United States Patent ‘USO1102780SB1 WAS) 4206500 4 © S198 Jase (73) Assignee: OceanGate, Inc, Everest, WA (US) ee pes (4) Notice: Subject to any disclaimer, the term of this tee ET arsed een patents extended or ased under 35, 6.575408 BI* 62009 Zingle pote USC. 1540) by 150 days na (Continues) 21) Appl No. 1644 FOREIGN PATENT DOCUMENTS (22) Pies: Man. 20,2019 eon 2528 Related US. Application Dats (63) Continvatoniaspart of application No, 15/201226, Primary Examiner — Benjamin F Fiorello {ed on JL 1, 2016, now Pat No, 10259,540, wich (7a) dares. Agent. or Firm — DWC Law Firm, BS is 4 contnnationinat of application" No. 1484.60, filed on Ag 7, 2014, owe Pat. No. S381 580 rca) ansTRAcT (60) Provisional application No. 61/863,848, filedon Aug. Systems and methods for launching and retrieving payloads 8, 2013. jin aquatic environments employ a platform that is both sy met flaable and submersible atte discretion of andor under ee the control of a user, on which submersible objects to be pad launched, delivered to a subsea location andlor rotrieved (the BORG 8/00 payload) may be located. The submergible platform has a BOB 25728 plurality of sealed and/or sealable buoyancy chambers and at kta 2006.01) feast one low pressure pa slorge tank having associated (2) Us.c fixties and valves providing inaction of ga To the pc B63G 8/001 (2013.01) B63B 28/28 yoyancy chambers. A payload docking system providing (2013.01); B63G 842 (2013.01 B63B secure docking of a payload on the platform deck is also 2025/285 QUI31), B63 2008125 (201301) Sone (68) Fed of Casteaton Search oc 'BOSG 8/001; R63G: 2008008 See application file for complete search history 4 Claims, 7 Drawing SheetsUS 11,027,805 BI Page 2 66) References Cited US. PATENT DOCUMENTS 7255084 BI® 82007 DiGreporio ..... BGRWO! 14256 2o1S2SI7 AL 92015. Ryu most 100 ed 20180057128 AL* 22018 Dowting BAG NTS * cited by examinerU.S. Patent Jun, 8, 2021 Sheet 1 of 7 US 11,027,805 B1U.S. Patent Jun, 8, 2021 Sheet 2 of 7 US 11,027,805 B1 FIG. 3 yo. FIG. 4U.S. Patent Jun, 8, 2021 Sheet 3 of 7 US 11,027,805 B1 FIG. 5 oo 53U.S. Patent Jun, 8, 2021 Sheet 4 of 7 US 11,027,805 B1U.S. Patent Jun, 8, 2021 Sheet 5 of 7 US 11,027,805 B1Sheet 7 of 7 US 11,027,805 BI Jun, 8, 2021 U.S. Patent \ Ss yt FIG. 12US 11,027,805 BI 1 SYSTEMS AND METHODS FOR LAUNCHING AND RECOVERING OBJECTS IN AQUATIC ENVIRONMENTS: PLATFORMS FOR AQUATIC LAUNCH AND RECOVERY REPERENCE 10 RELATED PATENT APPLICATIONS, This application is a continuation-in-part of U.S. patent ‘pplication Ser, No, 15/201,226, fled Jul. 1, 2016, which is continuation-in-par of U.S. patent application Ser. No. 14/454,663, filed Avg. 7, 2014, issued as US. Pat. No, 9,381,980 on Tul, 5, 2016, which climes the benefit of US. Patent Application No. 61/863,848, fled Aug. 8, 2013. The Aislosures ofthe listed pateat applications are incorporated herein by reference in their entities, ‘TECHNICAL FIELD OP THE DISCLOSURE The present disclosure reas to systems and methods for launching and recovering objets in aquatic environments, tnd to submersible platforms for accomplishing aquatic Taunches and recoveries. The disclosure relates, more par fieulary, to methods and systems for deploying and recov cing payloads suchas submersible vehicles, equipment, and the like, sed for subsea operations. More particularly yet, this disclosure relates to methods and systoms that permit payloads to be safely and conveniently launehe and rot fre in rough sea conditions and in diverse geogzaphical locations without the need for personnel to bein the Water tnd without the need for dedicated ships, cranes or oer Specialized, ship-dependent hardware active platoem buoy- fey or other active depth contol systems BACKGROUND, In marine operations involving subsea work, is often necessary 10 deploy a structure, veiele oF piece of equip- ‘ment in different aquatic locations, sometimes fe from land ‘nd terrstial support systems. Traditional deployment icthods use various fypet of assist vessels having heavy frames, heave compensation systems, reinforced cages/pr fective systems, “A” frames, moon. pools and lowering decks, The stricture being deployed is typically mechani- cally couple (directly or indirectly) tothe vessel deploying 4 a8 the Toad is lowered into and recovered fom the water ‘The traditional deployment and recovery systems attempt 10 resolve the fundameatal problem of matching. or minimiz: ing, the relative motion of two spatially separate but ‘mechanically linked mases in a dynamic environment such 8a the se surface. Entry of the load into an exit of the Toad fom a turbulent “splash zone” stand near the water surface can be treacherous and may damage the load or the Jaunehirecovery vessel, and may as well produce unsafe conditions for personnel and equipment in the area, Tone exemplary lanch and recovery system disclosed in PCT ‘Intemational Patent Publication WO 2013072600, a subsea payload is ited from and deployed to an undersea Tocation using a lif line supported by s heave-compensaing winch on strface vessel, Moveinent of a submersible Jauneh unit is controlled by means of on-board thrusters Vessel and crew. time are expensive, and the expense incurred es a result of lounch and recovery vessel ad row requirements may limit the frequency of launch and recov ery operations, particularly in emote locations. 2 ‘One system that avoids mechanically joining heavy dis- similar objects (such as a launch vessel and a submersible vessel or payload) at the splash zone places the vehicle or payload on a “sinking barge” and tows the barge/payload to A dive location, where both the barge and the payload are sunk, 2s a unit under controlled conditions, generally sing an active depth control system. The payloadivehicle is ‘deploy by releasing it from the barge transport component ata desired depth where the sea conditions are steady and rmanigeable. The few existing systems that use this type of subsurface launch and recovery approach require the use of | sn active manually operated depth control system, and they generally require the use of divers to detach te vehicle from the barge during deployment and to reltach the vehicle ddring recovery. Personnel are also generally required operate the active dept control system during Inunch aad recover ‘A submersible lnuneh, recovery and transport vehicle (LRT) of the aforementioned type was developed for trans- porting and deploying research submarines in rough waters {i connection withthe Hawaii Undersca Research Labor form upon which a submarine may be positioned and secured It is towed on the surface by a support vessel to 8 desired dive sit, and the LRT and submarine are both submerged tnder the control ofa diver pilot, to maintain Mable hover at a depth of 50-60 fost. The submarine is released fom the platform by diver(s). and the LRT mai tains at hover awaiting return of the submarine or returns 19 the surface, Tanks having high-pressure air (., 3000 psi) are used in the aetive buoyaney system, which submerges tnd rises the platform, and also maintains the platform ata desired depth. The use of high-pressure air and tanks reuies the use of high-pressure fitings and results in long tank fill and evacuation times, increasing the cost and complexity ofthe system. While this system allows subsea Jaunch and recovery of submersible vehicles from a subsea Tocation that is isolated from surface conditions (waves, (it requires significant assistance in terms of personnel, and any failure ofthe ative depth contol system may result in damage to o loss of the LRT or its payload. Systems for submerging work platforms and for support ag submerged work platforms cirng underwater activities are also known. In one system disclosed in U.S. Pat. No. 5,507,596, a support system for supporting submerge ‘work platform using one or more vessels uses a plurity of cables connected between the stface support vessel(s) ad the underwater platform. Several individually controled cables are ase to provide a desind number of degrees of feodom of canto vs vis the work platform, The sirface vesse(s)(€, ship) or barge(s) are subject to surface sea ‘motions, and the motions of the suppor stactue(s) are sensed and the length ofthe cables is actively adjusted to ‘maintain the work platform stationary, even as the support vess(s} move a the sea surface. Nowwithstanding the existence of various Isuach and recovery systems, and of various Schemes for supporting lunderwater platfomns, there remains a need for a simple ‘vessel and payload launch and recovery system that permits the sae deplayment and recovery of equipment and vessels Jn heavy sea conditions, and hat Joes not require substantial vessel or personnel suppor or ative depth contol systems, SUMMARY In one aspect, systems for launching and retrieving objects in aquatic environments, as disclosed herein, comUS 11,027,805 BI 3 rise a platform tat i both table and submersible atthe ‘isereton of andr under the eontol ofa user, andon which ‘objects to be lauached andlor recovered (refered to as the “paylood”) may be located and stably docked. The system typically comprises @ variable buoyancy, submersible plat form that may be owed or shipped or otherwise maneuvered (eg. propelled under its own power) to a desired site for submersion and launch or dalvery of the payload. In one embodiment, the submersible platoem compeses a dock, a plurality of sealed andor sealable chaatbers provided beneath the deck, and at least one low pressure ga stomp tank having associated fixtures and. valves that provide introduction of gas (ear) into one or more of the sealable chambers ter contol of «user. ln some embodiments, a platy of gas storage tanks having associated fixtures and Yalves. providing introduction of gas info. one of more buoyancy chambers are provided Tn some embodiments, the buoyancy system comprises a plurality of low pressure gas storaze tanks used for storing fas (¢. ai) at a pressure of less than about 300 psi, and in ome embodiments at a pressure of less than abott 300 psi. The use of low pressure storage tanks and low pressure gas inthe buoyaney system allows utilization of relatively large Fightweight, positively buoyant storage tanks, and it also allows forthe use of lage diameter, low pressure fitings, hoses, valves, andthe like, whieh reduces the complexity 1d cost of the system, The se of low pressure storage tanks land low presure gas moreover provides rape tank filling fnd evacuation, and this provides more rapid plato lunch and recovery operations, In general, one or more low pressure gas siorage tanks is provided in gas-low communication with at least one seal- able buoyancy chamber, with remote valve actuation pro- Viding controlled nt flow to the at least one scalable platform chamber under contol of an operator. In some fmbodiments, multiple discrete sets of low pressure gas storage tanks ate provided in gas-flow commanieation with Iultiple sealable platform buoyancy chambers. In. some ‘embodiments, one/or more higher pressure gas storage tanks ‘may food info ane or more lows presse gas storage tanks In some embodiments, at least some of the sealable buoyancy chambers are positioned below platform deck. Insome embodiments, at least some ofthe low pressure gas storage tanks are located ator above the level a the plato ‘deck andor at or above the center of mass of the platform, Insome embodiments at lest one sealable Boyaney cia beri locatod aft ofa platfonn centr of mass and atleast one sealable Buoyancy chamber is located forward of a platform ‘enter of mass, In some embodiments, at Feat one sealable buoyancy chamber is located to port ofthe center of mass of the platform and at least one selable buoyancy chamber is located to starboard of the center of mass ofthe platform. I some embodiments, at least four sealable huayancy’ cham - bers ate provided, and each ofthe fou sealable chambers is located substantially in a diferent quarant ofthe platform, and substantially underaeath the deck of the platform. In ome embodiments, each of four sealable chambers has an configuration, In operation, a platform as deseeibed above may be ‘maintained ina Boating condition when atleast one sealable ‘buoyancy chamber (and, in some embodiments, a plurality of sealable buoyancy chambers) is at least partly filled ‘with pas (eg, ai). Inroduetion of water to and veating oF tir from one or more of the buoyancy chambers allows the ‘ting platform (and axy payloed anchored on or associ- sted with the platform) to submerge below the waterline 19 ‘desired depth under the contol of an operator. Operation 4 ‘of valves and/or vents o introduce wate to and evacuate gas fom the chambers may be accomplished remoiely (he, without requiring an operator located on the platform 10 ‘manually adjust valves, vets, etc) In some embodiments, the platform may be maintained a a desired depth using an fective buoyancy maintenance system that periodically adjusts valves and vents to introduce water to and evacuate from buoyaney chambers to maintain a deste plstfoxm booyaney at depth, and to maintain the platonm in a stable condition atthe desired depth Alternatively, and advanta- eously, the platform may be maintained ata desired depth Using @ surface Moat system as deseribed below without ting an active buoyancy maintenance system thet requires adjustment of platform booyancy chambers 10 maintain platform stability atthe deste dopth. Payload, which may inelude one or more objects such as a submersible vehiele, equipment, or the Tike, may be released from and securely docked io the platform when in 1 submerged condition. ‘The platform and any payload docked 1o it may be raised to the sea surface by a buoyancy control system that evacuate water from the sealable buoy fney chamber(s) using controlled introduction of as from the storage tanks o replace water in the buoyancy chambers tw change and provide a desired level of pliform buoyancy. Ths the platform buoyancy system is desirably used under the contol of an operator to submerge and raise the plat form, while a surface Noat system may be used te maintain the plato ata desired depth In some embodiments, a mentioned, the system may ditionally comprise a surface float system having one or ‘more buoyant elements coupled tothe submersible plstfoxm by means of one or more cables), line(s),chain(s) or other coupling mechanisms, The buoyant elements may be pro- Vide inthe form of one or more lots, optionally providing Selectable buoyaney. During sn undersea Jeployment oper tion and following positioning ofthe platforms at desired deployment sit, the platform is submerged unde the coateol of a user (as described above) and the one or more Mostable elements) coupled tothe platform by means ofthe coupli ‘mectanisn(s) remain ator in proximity to the sea surlaee. In another embodiment, a buoyant element may be pe vided in the form of a ship or buoyant platform oF the like, coupled to the submersible platform ty means of one or ‘more elastic or resilient element(s) soch as springs) elastic ‘resilient cable(s), or the like. During an undersea deploy ‘ment operation and following positioning ofthe platform at desired deployment site, the plform is submerged under the contol ofa user and maintained ata desired depth by connection of the submerged platform to the buoyant ele- reat (¢. ship) by means of elastic or resilient elements. In some embesiments, one or more resilient element(s) that are designed to provide «spring constant of less than 10% of the mass of the submerged platform divided by twice the average expected wave Deight. In general, this permits ‘motion ofthe buoyant element located atthe sea sufiee 19 couple only loosely ta submerged platform, ‘The platform has a relatively large mass and, when submerged, acts as a-dimpener, while the buoyant elements) and associated line(seable(secupling mecha nisms) act, relative to the submerged platform, as classic spring. When the platform is submerged and the buoyant elements) are separated fom the platonm and remain a oF rear the se surface, the overall system ats as a classic spring mass dampener system, When the effective spring constant of the baoyant clement(s) is lv the input force fom displacement of the buoyant elemiet(s) caused by ‘wave motion is also sm relative othe size and weight of|US 11,027,805 BI 5 ‘he platform and its payload, The mass and dampening effect of the platonn dominates the motion ofthe platform onder these conditions and countercts the spring! ost (and su ace sea) disturbances. By properly sizing the buoyant clements for observed and pradicted wave periods and heights, the system can maintain 2 submerged platloem at a desired depth in a stable and substantially still condition, Tange unafete by surface waves and without requeing an active platonn buoyancy or other active depth maintenance control systems In another aspect, the present disclosure provides a pay- Jad docking and release system for securely docking and releasing a payload such asa submersible vehicle or equip- ‘ent on a platform deck. In one embodiment, the payload has at east one (and in some embodiments muliple) dock: ing rails) extending from te vehicle or equipment. The rails) is slidable ina mating chanaol sytem mounted on the platform deck. At least one end (and preferably both ends) ff the docking milfs) hae a hook or detent of ancther 2 ‘mechanism seeneable in a mating fing associated with the channel. In one embodiment, the payload may be moved to position the docking ril() in mating and suitably positioned ‘hanne(s) provided on the platform deck and the payload is advanced until a latching fitting mates with a complemen: fry fiting provided onthe channel, Adkitional positioning ff the poyllod and sdditional secnrement features may be provided, as described in greater deuil below. BRIEP DESCRIPTION OF THE DRAWINGS FIG. 1 shows a schematic drawing ustrating a platform having a deck and a plurality of gos storage tanks that ‘communicate with sealable buoyancy chambers located tundemeath the deck IG. 2 shows # schematic drawing illustrating platform similar to that shown in FIG. 1 with the outer platform walls partially removed t illustrat internal chambers and having ‘submersible vessel docked on the deck, While the images ‘Shown it FIGS. 1 and 2 depict platforms that may faneton ‘sa stand-alone launch and recovery sytem, they represent fone half of a platform, launch ad recovery system as described herein. In these embodiments, apather platoem portion may be associated with the illustrated platform in a ‘side-by-side, mirror image relationship along centerline 102 {o provide a platform having a width double that shown in FIGS. 1 and 2 FIG. 3 shows a schematic drawing lusting a platform Jina submerged colton below a sea surface with «single buoyant element coupled to the platform providing platoem dpi susintonance FIG. 4 shows # schematic drawing illustrating platform ina submerged condition blow a sca surface with multiple ‘buoyant elements coupled to the platform providing plat- oem depth maintenance. FIG. § shows a schematic drawing ustrating.a platform ina submerged condition below a sea surface with «single buoyant clement having an inverted conical configuration coupled to the platform providing platform depth mainte- IG. 6 shows a schematic drawing illustrating a platform Jina stbmerged condition blow a sea surface with multiple buoyant elements coupled to the platform providing plat- orm depth maintenance. TIG.7 shows a schematic drawing illustrating a platform Jina submerged condition below a sea surface and tethered to a loting vessel to provide platform depth maintenance. 6 FIGS, 812 show drawings illustrating one system and sequence for securely docking a payload, such as a sub- mensble vehicle, on the deck of submersible platform. FIG. & shows payload mall) aligning on an af (elevated) channel PIG. 9 shows the payload and ail sliding forward and rocking down into @ forward guide channel, FIG. 10 shows a forward latch member (€, hook) latching in orward rail bracket to secure the ail and payload laterally and vertically at the forward ead. FIG. 11 shows an aft portion of the rail and an aft lich member dropping down and seating inthe channel and FIG. 12 shows repositioning ofthe mal and payload to seat the af latching members and secre the rail and payload laterally and vertically at the aft te, While the platform and payload! docking configurations sown in FIGS, 812 may funetion asa stand-alone system, they are ilistrated as one half of a platform and paylod ddocking system in which a similar platform with essocited docking elements is provided in a mirror image relationship to provide a platform having a width double that shown in FIGS. #12. i will be understood that the appended drawings ae not necessarily to scale, and that they present simplified, sche- matic views of many aspects of systems and components of the present invention, Specific design features, includ dimensions, orientations, locations and configumtions of various illustrated components may be modified, for example, for use in various intnded applications and env DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS Systems and methods for Iauachiag and recovering objects in aquatic environments and, particulary, for deploying payloads including submersible vehicles, equip- ‘ment, systems, andthe like underwater and recovering them from underwater locations are described in great detail below, with reference tothe appended figures. In general, a submersible platform may be provided in the form of bargelike stricture (or another platform steucture) having deck and buoyancy contol system in combination with buoysney reervoir(s) slicieat to prove Mostation of the Platform and its payload, controlled submersion of the Platform to a desired subsea depth, and recovery of the Platform (ith oF without the payload) from a subsea Tocation tothe sea surface. The bioyancy conteol system ‘ay’be controlled at the site of the submersible platform or, jn some embodiments, om another vessel or location sing remotely controllable systems, ‘One exemplary submersible platform embodiment is lastrated in FIGS. 1 and 2, in which platform 100 bas burge-like configuration and construction. Note thit while the images showin in FIGS. 1nd 2depiet platforms that may fmetion asa stand-alone launch and recovery system, they represent one longitiinal balf of the platform, launch aad recovery system as deseribed in detail Below: Inthe embodi- ‘ment deserted, the pation comprises wo platform por tions similar or identical t platform 100 and its sssocied as storage tanks, fitings, etc, as illustrated, configured in a side-by-side, longitudinal mimor-image relationship, with dashed fine 102 representing a centerline. The platform may be Fabricated ast of more sections join together, oe a8 © unitary platfonn, Platform 100 is substantially enclosed and comprises a dock surface 101 and a plurality of sealed and/or sealeble {intemal chambers. The intemal construction of the bange- Tike platform structure comprises a series of reinforcingUS 11,027,805 BI 7 structures and bafles (partially visible in FIG. 2) ination ‘othe plurality of sealed andor sealable interal chambers ‘The configuration of reinforcing structures, sealed and/or Scalable internal chambers may vary depending on the ‘weight and configuration of the platform, the weight and configuration of the payload being deployed, the buoyancy fexuirements for launch and ocowery. ad the ike. Differen intemal areas may be partitioned to. provide 4itferent numbers, configueations and volumes of intenal buoyancy chambers, In some embodiments, one cr more scaled or sealable buoyancy chambers may be provided as Aedieated buoyancy chambers (Le. they remain entirely or partially gas-filled when the platform is submerged). while fe or more scalable chambers may be provided as sclect- able buoyaney chambers to which gas or water is inteoduced, ‘under the control of 2 user of using an automated contol system, during launch (submersion) and recovery (resur- Tieing) prooeols. Dedicated and selectable Boyancy eam bers may be sized and configured to provide a net nezative buoyancy ofthe platform that's celatively small relative 19 3 the mass of the platform (and payload, and may be posi- fone to provide a stable center and distribution of platform (nd payload) mass Inthe system illustrated in FIGS. 1 and 2, one or more compressed gas stonige tanks, oF one of mon’ sels of compressed gas storage tanks, sueh a tank sets 103, 1038, with associated fitings, hoses and valves, is provided {or intreucing gas to one or more sealable chamber(s) and thereby increasing platonm buoyancy to raise the plato tom depth during a recovery protocol, In some embod ments, one or more compressed gas storage tanks ate located ator above the center of mass of the platform, sch 38 on the pltform deck, as shovi. Isom embodiments, one or more ‘Compressed gas storage tanks ae leat below the center of| ‘mass ofthe platform, such as within the internal volume of the platform. In some embodiments, one or more com pressed gas storage tanks may be located both above and below the center of mass ofthe platform. In some embod ‘mens, compressed gas aks are low presse tas, storing tas (ea, a) at presses of Tess than abot 300 pia some embodiments, gas (e.. aie) is stored in compressed gas tanks at pressures of Tess than about 200 psi. In some tmbodiments, both low pressure and higher pressure gas Storage tanks are provided. In some embodiments, one or tre higher pressure gas slorage tanks may be provided and ‘may’ feed info one or more los presse gas storage tanks ‘One oF mone gas slorage tank(s) (eq, a set of the oF ‘more, as shown) may be stably mounted on a pallet 104 or ‘another mounting structure that may easily be secured to ad removed from the platform deck as @ unit. Dillerent ‘forage tank and pallet configurtions may be used depend: ing on the payload, the platform configuration, and the Jaunch and retieval protocol, and the gas storage pallets may be arranged differently on te platform, also depending fn the payload, the platform configuration, ad the launch land retrieval provocol, Because low pressure gas storage lanks are used, the tank weight is relatively low, and the tanks may displace more water than they weigh, making them positively buoyant. In addition, when low pressure tanks ate used, the associated fitings, hoses and valves may have a relatively large diameter, providing rapid tank fil and ‘eaevation mes, Low prssire gs tanks are fillable using commonly available Tow pressure sourees, shel as eonvet- onal compressed air sources. ‘The size, configuration and placement of scalable buoy~ ancy chambers provided uademesth the platform deck may be chosen depending on a varey of factors, as mentioned 8 above. In the embodiments illustrated in FIGS. 1 and 2 (shih ilustate one half ofa prefered plaform struct), platform 190 employs four sets of tanks, one set located in och quadrant ofthe platform. In some embodiments, each tank set and its iting, hoses and valves may be associated with a discrete sealable buoyancy chamber positioned sub- Santaly below the deck. In some embodiments, multiple tank sets and fitings: may be associated with common sealable buoyancy chambers nthe illustrated embodiment, a sealable buoyancy cham bers located in each quadrant ofthe platform, e., forward port and starboard quadrants and aft port and starboard quadrants. Forward port and aft port Buoyancy chambers 108A, 1088, respectively, are visible in FIG. 2. Pach of the buoyancy chambers has an associated valve system for releasing gas from and introducing water to the chamber (uring a platform submersion protocol), and an associated valve system for intucing air to and discharging water ‘rom the chamber (during a platform recovery protocol) In the embodiment ilastrated in FIG. 2, cach scalable buoy ney chamber 108A. 1083 is L-shaped, with 2 longer leg portion positioned along an outboard side of the platform finda shorter leg portion positioned along an outboard aft or bow side of the platform. Each ofthese chambers may’ be associated with a dedicated tank set (103A, 1038), a8 ‘lusirated, In lterative embodiments, «single tank set may be associated with wo or more chambers, The tank sts may be located at an outboard location on the deck, as show, ‘car the associated buoyaney chamber. FIGS. 1 and 2 additionally illustrate (options) platform stabilizers provided as pivoting arms 106A, 106B postion- able in an ondeck, undeployed condition (1068) and 2 ‘deployed condition (106A) in which they extend below the pltform hol. Pivoting arms 196A, 106B may be fully or Parilly deployed to provide additional miss and stability 10 the platfonm (with o without a payload), A plurality of Platform stabilizers may be positioned in a symmetrical Felationship, such as at comers of platform, and configured to extend below the center of mas of the platform when it Js submerzd. In some embodiments, the submersible platform may have single or muliple hulls that reduee the drag of the Platform ae i moves over or throug the water. In some fmbodiments, the submersible platform may be designed fd operated as a towel vessel or transported as cargo 10 Tocate it at a desired dive site; in other embodiments the submersible platform may incorporate propulsion system (and, optionally, a steering system) that assists, o indepen: dently propels the platform to a desired ste. When the submersible plationn is provided as (or as part of) an independently operble vessel, it may be controlled by an ‘on-hoard operator, it may optionally be controlled atleast in pan, using remotely eontetiod operating systems. Sut- able navigation, locational, operating and salty features, Which are well known in the at, may be provide as part of ‘rin conjuneton with the submersible platform In the embodiment illsirated in FIG. 2, submersible vehicle 120 ie shown docked on the platform deck and isthe payload to be submerged (Jor launch) and then delivered 19 the surface (for recovery. In some embodiments, the mass ofthe platform iat least as great as the mass of the payload. In some embodiments, the platfonn has a net nezative booyraney that i relatively sll compare the mss othe platform, In some embodiments, the net ngative buoyancy Of the of the platform is less than about 10% of the total Platform mass: in some embodiments, the net negative buoyancy of the of the platform is less than about 58% of theUS 11,027,805 BI 9 ‘otal platform mass; in yet other embodiments, the net native buoyancy ofthe platform is Tess than about 19% of the total platform mas. In some embodiments, the mass of the platform i high compared tothe mass of the payload. In some embodiments for example, the mass ofthe platform is ft feast as. great as the miss of the payload; in some fmbodiments the mass of the platform is greater than the ‘mass ofthe payload: in some embodiments, the mass ofthe platform is at least about 12 to 3 times the mass of the payload, operation, platform snd an associated payload may be located at a desired deployment ste, eg. by selE propulsion, or by being towed in a feating, submerged or panially submemsed condition or by delivery on-board a vessel ce by other delivery methods. If the platform is floating at the ‘deployment site, the buoyancy chambers may be opened, under the contol of an operator, to flood oF patally food fone oF mone buoyancy chambers alto costrallaly subs ‘merge the platform and is payload atthe desited deploy. ‘ment site. In one embodiment, platfomn (and payload) lunch protacol provides for flooding of af and forward buoyancy chambers using a diferent timing protocol andor Alischarge rt, resulting in positioning and controlled sub- ‘mension of the platform (and payload) at an angle tothe sea surfie, In one embodinient, for example, aft (or forward) buoyancy chambers may Be flooded price to and/or at a higher rte than forward (or aft) buoyancy chambers, sul: ing in tiking of the platform (and payload) along a fre/aft fis at an angle of from shout 3°40 about 45° to the sea Surface during deployment In some deployment protocols, 3 the buoyancy chamber flood protocols may be adjusted 10 provide platform tt angle of from about 10° ro 30° along 4 forall axis during submersion. The platform, when submerged to a desired depth, may be leveled, if desired, prior 10, during or following deployment ofthe payload by ‘tional looding of selected booyaney ehamber(s). “The payload may’ be released from the platiorm while submerged, and the platform may be maintained in a sub- merged condition atthe deployment site, aiting recovery ‘ofthe payload, using floats as deseribed below. Recovery of the platform (and payload) may proceed, under the contol fof an operon, at the reverse of the procedire described above. The platform may, as a result of differential buoyancy chamber fill rates andlor timing, be brought 10 the sea Surface in atte condition using a protocol that may be Substantlly sini t that used for deployment, snd then Jevelad atthe surface, Tn some embodiments, the one or more bucyaat o float able elements (eeerred to as buoyant members oF floats) ‘may be mounted or mountable 4 linesleable/chisins (ce {erred to, collectively, as “cables” anchored othe submers ible platform, These lineslcable/chains may inchile springs ‘o futher dampon effects of surface waves and distarbanees Insome embodiments for example, mechanical springs may be associated with the cables. In some embodin may include coiled spring portions having a low spring ‘constant or athe (ype of eatie elements. Ia some embod ‘mens, mechanical devioes such as stohbers may be used i ‘combination with cable to prove a spring or casi eet. In one embodiment, one or more buoyant members) sre releasably mounted to the platform under the contol of a remotely operable release mechanism, sueh that remote ‘operator may selectively release one oF more buoyant mea- bers) from an anchored condition on the parm prior to or during submersion ofthe platform, allowing the buoyant ‘icmber(s) to remtin on the surface during submersion of | the platform. An appropriate fength of eoupling mechanisms 10 (ean cables) may be released or paid out manually or sutomaticaly, such a8 via a remotely controlled system. The platform or an assist vessel may cary dilleent configurations or types of buoyant members designed for tse in diferent sea conditions, and diferent oats may’ be ‘mounted to the submersible platform prior 10 deployment bused on the mass ofthe platlorm and payloed, the salinity of the water at the dive site, current andor anticipated soa conditions, and the Tike. In general, one or more buoyant rmembers may comprise conventional inltableeylindrcal buoys, scl pipes or other enclosed stvctares fill with 1 gay or with a Hightwejght foum material, or the like Nariable buoyancy Hosts may also be provided, such enclosed structures that have an adjustment feature prov ing variable buoyancy ofthe sructures. The submersible platform may be towed or shipped or otherwise maneuvered (e, under its own power) (0 a tkesira dive or paylo launeh site, The pasload, which may Jnchide # manned or aulonomous submersible vehicle or another type of submersible craft, a robotic vehicle or piece Of equipment, another type of equipment or vehicle or Platform for placement in a subsea location, maybe mounted on the submersible platform prior to transit to the ‘desi Iaunch ste and conveyed to the launch ste on the submenible platform, or it may be mounted onthe platform av the launch site. Ia ‘an altemative operating scenario, The payload may be anchored 1 the submersible platform prior toa launch operation and the combination platform payload ‘may be submerged toa desir depth aed owed to «desired leunch site ina submerge or partially submerged condition. The payload is generally supported by the submersible platform during its deseent from the sea surface toa sub- surface location and may be releasably connected to the submersible platform, for example under the contol of a remotely operable release mechanism, In one scenario, the payload is rcleasible locked in position on the submersible platform, which i then located ata launeh site as deseribed above. The platform, with the payload atached s submerged using a controled buoyancy fystem (as described above) oa deseed depth, One oF more buoyant Noss i released from the plato asthe plato Js submerged, and the Moat(s) remain at or near the sea surfice,telheed tothe submerged platform by a coupling ‘mechanism (e.2eables). The comparatively large mass and ‘dampening ofthe platform inthe subsea Tocation counteract tnd overcome the sea surfie and spring/Mhoat disturbances to maintain a stable submerged platform payload condition. The payload may be released from the plato (eg, rmamvaly by a diver or via remote contol without requiring diver) when the platform reaches a desired depth. Follow: Payload release the platform may be rotumed to the Surfie o romain submerged, awaiting a recovery operation. Recovery may be catiod out as the reverse of the launch operation. FIG, 3 schematically iusieates& platform 10 in a sub- ‘merged and supported condition below sea strfaceS, with a single buoyant element depicted as Nat 20 coupled to the submerged platform by means of a pliality of eableslines! chains or equivalent supporting structures 12, 14,16, 18, referred to collectively’ as "ables" Platfoem 10 is both floatable and submersible, under the contol of 3 ser Internal platform chambers may be ood io submerge the platform, and one or more ballast reservoirs 40 (such as one for more compressed gs storage tanks), shown schema cally, may be provided on or within platiorm 10 wo provide controlled floatation of the platfonn and its payload follow ing submersion toa desited subsea depth. In some embodUS 11,027,805 BI W ments, ballast reservoirs 40 store gas at low pressures and are remotely conrolabe atthe site of the platform oe from ‘nother vessel o location, Payload 30 i typically positioned fon or within platform 10, and may be anchored to the platform during launch and recovery. Payload 30 may com Prise one of more submersible vehicles, varios types of ‘equipment, orth like, and for delivery to, storage at, and/or recovery from an underwater location Using systems and methods disclosed herein. leat 20 shown inthe ilustative embodiment of FIG. 3 preferably has sulicent buoyancy to support platform 10 find is payload 30 st a desired depih ia «submerged condition and acts a¢ “spring” Hoa inthe platfra/Hoat system, Float 20 generally has a small surfce area andor ootprint in comparison tothe surface area andor footprint ‘of platform 10. n some embodiments, the surface area of| Fost 20 is less than 50% the surfice area oF platform 10: some embodiments, the surface area of Nat 20 lest than 25% the save area of platform 10; in some embodiments, the surface area of oat 20s less than 10% the surface aca of platform 10: in yet other embodiments, the surlace area ‘of float 20 is less than 3%, or loss than 1%, the sure area ‘of platform 10. In some embodiments, the footprint of float 20's Jess than 50% the surface atea of platform 10; in some ‘embodiments, the footprint of foat 20 is less than 25% the 2 surface area of platform 10: in some embodiments, the ootprint of Host 20 is less than 10% the surface aca of platform 10 in yet other embodiments, the footprint of oat 20 is less than 5%, or less than 1%, the surlace area of platform 10. In one embodiment of a system as disclosed herein, the Jength (of oat 20, oriented generally othogonal to the sea surface when platform 10 is submerged (3s showa in FIG. 3) is greater than the largest eros-sectional dimension of | ‘oat 20. In some embodiments, the rato ofthe length () of float 20 to its largest cross-scetional diameter is at eas about 2:1; in some embodiments the rato of the length () of float 20 fo its largest cross-sectional diameters at ea bout $1; in yt other embodiments, the ratio of the length (0) of float 20 to its largest cross-sectional diameter is more than about Sl and atleast about 8:1, Float 20 may have a teneally cylindrical, oval, rectangular or polygonal ross Sectional configuration. Float 20, illustrated in FIG. 3, has a substantially cylindrical configration, with uniform eros Sectional configuration and size over its length In aller Live embodiments float 20 may Inve different crosssee- ‘ional configurations of eross-setionl surface areas over its Jeng, Coupling cables 12, 14, 16, 18 are generally mounted to 1 lower portion of buoyant element 20 are! coupled to the Submersible platorm 10 at two or more locations in a balanced, symmetrical armingement to aid in supporting the platform in a stable, level condition during submeesion of the platform, maintenance ofthe platform at depth, deploy ‘ment of the payload, covery and surfacing of the platform. Proving for (4) eabes, with one attached near exch corner tof a rectangular platform 10, is illustrated in FIG. 3 and provides good stability anda balanced arrangement. It will be appreciated that ltemative armingements and cable anchoring positions may be implemented. In anther ‘embodiment, fr example, when the platform 10 is generally rectangular, cables may be mounted at oF nea the midpoint ‘of each side of the platform. Cables are generally exible ‘long thei lena and capable of supporting the pletfom tnd ny associated payload at desited depths In some embodiments, the platform and payload are suspended in a neutral to slightly negative buoyancy con- 12 dition when submerged, with the buoyant members support= Jing the platform and payload in astighty negative buoyancy condition. Variable conitons at desired dive sites, seh 98 salinity, sea surface conditions, turbulenee, wave height and Jrequeney. and the like may be taken into consideration in matching a flot system comprising one oF more floats 10 ‘support a desired platform and payload combination at a desired dopthin a desired neutral to slightly negative buoy- ney conltion. In some embodiments, the platform and payload is sus- pended by multiple spring floats coupled to the platform by ‘coupling meckanisms. One example ofthis type of system illustrated schomatically in FIG. 4. In this example, Platform 10 is supported in submerged condition by ‘nultple buoyant members 22,24, 26 and 28. Cables 21,28, 25, 27 anchor floats 22, 24, 26 and 28 to the platform independently of one another, which may reduce the risk of entanglement with the payload when the payload is release favor rtumed to the plata depth, in altemative embod ‘nts, the coupling mechanisms and/or maltple oats may be loosely coupled io one another. In the exemplary embodi- ‘ent ilustate in FIG. 4, four lots ate provided, and each js coupled to the submersible platform in proximity to a comer of the platonn. Additional floats and coupling mechanisms may be provided in yet altemative embod meats Another exemplary embodiment ofa similarly submerged and suspended work platform 10 is showa in FIG. 8. This syst i similar to te system described above and ineludes 1 float 80 having generally conicl confgumtion. Conical float 50 may be positioned and oriented with the Tanger cros-seetonal andlor surface area portion ofthe float in an "upper positon (as shown in FIG. 8) above or nearer tothe sca surface, with the smaller eross-setion and/or surice trea portion of the oat in a downwerd-orented arcane: rent, at or below the sea surface. A plurality of coupling mechanisms (eg, cables S1, $2, 53,54) m: oul Moat $0 tothe platform 10, The coupling mechanisms ‘may be mounted to the lower portion of the ft, a shown. The use ofa Hat having a eonfighration ia which a larger surface areas positioned above the ea surface and a saller surface are is positioned below the sea surface when a Platform and payload is submerged may provie © damp- fing moment with more precise depth control of the system, Inyet another embodiment, multiple spring floats may’ be coupled to one another to provide a desired buoyaney and may provide Mexibiliy for slighly varying net negative buoyancy of the platonn and payload. In circumstances where the desired spring constant is low and the net negative buoyancy of the load is not precisely determinable, this arrangement provides known spring force without requ Jing an overly long oF top-eavy spring Hos One example of a system ofthis type i ustated schematically in FIG. 6 Inthis embodiment, first buoyant element 60 is coupled 19 sxlitonal buoyant clements 62, 64 by means of cone! elements 61, 63, such as cables or lines. Buoyant elements tay be configured and arranged to provide buoyancy in different orcatations and may be provided in diferent configurations than those shown. Inthe embodiment its trated, float 60 is oriented in a substantially vertical orien tation while supporting a submerged platorm, while Moats 62 and 64 are eriented in substantially horizontal orients tions. In this system, the Buoyant members havea buoyancy that supports them and the submerged platfoem and payload in stable location blow the sa surface during deployment for recovery of the platform in a subsea location,US 11,027,805 BI 1B FIG._7 ilustates yet another embodiment in which vessel 70 serves as a buoyant element or float supporting submerued platform 10 vi cables 66,67, 68, 69, Cables 66, 67, 68,69 may comprise clastic or resilient clemeat(s) such a8 spring(), elastic or resilient cable(s), othe lke, la this embodiment, platform 10 may be tethered to vessel 70 for towing to desired deployment ste and thea submerged 10 a desired depth atthe site while remaining couplod to the ‘vessel by means ofthe resilient eables oe springs. While the ‘mounting locaton for ables on vessel 70 is illustrated on a submerged central portion of the vessel, it wil be apreci ‘ted that alternative mounting point locations and adlitional ‘mounting points may be employed. In some embodiments, for example, resilient cables 66, 67,68, 69 may be tethered to attachment points provided at vessel hull or deck loca In some embodiments, the float(s) oF vessel may aet as passive spring elements inthe spring mass dampener system ‘where the submersible platform serves as a lange mass ddampener. In altemative embodiments, the float or vessel ‘may be supplemented by an active como system that is Capable of detecting sea surface changes and automatically Fosds out and takes inthe coupling mechanism (line, chain, cable, ete) a6 the float or vessel encounters sea sures Uisturbances, An inertial rel, an eletrie or hydraulic mor may be used as an active Moat positioning contol mecha nism. In general, no active platform buoyancy or other active depth control system requiring monitoring or adjust ‘ment of platform chamber ill volumes or gas intodction is required 10 suppor the submersible platfomn in the sub- ‘merged condition as 2 result of the deployment of one or ‘more coupled foa(s)vessel ator near the sea surface. In some embodiments, however, it may be desirable fo inooe- porate an active platform bupyany or another active depth ont system, IGS. #-12 illustrate» paylood docking system proving secure docking ofthe payload ona platform and convenient felease of the payload fom the platform. ‘The. payload ‘ustated in FIGS, 8-42 is a submersible vebicle 120 (shown in pact) having a rail 122 mounted to & Feamework 124 extending from the vehicle. complementary channel 130 is mounted (directly or indreelly) on the deck of the platform. One end of rail 122 (a forward ead, as illustrated) Inay be provided with a hook 126 or a detent or latching system (Mechanical, magnetic, ete), and a complementary fatachment mechanism, such’as latching racket 132 is located a desired position on channel 130. Note that while the docking system illustrated in FIGS. 8-12 may comprise ‘ stand-alone docking system, they represent one half of @ Platform and docking system according to alternative Embodiments. In embodiments tht iavolve at lest worl extending from the vehicle, wo complementary channel are mounted on the deck ofthe platform. In these embodi- ‘ments, FIGS. 8-12 show a lefi-hand side of the platform and payload docking system anil a second platform portion with second rail, channel and lating system may be provided, Jina mimor image, onthe right-hand side ofthe payload and ator iin avcondance with the docking sytem ilustmted in FIGS. 8:12, rail) 122 extending from the payload are positioned in complementary channels) 130 mounted on the pltform deck and the payload is guided, by sliding the ‘alls along te channel(s), toward the latehng system unt the latching system (Mlustated as a hook and bracket) is fatched. In some embodiments, a single ail and channel docking system may be employed: in altemative embodi- ‘mens, atleast two rails and complementary channels ate 14 employed. When multiple rails and complementary channels are use, they may be arranged in a substantially parallel relationship to one another, or they may be arranged in @ ‘non-parallel, angular relationship to one another Inthe illustrated embodiment, a channel portion 134 is Jocated at some distance from latching bracket 132 and is raised of tiltable in relation to channel 130, This arrange: ‘ment allows the payload raf) that engage channel portion 134 to ster the payload ata slight angle toward latching bracket 132 to failiate latching. In some embodiments, providing a single latching bracket for securing eaeh rail 19 tech channel (and thereby’ the platform) is slicient. In some embodiments, ral 122 may have a socond latching clement 128, such a5 a smaller perimeter extension member, Jocated in proximity to the other terminal end of the rail (eg., an aft end), as shown. The second latching member 128 nay be securely mated with a mating latching member or another element provided on the channel system, or by Seating ina cavity provide between the channel. FIG. 8 shows the pont payload rail 122 aligning om the at (elevated) channel 134: FIG. 9 shows the payload 120 and payload rail 122 sliding forward withthe aid ofthe elevated find table channel 134 and rocking downwardly ino Trward guide channel 130; FIG. 10 shows the forward latch ‘member (hook) 126 latching inthe forward rail bracket 132 to secure the rl 122 and payload £20 laterally and vertieally at the forward end, FIG, I shows the aft portion ofthe rail 122 and the aft latch member 128 dropping. down and cating in channel 130; and PIG. 12 shows repositioning of the rail 122 and payload 120 to seat the aft Inching member(s) 128 underneath raised channel 134, securing the nil and payload laterally and vertically atthe at ead, While ‘single ii/chaanel enbodiaent ofthis docking sytem ad protocol is illustrated inthe figures for purposes of clarity, {all heeppreciated that docking systems employing two or more mils associated with a payload and two of more complementary channels associated with a platform, with fone of more latching point provided for each rail and channel combination may be employed Twill be appreciated that many different types of docking and release systems may be implemented, depending on the size, mass and weight distbution of the payload, the frngement of payload elements on a platform deck, and the like. Providing a payload docking system that secures the payload laterally and vertically onthe platform deck and that Js remotely operable is prefered in many embodiments In the description provided above, the tem “about” meanst/-20% of the indicated value of range unless other wise indicated The terms “a” and “an,” as used herein, refer to one or more ofthe enumerated components or tems, The use of altemative language (eg, "oe") willbe understood 19 ‘mean ether one, both oe any combination ofthe alternatives, unless otherwise expressly indicated. The terms “inelde™ and “comprise” ate ised interchangeably and both of those terms, and variats thereof, are intended to be coastrved 38 being non-limiting Twill be uppreciated thatthe methods and systems of the prescat invention may be embodied in a variety of diferent forms, and that the specific embodiments shown in the figures and described herein are presented with the under sanding thatthe present disclosure i considered exemplary ‘ofthe principles othe invention, and isnot intended limit ‘ny claimed subject matte to the ilustations and. deserip- tion provided herein. The various embodiments desribed may be combined to provide further embodiments. The described devices, systems, methods and compositions may ‘omit some elements or steps, dd other elements or stops oFUS 11,027,805 BI 15 ‘combine the elements or execute stops in different com- bination of order than that specifically doserbed, Tai: 1. A submersible platform comprising @ deck and a payload docking system providing secure docking of the payload on the deck and release ofthe payload from the tlck, wherein the payload docking system has at least one ff a channel or a rail mounted to the deck configured for ‘mating wit a least one of a complementary channel oral ‘mounted on a payload and a least one attachment mech ism configured for mating witha complementary latching ‘mechanism associated with the payload, wherein portion ofthe channel or rail mounted io the deck is raised or titable in rolation to the deck, wherehy upon mating of a comple: ‘mentary ral or channel, the payload is oriented at an angle 2A method for docking an object on a deck of a submerged platform, comprising: positioning rail or chan ‘nel mounted to an object in a mating channel or rail mounted toa deck ofthe submersed platform: guiding the eal along the channel and interfacing a frst latching element post fone in proximity to amend ofthe rail witha mating seeond. ching clement positioned on the channel thereby mating the frst and second latching elements to secure the payload laterally and vertically on the deck, wherein the method addvonally comprising a third rail latching element posi- 16 tioned af oF the forward area ofthe mil andl fourth channel Jatching clement positioned aft ofthe Forward area of the channel 3. A method for docking an object on a deck of a nerped platform, comprising: positioning ral or chan- ‘el mounted to an object na mating channel or rail mounted to a deck ofthe submerued platform: guiding the eal along the chanael: and interfcing a fist latching clement posi- tioned in proximity toa end of ther with a nating second thing clement positioned on the channel thereby mating the fist and second latching elements to secure the py! Jaterally and vertically on the deck, wherein a least a portion ofthe chan! is ted o tiltable relative to the dock. 4.-A method for docking an object on a deck of a submerged platform, comprising: positioning 2 ral or chan ‘nel mounted to an abject n't mating channel oe rail monte to a deck ofthe submerged platform: guiding the rail along the channel; and interfocing a fst latching element posi- tioned in prosinity toa end of the rail with aang sovond Jatching element positioned on the channel, thereby mating the fist and second latching elements to scure the payload teraly. and vertically on the deck, wherein a fist and second channel portion are mounted on a common longitu inal path, and wherein at last one ofthe channel portions js tilted of titable relative tothe other channel portion,