage 14 is desired, such as when pressure testing is concluded. It will be appreciated by those skilled in the art that the fluid ports 28, 29 may be implemented using conventional components permitting permanent or temporary coupling of a fluid supply source.

[0028] FIG. 2 shows a BOP assembly 36 integrated with fluid pressurization unit 10 embodiments. The BOP assembly 36 includes stacked conventional BOP units 38, which as previously described, are generally configured with rams 40 that are actuated by hydraulic fluid under pressure typically provided by accumulator tanks (see 82 in FIG. 3). The fluid pressurization units 10 are shown linked to a vessel, in this case a BOP assembly 36. The fluid pressurization units 10 are linked to the rams 40 in the stack. Each fluid pressurization unit 10 is linked to the BOP assembly 36 such that the piston (see 18 FIGS. 1A & IB) is introduced into the internal ram 40 passage to increase the pressure of the fluid contained in the passage when the unit is actuated. The internal ram 40 passages may be isolated and filled with fluid (e.g., hydraulic fluid) as known in the art. For example, the fluid to fill the internal passages may be conveyed to the vessel via one or more conduits 42 coupled to the BOP assembly 36 to a separate fluid supply. [0029] The embodiment of FIG. 2 is also equipped with a unitary module 44 consisting of a variable displacement pump, a subsea motor, and variable frequency drive (VFD). These components may be provided separately and individually linked to the vessel or coupled together to provide a compact unit as shown in the unitary module 44. The variable displacement pump in the module 44 is fluidly coupled to a hydraulic fluid reservoir 46 mounted on the assembly 36. A controller bottle 48 is also linked to the unitary module 44 to house local electronics and processors for operational control of the system. One or more batteries may be housed in the controller bottle 48 or mounted independently as desired.

[0030] Once pressure testing is completed on the particular internal passage of the vessel 12, the obstruction used to isolate the passage is removed. For example, for the BOP assembly 36 once the plug or ram(s) are moved to open the internal passage to allow normal fluid transfer, the pistons 18 in the fluid pressurization units 10 can be returned to the retracted or passive position in different ways. For example, the pump in the unitary module 44 may be actuated to provide fluid under pressure to the second port 29 in the fluid pressurization unit 10 via a fluid conduit, while fluid conveyance to the first port 28 is simultaneously ceased. Fluid evacuating from the enclosure 16 via the first port 28 as the piston 18 is retracted can return to the reservoir 46. Another embodiment can be implemented to include a sealed container or tank 50 fluidly connected into the system to provide a vacuum or low-pressure reservoir. By fluidly connecting the tank 50 into the lines supplying the fluid to the pistons 18 via the ports 28, a differential pressure assist can be obtained to retract the pistons to the passive position until the next pressurization operation. When testing is completed and the internal passage is allowed to return to a normal state, the low-pressure tank 50 can be activated (e.g., by opening a valve in the line) to enable differential pressure assisted movement of the piston 18 to its retracted or passive position. Once the tank 50 is full of fluid, valves in the lines may be activated to close the first line between the tank and the piston 18 and to open a second line from the tank to another pump 52 fluidly connected to the tank. Once the second line is opened, the second pump 52 can be activated to evacuate the fluid from the tank 50 to reinstate or re-charge the vacuum in the tank. The evacuated fluid may be pumped into the reservoir 46. In this manner, a vacuum reservoir may be maintained in the tank 50 for use in the system as desired. While the embodiment of FIG. 2 is described in terms of vacuum being maintained in the tank 50, in principle it is only necessary to maintain a lower pressure in the tank than the hydrostatic pressure of fluid in the internal passage of the piston 18 to be retracted. Other embodiments may be implemented with other configurations to return the piston 18 to the passive position in the enclosure 16 (c.g., via mechanical means, electromagnets, etc.).

[0031] It will be appreciated that the fluid pressure control systems of this disclosure may be used in offshore applications where the vessel 12 is deployed underwater. The embodiment of FIG. 2 is suitable for such deployment. In such applications, embodiments may be implemented with the fluid ports 28 on the fluid pressurization units 10 configured for engagement with a Remotely Operated Vehicle (ROV) 54 suspended from the surface via an umbilical 56 as known in the art. In the event the local components (e.g., the unitary module 44 or controller 48) fail to operate to actuate the fluid pressurization units 10, the ROV 54 may be deployed to disconnect the fluid conduits coupled to the fluid ports 28 (FIGS. 1A, IB) and to couple to the ports to provide the fluid pressure (from a pressurized tank within the ROV) needed to actuate the units 10 and carry out the internal passage pressurization.

[0032] FIG. 3 shows another embodiment of this disclosure. In this embodiment, a BOP assembly 58 is configured with a frame structure 60 including a front panel 62 and interconnected guide rails 64. The guide rails 64 are linked together in a planar configuration, defining a plane to provide a platform for two-dimensional linear movement within the plane defined by the rails. One such plane or front panel 62 is shown in FIG. 3 as extending in the x, y directions. The frame structure 60 is implemented with a movable rail 66 movably disposed between the vertical guide rails 64. The movable rail 66 may move up or down along the guide rails 64. The movable rail 66 is implemented with a fluid pressurization unit 10 mounted thereon. In this embodiment, the fluid pressurization unit 10 consists of a fluid injection module configured to move back and forth along the length of the movable rail 66 (e.g., horizontally, from side-to-side in the embodiment of FIG. 3). Some embodiments may also comprise an articulated arm 68 coupled to the frame structure 60 and configured with a manipulation device 70.

[0033] The movable rail 66 may be moved up and down along the guide rails 64 by a linear actuator (not shown separately) which may comprise any suitable device known in the art for linear motion, including, without limitation, a linear electric motor, hydraulic cylinder and ram, gear and rack combination, worm gear and ball nut combination and sheave and cable system. A corresponding linear actuator (not shown) may be provided to move the fluid pressurization unit 10 along the movable rail 66. Tn combination, the linear actuator for the movable rail 66 and corresponding linear actuator for the fluid pressurization unit 10 enables the fluid pressurization unit to be positioned at any chosen location within the plane of the front panel 62.

[0034] Behind the control panel 62 are situated the rams (see 40 in FIG. 2) of the BOP assembly 58. The control panel 62 is configured with openings 72 aligned with fluid ports 74 on the ram housings for the internal ram passages of the BOP assembly 58. The fluid pressurization unit 10 may be coupled to a hydraulic fluid line that is linked to a fluid reservoir 76, unitary module 78, and controller 80 (like the embodiment of FIG. 2). In operation, the fluid injection module of the pressurization unit 10 is moved vertically and horizontally (via the rails 64, 66) to the desired ram fluid port 74. The injection module is then actuated to couple with the selected port 74 to permit injection of hydraulic fluid from the reservoir 76, under pressure from the pump in the unitary module 78, to pressurize the internal passage of the vessel 12 (the BOP assembly 58 in this embodiment). When the pressure test is completed, the fluid injection module of the pressurization unit 10 is decoupled from the fluid port 74 and the internal ram passage is allowed to depressurize. The BOP assembly 58 of FIG. 3 is shown equipped with accumulator bottles 82, a local power supply 84 (e.g., batteries), and a multiplex (MUX) cable 86 (e.g., for underwater communication and data transfer to and from the surface). Other frame structures and linear actuation configurations that may be used to implement the embodiments of this disclosure are further described in Published PCT Patent Application No. WO 2022/066896, assigned to the present assignee, and entirely incorporated herein by reference.

[0035] FIG. 4A shows another fluid pressurization unit 10 embodiment of this disclosure. The cross section of FIG. 4A shows a high-pressure enclosure 16 housing a moveable member 18 which is configured as a piston with a large surface area 20 at one end compared to a smaller surface area 22 at an opposing end of a shaft 25. As previously mentioned, this configuration provides an intensified hydraulic actuator when hydraulic fluid pressure is supplied to the enclosure 18 as described herein. As shown in FIG. 4A, the moveable member 18 divides the enclosure 16 into a first chamber Cl and a second chamber C2. The moveable member 18 includes a seal 24 (e.g., O-ring) to restrict fluid passage between chambers Cl and C2, and seals 26 (e.g., annular packer seals) to restrict fluid passage along the enclosure 16 bore containing the shaft 25. Some embodiments may also be implemented with a removable test plug 27 sealing an orifice leading to an annulus formed between the seals 26 to facilitate pressure testing of the seals as known in the art.

[0036] The fluid pressurization unit 10 is shown linked to a vessel 12 having an internal passage 14 configured to sustain a fluid under pressure. The fluid pressurization unit 10 may be affixed to the vessel 12 with conventional fasteners 30 (e.g., bolts). As shown in the cross section of FIG. 4A, the shaft 25 end of the moveable member 18 partially resides within the internal passage 14 of the vessel when the moveable member is in the retracted or passive position.

[0037] Some embodiments may also incorporate an integral spring 32 (e.g., 350-psi (2413165.05 Pa) spring) disposed in the enclosure 16 chamber Cl. Such embodiments allow for precise low-pressure testing of the vessel 12 internal passage 14. For example, enclosure 16 chamber C2 can be filled with hydraulic fluid via fluid inlet/outlet port 29 to push the movable member 18 to compress the spring 32 until the movable member is in the passive position, as shown in FIG. 4A. When low-pressure testing of the vessel 12 internal passage 14 is desired, fluid port 29 is opened to allow evacuation the hydraulic fluid from chamber C2 as the spring 32 pushes the movable member 18 to the actuated position as shown in FIG. 4B, thereby providing precise and gradual low pressurization of the internal passage 14.

[0038] Some embodiments may also be implemented with a fluid inlet/outlet port 28 leading to enclosure 16 chamber Cl. Such embodiments permit injection of hydraulic fluid via port 28 to further actuate the movable member 18 to a fully actuated position to provide full-pressure testing of the vessel 12 internal passage 14, as shown in FIG. 4C. Such hydraulic fluid injection via port 28 also permits the movable member 18 to be held at a selected position within the enclosure 16 to provide the desired pressure testing of the vessel 12 internal passage 14 for a sustained period. It will be appreciated by those skilled in the art that the hydraulic fluid supply/evacuation conduits for the fluid ports 28, 29 may be implemented via suitable conventional means. As shown in FIG. 4C, a temperature and pressure sensor 33 may also be integrated into the enclosure 16 to provide testing data of the internal passage 14 fluid via channel 34.

[0039] In the case where the vessel 12 consists of a BOP, when a pressure test is desired, the BOP is filled with fluid and a test plug is set. As each ram is closed, the movable member 18 is actuated into the side outlet of the internal fluid passage 14, displacing the wellbore fluid and increasing wellbore pressure against the seal being tested. Once the BOP seal to be tested is closed, the fluid pressurization unit 10 is actuated and the spring 32 pushes the shaft 25 into the wellbore achieving a stable low-pressure test. Once the low-pressure test is completed, hydraulic pressure may be applied to chamber Cl as described herein to achieve a high-hold pressure test. [0040] FIG. 5A shows another fluid pressurization unit 10 embodiment of this disclosure. The cross section of FIG. 5A shows a high-pressure enclosure 16 housing a moveable member 18 which is configured as a test rod 90 with a conventional internal screw 92 and lead nut 94. The internal screw 92 is coupled to a planetary torque converter 96 which is coupled to an electric motor 98. In some embodiments, the electric motor 98 includes an encoder. Some embodiments may also be implemented with redundant annular packer seals 99, seal test plugs 100, and a pressure transmitter 102 to detect packer seal 99 failure via channel 104. A temperature and pressure sensor 106 may also be integrated into the enclosure 16 to provide testing data of the internal passage 14 fluid. A variable frequency drive 108 linked to the electric motor 98 is also housed in the enclosure 16.

[0041] Power for the electric motor 98 may be provided by a local power source (e.g., batteries in the enclosure 16). For underwater applications, electric power may be provided by an ROV 109 equipped with batteries and a programmable logic controller (PLC) 110. An ROV 109 equipped with a Wet Mate connector 112 can be deployed to couple to a connector 114 integrated in the enclosure 16 to provide power for the motor 98 and internal electronics. Some embodiments may also be configured with a pressure balanced oil-filled enclosure 16. For such embodiments, a conventional pressure compensator 116 may be integrated into the enclosure 16 to provide balanced oil pressure compensation to the enclosure 16 for underwater applications.

[0042] When pressure testing of the vessel 12 internal fluid passage 14 is desired, the electric motor 98 is actuated to rotate the internal screw 92, thereby extending the test rod 90 into the internal passage to provide the desired pressure to the passage. FIG. 5B shows the fluid pressurization unit 10 with the test rod 90 fully extended into the internal fluid passage 14 to allow for full pressure testing. FIG. 5A also shows an embodiment configured with a combination MUX/power cable 118 to provide control signals and electric power to actuate the motor 98 and moveable member 18 as desired in underwater applications. [0043] FIG. 6A shows another fluid pressurization unit 10 embodiment of this disclosure. The cross section of FIG. 6A shows a high-pressure enclosure 16 housing a moveable member 18 which is configured as a shaft 120 with an externally threaded section 121. The shaft 120 is coupled to a planetary torque converter 122 which is coupled to an electric motor 124. In this embodiment, the torque converter 122 includes an extended tube 125 with an engaging ring 126 that engages the exterior of the shaft 120 (e.g., via grooves in the shaft 120 outer surface). When the electric motor 124 is actuated, the torque converter 122 rotates the extended tube 125 and engaging ring 126, which rotates the shaft 120. The externally threaded section 121 of the shaft 120 mates with an internally threaded section 128 along the enclosure 16 bore, which guides the shaft into and out of the vessel 12 internal passage 14 to provide the desired pressure as described herein.

[0044] As shown in FIG. 6A, some embodiments may be implemented with a pressure sensor 130 disposed within an internal channel 132 running along the full length of the shaft 120 to provide test data of the vessel 12 internal passage 14. Some embodiments may be implemented with a pressure transfer piston 131 mounted at the distal end of the shaft 120. In such embodiments, the internal channel 132 may be filled with a grease compound to isolate the pressure sensor 130 and convey the wellbore pressure transferred via the piston 131. An orifice 138 at the tip of the shaft 120 allows for such real time pressure sensing. FIG. 6A also shows the enclosure 16 housing a VFD 133, power supply 134, batteries 135, a PLC 136, and a connector 137 to receive external communication signals/power as described herein. FIG. 6B shows the fluid pressurization unit 10 with the shaft 120 fully extended into the internal fluid passage 14 to allow for full pressure testing. As shown in FIG. 6B, an extendable/rotatable electrical connector 140 is coupled to the pressure sensor 130 to communicate the data to a processor/memory for local storage in the enclosure 16 or conveyance externally as known in the art.

[0045] FIG. 7 shows another fluid pressurization unit 10 embodiment of this disclosure. This embodiment is similar to the embodiment of FIGS. 6A and 6B. However, this embodiment is configured to receive power via an ROV 146 equipped with batteries and a PLC 148. A Wet Mate connector 150 extends from the ROV 146 to couple to the connector 137 on the enclosure 16. Some embodiments may also be implemented with the combination MUX/power cable 152 to provide control signals and electric power to actuate the motor 124 and moveable member 18 as desired in underwater applications. FIG. 7 shows the fluid pressurization unit 10 with the shaft 120 fully extended into the internal fluid passage 14 to allow for full pressure testing.

[0046] Advantages of the disclosed fluid pressurization unit 10 embodiments include the ability to provide fluid pressurization selectively and repeatedly in an efficient manner without having to run additional fluid supply lines and interrupt normal operation of the vessel 12 for an extended period. Embodiments implemented with controllers and processors programmed to perform the pressurization operations can be activated remotely and/or configured to perform autonomous operations at selected intervals. When implemented with BOP assemblies, the fluid pressurization units 10 can be configured to provide for sequential seal/ram testing by selectively closing the rams to isolate the desired internal chambers or passages for pressurization in an ordered manner. Implementations using the fluid pressurization units 10 allow for greater control of applied fluid pressure, which provides for more controlled testing to account for specific vessel parameters (e.g., metal expansion, gas compression, elastomer movement, etc.). Incorporating pressure sensors into the disclosed systems also aids in monitoring the pressurization of the desired vessel passages and components.

[0047] In light of the principles and example embodiments described and illustrated herein, it will be recognized that the example embodiments can be modified in arrangement and detail without departing from such principles. It will be appreciated by those skilled in the art that conventional hardware, electronics, software, controllers, components, as well as conventional frame structures, tubing, and housings using suitable materials, may be used to implement the embodiments according to this disclosure. It will also be appreciated that the valves, controls, and components of embodiments of this disclosure may be remotely operated (e.g., via ROV, linked signal/communication channels, etc.).

[0048] It will also be appreciated that embodiments of this disclosure may be implemented for use at surface and in underwater applications and operations, in the oil and gas industry, and in other fields of endeavor. For purposes of defining the scope of this disclosure, any embodiment referenced herein is freely combinable with any one or more of the other embodiments referenced herein, and any number of features of different embodiments are combinable with one another, unless expressly stated otherwise. It will also be appreciated that embodiments may be implemented using conventional processors and memory in applied computer systems. What is claimed as the invention, therefore, are all implementations that come within the scope of the following claims, and all equivalents to such implementations.