Duplex yoke mooring system

Abstract

An offshore offloading system for hydrocarbon products from a storage station such as an LNG/FPSO to a shuttle vessel. The system includes a yoke mooring arrangement having a yoke and a connection assembly. One end of the yoke is selectively disconnectable to the shuttle vessel, while the other end of the yoke is rotatably connected to an end of the connection assembly which has its other end rotatably connected to a frame which extends from an end of the storage station. The yoke and connection assembly are arranged such that a transverse force in the lateral or y-direction moves the end of the yoke less than twice the movement of the yoke in response to an x-direction force. The system also includes arrangements for providing a hydrocarbon fluid flow path from the storage station to the shuttle vessel when the shuttle vessel is disconnectably moored to the storage station. A first fluid flow path arrangement includes a crane/boom arrangement mounted on a frame extension of the storage station so that a crane slewing arc radius of the transfer system is not larger than one half the separation distance between the storage station and a forward perpendicular of the shuttle vessel. A second arrangement includes a fixed frame with a piping pantograph mount at its end. A trolley and service platform suspended therefrom move between an operational position away from the pantograph and a service position beneath the pantograph when it is folded into a storage position.

Description

BACKGROUND OF THE INVENTION

[0002] 1) Field of the Invention

[0003] This invention relates generally to mooring and fluid transfer systems and in particular to Floating Production Storage and Offloading vessels (FPSO's) including those for LNG liquefaction production and storage. More particularly, this invention relates to tandem offloading of a permanently moored LNG liquefaction and storage vessel to a shuttle or LNG carrier vessel. The term “tandem offloading” describes an arrangement where the shuttle vessel is behind and generally inline with the FPSO, as opposed to “side-by-side offloading” where the LNG carrier is moored along side the FPSO in a parallel position.

[0004] 2) Description of the Prior Art

[0005] Periodically LNG carrier vessels arrive at the location of an LNG/FPSO to load liquefied gas for transport to distant ports. The term LNG is an acronym for Liquified Natural Gas. Highly reliable and safe temporary mooring equipment is required to mechanically connect the LNG carrier (LNGC) to the stem of the LNG/FPSO in offshore sea conditions while LNG transfer occurs between the two vessels.

[0006] FIGS. 1 and 2 illustrate a prior art LNG transfer system, such as the FMC Technologies BTT system, with piping and flexible joint swivels connecting the FPSO vessel 1 to LNG carrier vessel 2. Hawser 8 endures the mooring force to hold vessel 2 to the stern of FPSO vessel 1. Disadvantages of the hawser mooring system include the lack of restraint to prevent vessel 2 from surging forward and colliding with FPSO vessel 1. In addition, hawser 8 allows a wide range of lateral motion of vessel 2, as indicated by motion arrows L. Piping pantograph 5 is flexible and allows limited horizontal motion of LNG manifold connector 7, such as within a circle of 12 meters radius. As vessel 2 sways laterally, crane boom 4 mounted on pedestal 34, must rotate automatically to follow the wide excursions of LNGC 2 bow B while connected to manifold 7 on LNGC 2.

[0007] FIGS. 1 and 2 illustrate that because of the wide lateral movement of the LNGC 2 with respect to the end of the FPSO 1, a crane pedestal 34 with a rotatable boom 4 is required, because the pantograph 5 with a manifold connector 6 is capable of only a limited lateral movement L. It would be desirable to eliminate the crane pedestal 34 and rotatable boom 4 in favor of a fixed structure where a mooring system ensures that only limited lateral movement of the LNGC 2 with respect to FPSO 1 is possible under designed environmental forces on the vessel.

[0008] 3) Identification of Objects of the Invention

[0009] A primary object of the invention is to provide an improved yoke and linkage design so that side-to-side relative motion (i.e., sway motion) between an LNG/FPSO and an LNG/shuttle tanker is greatly reduced from that of other yoke connecting arrangements. Reduction of side-to-side sway motions is highly beneficial to the LNG transfer system connected between the two vessels. The LNG transfer system will have higher reliability, greater safety, and lower cost as a result of reduced relative vessel motions.

[0010] Another object of the invention is to provide an improved disconnectable mooring device to connect an LNG/shuttle tanker or carrier to the LNG storage vessel that is intended for frequent connection and disconnection of the LNG carrier vessel in an offshore environment of at least Hs 2 meters wave height that causes relative motion between the two vessels.

[0011] Another object of the invention is to provide a disconnectable mechanical connection linkage that reduces the relative motions in the transverse direction to the FPSO vessel's longitudinal axis while not becoming too stiff and causing high forces in the fore-and-aft directions.

[0012] Another object of the invention is to provide a disconnectable mechanical connection linkage that has at least half as much resistance to lateral force (force stiffness) at the yoke tip connector as it has in the fore-and-aft vessel direction. Preferably, the linkage will be designed and arranged for a lateral resistance to force equal to or greater than the resistance in the fore-and-aft direction.

[0013] Another object of the invention is to provide a disconnectable mechanical connection linkage that effectively decouples the force stiffness in the lateral direction from the force stiffness in the fore-and-aft vessel direction.

[0014] Another object of the invention is to provide a disconnectable mechanical connection linkage whereby the force resistance in the carrier vessel's fore-and-aft direction is not greatly increased when the yoke tip and carrier vessel's bow connector has been displaced to an extreme position to one side. This action reduces the maximum linkage forces that occur at the extreme lateral displacements.

[0015] Another object of the invention is to provide an alternative disconnectable mechanical connection linkage whereby the fore-and-aft force stiffness is greater when the yoke is displaced sternward than it is when the yoke is displaced forward of its neutral position.

[0016] Another object of the invention is to provide an LNG transfer system to work in conjunction with conventional crane and boom fluid transfer arrangements with disconnectable mechanical connection linkages that, as a result of the reduced lateral relative motions of the LNGC, does not require rotation of the LNG transfer system boom about a vertical axis to follow the lateral motions of the LNGC vessel while the piping pantograph is connected to the LNGC.

[0017] Another object of the invention is to provide an LNG transfer system wherein a crane pedestal is located at a point outboard of the yoke links to achieve a minimum boom length for a given separation distance between the connected vessels.

[0018] Another object of the invention is to provide an alternative arrangement where a crane and boom assembly is eliminated in favor of a fixed cantilevered frame at the end of the FPSO with a pantograph coupling at the end of the frame.

SUMMARY OF THE INVENTION

[0019] The objects identified above as well as other advantages and features are incorporated in a Duplex Yoke Mooring System which includes a permanently moored process and storage vessel (LNG/FPSO), an offloading system attached to the stern of the LNG/FPSO vessel to transfer Liquid Natural Gas (LNG) or other product to an LNG/shuttle tanker (carrier), a disconnectable mechanical connection linkage comprising two and three-axis universal joints, two vertical links, a third torsionally resistant link structure, and a yoke structure with a connection apparatus at the yoke tip, so that the LNG carrier vessel is capable of selective connection or disconnection to the yoke tip.

[0020] Several improvements result from the arrangement according to the invention. The first is that a horizontally torsionally resistant third link is hinged to the yoke that spans across the lateral width of the yoke and provides a structure to decouple the force stiffness in fore-and-aft and lateral directions and allows an efficient design of the ratio of fore-and-aft direction force stiffness to lateral direction force stiffness. The second improvement is that the crane boom that supports the LNG piping or hose system and manifold apparatus remains fixed in one position while the LNG crane manifold remains connected to the moored carrier vessel. The third improvement is that the mounting of the crane pedestal is optimally located in order to minimize the boom length while providing maximum separation distance between the two connected vessels.

[0021] Another improvement, an alternative to the crane/boom arrangements mentioned above, provides a fixed frame cantilevered from the end of the FPSO with a pantograph fluid coupling for connection and disconnection with the LNGC where the mooring system provides limited lateral or longitudinal excursion of the LNGC with respect to the FPSO and the pantograph coupling is designed to accommodate such limited excursions.

BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The invention is described by reference to the appended drawings, of which, FIG. 1 illustrates a prior art LNG transfer system with hawser moored LNG Carrier showing example dimensions;

[0023] FIG. 2 illustrates an elevation view of the prior art LNG transfer system of FIG. 1;

[0024] FIG. 3 illustrates an LNG transfer system with a disconnectable stern yoke mooring system in place of the hawser mooring of FIG. 1;

[0025] FIGS. 4A, 4B and 4C illustrate a duplex yoke general arrangement according to the invention;

[0026] FIGS. 5A, 5B, 5E are schematic diagrams of link motions and forces of the prior art yoke, while FIGS. 5C, 5D and 5F are diagrams of link motions and forces acting on the yoke according to the invention;

[0027] FIGS. 6A-6C illustrate a sequence of steps for connecting the LNG carrier to the LNG/FPSO;

[0028] FIGS. 7A-7C illustrate a sequence of steps for disconnecting the LNG carrier from the LNG/FPSO;

[0029] FIGS. 8A-8B illustrate other embodiments for fluid transfer arrangements between the LNG/FPSO and carrier; and

[0030] FIGS. 9A-9C illustrate a fixed frame with a pantograph fluid coupling for providing a fluid flow path between an LNG/FPSO and a LNGC carrier.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION

[0031] FIG. 3 shows a disconnected stem yoke mooring system described in corresponding U.S. patent application Ser. No. 60/362,896 filed on Mar. 7, 2003 which claims priority from a provisional application filed on Mar. 8, 2002. The inventor of the present application is a coinventor of the subject matter of 60/362,896 application which is incorporated by reference herein. The mooring arrangement of FIG. 3 is characterized by a yoke structure 11 having a weight W placed at one end of the yoke. That end is pivotable about horizontal axes of one of the vessels, e.g., the LNG/FPSO 1, with the yoke structure 11 having an opposite end with a plug coupling arrangement P which is arranged and designed to be pulled into a receptacle on the LNG carrier 2 for selective coupling thereto. Liquid Natural Gas from the LNG/FPSO vessel 1 is transferred to the LNG carrier by means of a fluid conduit and pantograph arrangement 5 carried by a pedestal 34 mounted boom 4 which can be rotated to establish coupling with manifold connector 6 on the LNG carrier 2.

[0032] FIGS. 4A, 4B, 4C, 5A-5F and FIGS. 6A-6C, FIGS. 7A and 7C and FIGS. 8A and 8B illustrate an alternative yoke arrangement to that of FIG. 3. The following list provides correspondence of reference numbers in the drawings with names assigned to the various elements shown therein.

BRIEF IDENTIFICATION OF REFERENCE NUMBERS FOR ELEMENTS

[0033] 1 LNG/FPSO vessel

[0034] 2 LNG carrier vessel (LNGC)

[0035] 3 LNG transfer system

[0036] 4 Crane boom

[0037] 5 Piping pantograph

[0038] 6 LNG manifold connector

[0039] 7 LNG carrier manifold

[0040] 8 Hawser

[0041] 9 Motion envelope

[0042] 10 Disconnectable yoke mooring system

[0043] 11 Weighted yoke structure

[0044] 12 Links

[0045] 13 Yoke tip connector

[0046] 14 X-stiffness, Kx, force stiffness in the fore-and-aft direction, tonnes per meter

[0047] 15 Y-stiffness, Ky, force stiffness in the transverse direction, tonnes per meter

[0048] 16 Yoke support structure

[0049] 17 Yoke

[0050] 18 Hinged link

[0051] 19 Link

[0052] 20 Weights

[0053] 21 a, 21 b Two-axis universal joint

[0054] 22 Vertical axis rotation joint

[0055] 23 Joining pin

[0056] 24 Duplex yoke assembly

[0057] 25 Hinged joint

[0058] 26 Connector member

[0059] 27 Elastomeric bumper

[0060] 28 Retrieval line connector

[0061] 29 Buoyant chamber

[0062] 30 Yoke tip

[0063] 31 a, 31 b Bracket

[0064] 32 Yoke structural framing

[0065] 33 a, 33 b Hawser fairlead

[0066] 34 Crane pedestal

[0067] 35 Crane rotation lock device

[0068] 36 Boom cradle

[0069] 37 Manifold storage bracket

[0070] 38 Torisonally stiff structure

[0071] 39 Center of gravity (of hinged link 18)

[0072] 40 Crane

[0073] 41 Winch operator viewport

[0074] 42 Winch

[0075] 43 a, 43 b Hawser

[0076] 44 a, 44 b Winch

[0077] 45 Bow extension

[0078] 46 Yoke connector

[0079] 47 Tugboat

[0080] 48 Swiveling pipe joint assembly

[0081] 49 Flexible hose

[0082] 50 Three-axis swivel joint

[0083] FIGS. 4A and 4B illustrate an embodiment of the duplex yoke assembly 24 according to the invention, so named because of the dual action of a connection assembly 90 between frame members 100 and the end of the yoke 17. The connection assembly includes a torsionally stiff structure 38 having hinged links 18 at each end thereof which are coupled at their top side via upper links 19 to frame members 100 carried by the LNG/FPSO 1. The links 18 are hinged at their bottom sides to end members 80 of the yoke 17. Two pairs of upper and lower two-axis universal joints 21a, 21b connect links 19 between the upper side of hinged links 18 and the frame members 100 at the aft of the LNG/FPSO 1. Link 19 provides for axial rotation allowing for relative rotational motion between joints 21a and 21b by means of vertical axis rotation joint 22. Rotation joint 22 can be placed between two-axis joints 21a and 21b, or alternatively joint 22 can be combined with either 21a or 21b to provide at least one three-axis joint within connection assembly 90. Brackets 31a connect the upper sides of hinged links 18 to universal joints 21b. Brackets 31b with pinned connections to end side members 80 of yoke 17 provide hinged joints 25 between the yoke 17 the connection assembly 90. The arrangement allows yoke 17 to twist, i.e., stiffly rotate in a horizontal plane (i.e., in the y-direction about a vertical axis) while the stiff structure 38 with hinged links 18 provides fore-and-aft pendulum motion (i.e., in the x-direction about a horizontal axis) substantially independently of the twisting motion.

[0084] Yoke 17, hinged at 25 to connection assembly 90 at end members 80 disposed at opposite sides of the yoke, includes yoke structural framing members 32, buoyant chamber 29, connector member 26, retrieval line connector 28, and an elastomeric bumper 27. Yoke tip connector member 26 is positioned at an elevation greater than the elevation of hinge joints 25 when duplex yoke 24 is connected to the LNG carrier 2 and both vessels are at their mean drafts. This results in an angle β1, referenced to the horizontal which is greater than zero. (See FIG. 4B)

[0085] The duplex yoke assembly 24 can be applied to other mooring arrangements with advantage, such as tower yoke systems, where vessel and yoke jack-knifing can be a serious problem. The large lateral force capability of the duplex yoke reduces the jack-knife tendency when combined with known yoke tips with roll axis bearings and trunnion bearings for rotation of conventional turntables on top of the tower. Other applications of connecting two floating vessels together with one or more yokes requiring large lateral load capability are improved by utilization of the duplex yoke arrangement of FIGS. 4A and 4B. Fore-and-aft rotation positions of the stiff structure 38 and the yoke 17 are illustrated by dotted lines in FIG. 4B.

[0086] FIG. 4C shows another embodiment of hinged link 18 where hinge joints 25 are positioned to one side of a vertical line passing through center of gravity 39 of link 18. Joints 25, are positioned in the direction toward the tip of the yoke where connector 26 is placed. The advantage of this arrangement is that the linkage has more force stiffness in the aft direction than it does in the forward direction from the at-rest neutral position. This results in a mean vessel position closer to the calm water position than occurs with the FIG. 4B arrangement and provides a beneficial motion envelope of the LNG pantograph 5 or other fluid conductor arrangement. FIG. 4C also illustrates the position of yoke 17 and hinged link 18 during excursions of the yoke 17 in the x-direction.

[0087] FIGS. 5A and 5B are schematic diagrams illustrating the approximate motion characteristics of the yoke arrangement 11 of FIG. 3. The pendulum action of links 12 supporting weighted yoke 11 can be approximated by a non-linear spring at the yoke support points. The non-linear spring components are represented as k1x, k1y, k2x, k2y. Applied forces Fx and Fy move the yoke tip 30 to displacements x1 and y1. The force stiffness at any point of deflection of the yoke tip 30 is then defined, as shown FIG. 5B as 1$K_x=\frac{\Delta F_x}{\Delta X_1}\mathrm{and}{K}_y=\frac{\Delta F_y}{\Delta Y_1},$

[0088] where Δx, and Δy represent small displacement increments corresponding to small increments in forces Fx and Fy near any displacement x1 and y1. A rigorous three dimensional kinematic linkage analysis can accurately determine the actual forces at any displacement point. (Such an analysis is available to the art in the form of readily available engineering analysis computer software.) When a large Fy force occurs and rotates yoke 11 to a large displacement y1, spring constants k1x and k1y increase rapidly. When this occurs, stiffness Kx rapidly increases and severely restricts motions caused by a sudden increase in Fx. This condition can cause excessively large link forces when the yoke tip 30 is in the extreme corners of its operating displacement envelope. The yoke linkage arrangement of FIG. 3 with reasonable dimensions will typically have a force stiffness in the y-direction Ky of 20% to 30% of Kx.

[0089] FIGS. 5C and 5D are schematic diagrams illustrating the approximate motion characteristics of embodiment of this invention as shown in FIGS. 4A, 4B, and 4C. The connection assembly 90 provides an additional spring action represented by a spring constant k5. This arrangement provides an additional spring action when yoke 17 has been rotated by an Fy force. Springs k3 and k4 can be at their maximum displacement, but when an increase in Fx occurs, k5 readily allows a large x2 displacement, even across the center position to the negative x-direction. This action is not possible with weighted yoke structure 11 of FIG. 3 and FIG. 5A. The primary advantage of the duplex yoke assembly 24 according to the invention is that the ratio of Ky/Kx can be greatly increased, and as a result, Ky can be made equal to or greater than Kx while maintaining the capability for storing a large level of potential energy. This means that a given transverse force in the y-direction will move the yoke tip less than or equal to the x-direction displacement than an x-direction force of the same magnitude will move the yoke tip.

[0090] FIG. 5E shows a generalized graph of force deflection characteristic curves for the weighted yoke of the arrangement of FIG. 3 where y-deflection is much greater than x-deflection for a given force. Such large y-deflection must be followed by a large deflection of the pantograph 5 and crane boom 4.

[0091] FIG. 5F shows a generalized graph of force deflection characteristic curves for the duplex yoke embodiment of the present invention of FIGS. 4A-4C where y-deflection is less than the x-deflection for a given force.

[0092] FIGS. 6A, 6B, and 6C illustrate a basic sequence for connecting an LNGC/carrier vessel 2 to LNG/FPSO vessel 1 in combination with a stewing (rotation about the vertical axis) crane 40. Boom 4 can be stored in the forward position on cradle 36 as shown in FIG. 6A, then rotated to the aft position as shown in FIG. 6B. Crane rotation lock 35 secures boom 4 in its offloading position. Lock 35 can be fitted with an emergency break-a-way device for fault condition overloads. Yoke tip 30 includes a buoyant chamber 29 (see FIG. 4A) that supports yoke 11 in the sea while disconnected and just prior to being hoisted up into connector engagement by LNG/carrier vessel 2. A constant tension winch on vessel 1 for hoisting yoke 17 (e.g., see the hoisting arrangement of FIG. 3) out of the water and partially balancing yoke 17 may be provided, thereby reducing the effort required by a winch 42 on bow extension 45 to lift yoke tip 30. LNG/carrier 2 is towed into connecting range by hawsers 43 powered by winches 44 located on opposite sides of vessel 1. Hawsers 43 (one on each side of the vessel) are routed down and through fairleads 33 to maintain the hawsers below interference from yoke 17. LNG/carrier vessel 2 maneuvering may be aided by vessel 2 dynamic positioning (DP) thrusters (see for example FIG. 3) and/or one or more tugboats 47.

[0093] FIG. 6B shows yoke tip 30 being hoisted by winch 42 as its operator observes through view port 41 beneath the vessel 2 bow extension 45. Bow extension 45 forms the supporting structure for LNG carrier manifold 7 and hydraulic connector 46.

[0094] FIG. 6C shows the two vessels connected, the LNG transfer system connected, and hawsers 43 with their tension slacked off. FIG. 6C shows a preferred embodiment wherein crane pedestal 34 is positioned outboard of links 19 such that the cranes' slewing arc radius R of the crane manifold 6 is not larger than one half of the separation distance L between the stem of vessel 1 and the forward perpendicular (F.P.) of vessel 2.

[0095] FIGS. 7A, 7B, and 7C show the basic sequence of disconnecting LNG/carrier vessel 2 from LNG/FPSO vessel 1. A serious problem can occur with other disconnectable yokes during a disconnection while vessel 2 is at a displaced position. When the yoke is released, it can move away quickly and then immediately swing back into vessel 2 with an uncontrolled flailing motion. The preferred embodiment of this invention eliminates this potential problem by providing that the yoke tip 30 be positioned below bow extension 45 and yoke connector 26. Yoke tip 30 is not counterbalanced, so that upon disconnection, yoke tip 30 plunges into the sea, typically with enough force to go below sea surface, thereby damping any return of yoke tip 30 back into collision with vessel 2. The slightly buoyant chamber 29 (see FIG. 3A) of yoke tip 30 then returns yoke tip 30 to the sea surface.

[0096] FIG. 8A illustrates another arrangement of a combination of duplex yoke assembly 24 and an LNG offloading system wherein swiveling pipe assembly 48 is suspended below boom 4. Crane 40 carries manifold 6 during engagement with tanker manifold 7.

[0097] FIG. 8B shows another arrangement of a combination of duplex yoke assembly 24 and an offloading system where flexible hoses 49 are used to transfer LNG and vapor between the vessels. Hoses 49 are suspended beneath boom 4 and are connected at both ends by three-axis swivel joints 50 to accommodate the stiffness of hoses 49 while flexing through the three dimensional displacements of vessel manifold 7.

[0098] FIG. 9A illustrates an alternative arrangement for providing a fluid path between the LNG/FPSO 1 and the LNGC vessel 2. Because the mooring system 100, as illustrated in FIGS. 4A, 4B and 4C insures limited side to side and back and forth motion of LNGC 2 relative to FPSO 1, the capability of a manifold connecter 6 to accommodate that motion can be employed. The connector 6 is mounted on a frame 120 that is secured to the end of vessel 1. As mentioned previously, a commercially available pantograph 5 allows horizontal motion such as within a circle of 12 meters radius, and the mooring arrangement 100 can be designed as described above to limit motion of the bow of LNGC vessel 2 to be within that range. In other words, the mooring arrangement 100 insures that the bow of vessel 2 moves within a 12 meter radius circle, where the center of that circle represents dead calm seas with no environmental forces on vessel 2.

[0099] The frame 120 is designed and arranged to include a vertical portion 122 which supports a cantilevered horizontal portion 124. The piping pantograph 5 is mounted on the end of horizontal portion 124 away from vertical portion 122. A service platform 130 is suspended beneath trolley 132 which can move to a service position below fluid coupling 140 when pantograph 5 is folded into its stored position as illustrated in FIG. 9C.

[0100] An important advantage of the fixed frame with a pantograph fluid coupling mounted as illustrated in FIG. 9A is the elimination of the crane 40 of the arrangement illustrated in FIG. 2. In operation, the vessel 2 is connected to the mooring 100, while the pantograph 5 is in its upward stored position. Then the pantograph 5 is connected to the vessel 2 with the fluid connector 140 coupled to piping on the bow of the vessel 2. The steps are reversed when the vessel 2 is to be uncoupled from FPSO 1.

Claims

1. A yoke assembly for mooring a vessel to a body comprising, a yoke (17) having a first end and a second end, with said first end arranged and designed for coupling with either said vessel or with said body and said second end arranged and designed for coupling with a frame (100) carried by said body or by said vessel, said second end having first and second side members (80) and a connection assembly (90) including, a torsionally stiff weighted member (38) having a hinged link (18) at first and second ends, said hinged link having upper and lower sides, first and second hinges (25) coupling said lower side of said hinged links (18) of said stiff member at said first and second ends thereof to said first and second side members of said second end of said yoke, and first and second links (19) coupled to said frame and to said first and second ends of said stiff member (38) of said upper side thereof by first and second pairs (21a, 21b) of two axis universal joints, said connection assembly (90) being arranged and designed to provide fore-and-aft resistance to an x-direction force on said yoke (17) of less than twice the resistance of a y-direction force of the same magnitude on said first end of said yoke (17).

2. The yoke assembly of claim 1 wherein said first end of said yoke is arranged and designed for connection to a carrier vessel, and said second end of said yoke is arranged and designed for connection to said body.

3. The yoke assembly of claim 2 wherein said body is a floating body.

4. The yoke assembly of claim 3 wherein said vessel is an LNG carrier vessel, and said floating body is an LNG/FPSO.

5. The yoke assembly of claim 1 wherein said first and second hinges (25) include first and second lower brackets 31(b) extending from the lower side of said hinged links (18), with first and second pins (82) extending through aligned holes in said brackets 31(b) and said first and second side members (80).

6. The yoke assembly of claim 5 wherein first and second upper brackets 31(a) extend from the upper side of said hinged links (18), said first and second upper brackets being connected to a first pair (21b) of said two axis universal joints.

7. The yoke assembly of claim 6 wherein said first and second lower brackets 31(b) are placed on said hinged link (18) such that while said yoke assembly is in an at-rest neutral position, a line through a center of gravity (39) of said stiff member (38) and a center of said first and second upper brackets (31(a)) passes through a center of said first and second lower brackets 31(b), wherein said yoke assembly is characterized by approximately equal force stiffness in the aft direction and in the forward direction from at-rest neutral position.

8. The yoke assembly of claim 7 wherein said first and second lower brackets (31(b)) are placed on said hinged link (18) while said yoke assembly is in an at-rest neutral position, forward of a line through a center of gravity (39) and a center of said first and second upper brackets (31(a)), wherein said yoke assembly (24) is characterized by more force stiffness in the aft direction than it does in the forward direction from at-rest neutral position.

9. The yoke assembly of claim 1wherein said force stiffness of said first end of said yoke (17) is 2Kx=Δ⁢ ⁢FxΔ⁢ ⁢X1⁢ , ⁢and⁢ Ky=Δ⁢ ⁢FyΔ⁢ ⁢Y1⁢  where ΔX and ΔY represent small displacement increments corresponding to small increments in forces Fx and Fy near any displacement x1 and y1, and said yoke assembly is characterized by the ratio 3KyKx≥0.5, whereby a transfer force in the y-direction moves the first end of said yoke (17) less than twice to the movement of said first end of said yoke (17) in response to an x-direction force of equal magnitude to the y-direction force.

10. The yoke assembly of claim 1 wherein said first end of said yoke (17) is arranged and designed for connection to a carrier vessel, and with said first end of said yoke (17) designed and arranged with said connection assembly (90) to rotate with respect to said body, and a buoyancy chamber (29) is disposed in said second end of said yoke, said buoyancy chamber (29) having sufficient buoyancy to cause said second end of said yoke to float when said yoke is disconnected from said carrier vessel.

11. An offshore off-loading system comprising, a storage station (1) for storing hydrocarbon products, a shuttle vessel (2) arranged and designed for transporting hydrocarbon products, a yoke assembly (24) including a yoke (17) with first and second ends and a connection assembly (90), said second end of said yoke and said connection assembly rotatably connected to said storage station (1) and a first end of said yoke (17) is selectively connectable to said shuttle vessel, wherein said force stiffness of said first end of said yoke (17) is 4Kx=Δ⁢ ⁢FxΔ⁢ ⁢X1⁢ , ⁢and⁢ Ky=Δ⁢ ⁢FyΔ⁢ ⁢Y1⁢  wherein ΔX and ΔY represent small displacement increments corresponding to small increments in force Fx and Fy near any displacement x1 and y1, and said yoke assembly is characterized by the ratio 5KyKx≥0.5, whereby a transfer force in the y-direction moves the first end of said yoke (17) less than or equal to twice the movement of said first end of said yoke (17) in response to an x-direction force of equal magnitude to the y-direction force.

12. The offshore offloading system of claim 11 wherein said connection assembly (90) includes a torsionally stiff weighted member (38) having a hinged link (18) at first and second ends, said hinged link having upper and lower sides, first and second hinges (25) coupling said lower side of said hinged links (18) of said stiff weighted member (38) at said first and second ends thereof to first and second side members (80) of said second end of said yoke, and first and second links (19) coupled to said frame (100) and to said first and second ends of said stiff member (38) of said upper side thereof by first and second pairs (21a, 21b) of two axis universal joints.

13. An offshore offloading system comprising, a storage station (1) for storing hydrocarbons products, said storage station including a frame which extends outwardly from an end of said storage station, a shuttle vessel (2) arranged and designed for transporting hydrocarbon products, said shuttle vessel (2) having a bow extension (45) a disconnectable mooring arrangement including a yoke (17) having a first end which is selectively connectable to said bow extension (45), with a second end of said yoke (17) rotatably coupled to said frame at a yoke coupling mounting point outwardly from said storage station, and a hydrocarbon transfer arrangement including a crane pedestal (34) mounted on said frame of a boom (4) having inward and outward ends with said inward end of said boom rotatably supported on said crane pedestal, and a piping pantograph (5) having an upper end carried by said outward end of said boom (4), and with a lower end carrying a crane manifold (6) selectively fluidly coupled to a vessel manifold (7) on said bow extension (45), wherein, a crane slewing arc radius R of said crane manifold (6) is not larger than one-half the separation distance between said end of said storage station (1) and a forward perpendicular of said shuttle vessel (2).

14. The offshore loading system of claim 13 wherein said crane pedestal (34) is mounted outwardly on said frame from said yoke coupling mounting point.

15. An offshore offloading system comprising, a storage station (1) for storing hydrocarbon products, said storage station including a frame (120) including a vertical portion (122) and a cantilevered horizontal portion (124) which extends outwardly from an end of said storage station, a shuttle vessel (2) for transporting hydrocarbon products, said shuttle vessel (2) having a bow extension (45) a disconnectable mooring arrangement including a yoke assembly 24 having a first end which is selectively connectable to said bow extension (45) with a second end of said yoke rotatively coupled to said frame at a yoke coupling mounting point outwardly from said storage station, a piping pantograph (5) mounted on the end of said horizontal portion (124) of said frame, and a fluid coupling (140) carried at a lower end of said piping pantograph (5), said fluid coupling (140) arranged and designed to couple with a vessel manifold (7) mounted on said bow extension (45).

16. The system of claim 15 further comprising a trolley (132) mounted on said horizontal portion (24) of said frame (120), and a service platform (130) suspended beneath said trolley (132) and arranged to move from a operational position away from said end of said horizontal portion (124) to a service position at an end of said horizontal portion (124).

17. The system of claim 16 wherein said service platform (130) is arranged and designed to move beneath said piping pantograph (5) when said pantograph is folded into a storage position.

18. The system of claim 15 wherein said yoke (17) is arranged and designed so that said first end is constrained to move within an x-y tip boundary, and said piping pantograph is arranged and designed so that said fluid coupling is capable of moving within a coupling boundary that is greater than or equal to said tip boundary.