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The ANTHRO operator's control station included an instrumented swivel chair 

 and a helmet containing a television display (a 5 inch TV screen), roll, pitch 

 and azimuth sensors and dual headphones. Manned controls for vehicle maneuvering, 

 depth functions and television camera remote focus were provided at the 

 operator's right hand. Vehicle depth was controlled by servo-controlled 

 vertical thrusters which automatically maintained a desired depth. 



SCAT (Submersible Cable-Activated Teleoperator) was a U.S. Navy-built follow-on 

 to ANTHRO and served as a test-bed demonstration vehicle for the purpose of 

 evaluating head-coupled television and three-dimensional television display. 

 The two SNOOPY vehicles were developed as extremely portable, lightweight 

 systems which could replace divers in a variety of observation and surveillance 

 tasks. 



The Institute of Oceanology, USSR, capitalizing on experiences with the 4,000m 

 CRAB-4000 in 1971, developed the MANTA vehicle. The operational theory behind 

 MANTA was that it is practically impossible for a man to successfully operate 

 a moving system without a proper feedback which acts upon the whole complex 

 of sensors within his central nervous system (Mikhaltsev, 1973) . A group 

 of tenso-sensors was mounted on MANTA and a special servo-controlled, hydrauli- 

 cally-driven operator's chair which closed the feedback circuit, was constructed. 

 The chair repeated all the roll and pitch movements of the underwater vehicle 

 and allowed the operator to feel MANTA' s maneuvering. Further sophistication 

 was added by incorporating the feedback provided by the manipulator's tenso- 

 sensors into a simple computer which gave the preprogrammed computer the ability 

 to command the manipulator system. As of 1973 the preprogramming was fulfilled, 

 but only under laboratory conditions. 



Other government funded vehicles of the early seventies included the English 

 SUB-2 and CONSUB-01, the Scottish ANGUS 001, the Norwegian SNURRE and the French 

 Navy's ERIC. The SUB-2 vehicle was a prototype built by the Admiralty Weapons 

 Research Establishment in conjunction with the Admiralty Undeirwater Weapons 

 Establishment (AUWE) . The 2^ ton, 600m ROV was used to conduct feasibility 

 trials off Portland in late 1972. The prototype, as late as 1976, was inactive 

 and remains so at Aldermaston. At least one ROV, called CUTLET, was constructed 

 by AUWE for torpedo recovery. Reportedly three of the 300m vehicles were 

 built, but their details are not available. 



CONSUB 01 was built by British Aircraft Corporation (BAC) for the Institute 

 of Geological Sciences (IGS) to conduct bottom investigations in offshore 

 U.K. waters. The vehicle was also used to conduct commercial tasks in the 

 North Sea before being turned over to IGS, Edinburgh. ANGUS 001 (A Navigable 

 General purpose Underwater Surveyor) , now retired, was a test bed vehicle built 

 by Heriot-Watt University, Edinburgh to "get their feet wet" in the area of 

 ROVs. The original ANGUS was used to generate a background of operational 

 expertise and design feedback to the siobsequent ANGUS 002 and 003 (now under 

 development) . The original SNURRE was developed in 1972 by the Norwegian Institute 

 for Industrial Research and Det norske Veritas, and sponsored by the Royal 

 Norwegian Council for Scientific Research, Continental Shelf Office. The 

 vehicle has been operated, under the aegis of the Continental Shelf Office , 

 to conduct basic research and industrial tasks in the North Sea. 



