Flexible riser insulation removal tool for ultrasonic test inspection

1. A tool, comprising:

a. a frame adapted to be secured about a plurality of outer layers disposed about an outer portion of a tubular, the outer layers comprising an outer jacket, the frame comprising a first side;

b. a first clamp disposed proximate the first side, comprising:

i. a plurality of clamp arms, the plurality of clamp arms comprising and defining an arcuate inner surface adapted to removably accept a tubular within a void defined by the arcuate inner surfaces; and

ii. a clamp arm actuator operatively in communication with the plurality of clamp arms;

c. a cutting assembly movably disposed within the frame, the cutting assembly comprising:

i. a cutter adapted to cut into one or more of the plurality of outer layers of the tubular to a depth at which an ultrasonic inspection of the tubular may occur using an ultrasonic testing (UT) tool which can use ultrasonic waves to penetrate through non-cut layers of the of the plurality of outer layers; and

ii. a cutter positioner operatively connected to the cutter and adapted to advance the cutter into or retract the cutter from the plurality of outer layers of the tubular;

d. a cutter assembly positioner operatively in communication with the cutting assembly, the cutter positioner operative to move the cutting assembly along a predetermined axis of the cutter assembly positioner;

e. a control interface operatively in communication with the clamp arm actuator and cutting assembly; and

f. a power interface operatively in communication with the control interface, the cutting assembly, the cutter positioner, and the first clamp.

2. The tool of claim 1 , wherein the tool is adapted to be deployed by a diver or by a subsea device.

3. The tool of claim 2 , wherein the subsea device comprises a remotely operated vehicle or autonomous vehicle.

4. The tool of claim 1 wherein the first clamp comprises a mechanically operated clamp, a magnetic clamp, or an electromagnetic clamp.

5. The tool of claim 1 wherein the cutter is further adapted to either machine away a portion of the outer jacket or remove the portion of the outer jacket by fluid pressure.

6. The tool of claim 1 wherein the frame further comprises:

a. a second side disposed at a distance opposite the first side;

b. a third side disposed intermediate the first side and the second side; and

c. a second clamp, substantially identical to the first clamp and disposed proximate the second side.

7. The tool of claim 1 wherein the cutter assembly positioner comprises a motor driven lead screw or a rack and pinion type carriage disposed along a length of the tubular.

8. The tool of claim 1 further comprising a position sensor operatively in communication with the cutter positioner.

9. A method of cutting into a tubular, the tubular comprising a plurality of outer layers, the plurality of layers comprising an outer jacket, and machining away a predetermined portion of an outer portion of the tubular to a depth that allows ultrasonic testing to penetrate through the remaining layers of the plurality of outer layers of the tubular and enable an ultrasonic inspection of the riser using a tool comprising a frame adapted to be secured about the outer jacket disposed about an outer portion of a tubular, the frame comprising a first side; a first clamp disposed proximate the first side, comprising a plurality of clamp arms, the plurality of clamp arms comprising and defining an arcuate inner surface adapted to removably accept a tubular within a void defined by the arcuate inner surfaces and a clamp arm actuator operatively in communication with the plurality of clamp arms; a cutting assembly movably disposed within the frame, the cutting assembly comprising a cutter adapted to cut into one or more of the plurality of outer layers of the tubular to a depth at which an ultrasonic inspection of the tubular may occur using an ultrasonic testing (UT) tool which can use ultrasonic waves to penetrate through non-cut layers of the of the plurality of outer layers and a cutter positioner operatively connected to the cutter and adapted to advance the cutter into or retract the cutter from the plurality of outer layers; a cutter assembly positioner operatively in communication with the cutting assembly, the cutter positioner operative to move the cutting assembly along a predetermined axis of the cutter assembly positioner; a control interface operatively in communication with the clamp arm actuator and cutting assembly; and a power interface operatively in communication with the control interface, the cutting assembly, the cutter positioner, and the first clamp, the method comprising:

a. positioning the tool on the tubular at a predetermined position;

b. operatively connecting the power interface to a power source;

c. once disposed proximate the predetermined position, using the first clamp to secure the tool in place about the tubular at the predetermined position;

d. after the tool is securely put in place, moving the cutter head by use of the cutter positioner to the area that will be machined on an outer circumference of the tubular;

e. controlling the cutting assembly to zero the cutting assembly on an outer sheath of the tubular;

f. once the cutting location is known, setting up a programmed tool path on the controller, the programmed tool path adapted to cause the cutter assembly positioner to make the cutting assembly follow a precise cutting path to make an inspection window in the outer layer of the tubular; and

g. cutting the inspection window out of the tubular to a depth sufficient to allow an ultrasonic signal to penetrate through to an inner layer of the plurality of layers of the tubular, the inner layer of the plurality of layers comprising an inner sheath, without causing damage to the inner sheath itself, a bottom of the cut being sufficiently smooth so the ultrasonic signal is not reflected in an unanticipated direction when making an inspection and therefore not consistently returning to an ultrasonic test probe.

10. The method of claim 9 , wherein the tool is positioned by a diver subsea.

11. The method of claim 9 , wherein the tool is positioned by a subsea vehicle subsea.

12. The method of claim 9 , wherein the tool is operatively connected to a topside vessel using an umbilical that provides electrical power and digital communications between the topside vessel and the tool.

13. The method of claim 12 , wherein the tool is positioned by a subsea vehicle sub sea.

14. The method of claim 12 , wherein controlling the cutting assembly is accomplished by an operator present on the topside vessel by remotely controlling the tool using a software control program.

15. The method of claim 9 wherein zeroing the cutting assembly on the outer sheath of the tubular further comprises monitoring the depth in real time using data from the position sensor.

16. The method of claim 9 , wherein controlling the cutting assembly is accomplished autonomously using the position sensor by an autonomous underwater vehicle (AUV) or remotely operated subsea vehicle (ROV).

17. The method of claim 9 , wherein zeroing the cutting assembly on the outer sheath of the tubular is performed to allow a precise depth of a cut to be made into the outer sheath of the tubular.

18. The method of claim 17 , wherein the precise depth is further sufficient to allow the ultrasonic signal to penetrate through to the inner sheath of the tubular and into a tensile armor wire layer when the tubular is flooded.

19. The method of claim 9 , wherein the tool is placed about the tubular at the predetermined position by mechanically moving the plurality of clamping arms to grasp the tubular.

20. The method of claim 19 , wherein mechanically moving the plurality of clamping arms is accomplished by energizing a motor or a hydraulic cylinder operatively in communication with the plurality of clamping arms.