30 



or mounted on a pan/tilt device. Some, such as the RCV-225, are capable of 

 tilting in the vertical and rely on the vehicle for changes in azimuth. 

 Instead of physically moving the camera, MURS-100 employs a system of moveable 

 mirrors which provides the pan/tilt motion desired. 



Most of the large ROVs employ two cameras. One is fixed and used by the pilot 

 for navigation and maneuvering. The second is mounted on a pan/tilt mechanism 

 and dedicated to - and controlled by - the customer. For more detailed viewing 

 Sonarmarine Ltd. has mounted a TV camera on the manipulator which permits 

 the camera to be brought close to the object of interest. The same company 

 has also mounted a camera on the stern of their ROVs in order to observe the 

 umbilical. Hydro Products has solved this problem on their RCV-150 by designing 

 their forward-mounted camera to rotate up and through the vertical to provide 

 rear viewing. The only head-coupled CCTV system known to be in use is that of 

 the U.S. Navy's RUWS. Although two commercial manufacturers offer 3-dimensional 

 TV viewing (Sub Sea Systems, San Diego, Ca. , and Honeywell Marine Systems, 

 Seattle, Wa. ) only the Norwegian vehicle SNURRE is known to use a TV stereo 

 viewing system. Control of the vehicle's heading by pointing the camera is 

 employed by Sub Sea Surveys on their CONSUB 201. On this vehicle the pilot's 

 camera is coupled with the joystick and the vehicle moves in the direction 

 in which the camera is pointing. 



2.1.7.b Lighting 



The number of lights on ROVs ranges from as few as one to as many as nine. 

 Quartz iodide lights are on the greater majority of vehicles, then mercury 

 vapor and tungsten iodide and, lastly, thallium iodide. Lighting power ranges 

 from 45 watts to 1000 watts. Most vehicles, however, use 250 watts. The 

 lights are generally clustered on the bow, but a few vehicles provide an 

 extendable boom whereby the light can be extended forward to reduce backscatter. 



2. 1. 7. c Cameras 



A variety of photographic cameras are found on ROVs, 35mm still cameras (with 

 strobe lights) are most common, although a few vehicles also carry 8mm cine 

 cameras. The cam.eras are used to provide high resolution, color documentation 

 which is superior to the resolution and color rendition provided by contemporary 

 video records. Stereophotography is not common, but its application as a 

 tool in underwater inspection/measurements appears to be increasing. 



2.1.7.d Manipulators 



Approximately 104 vehicles are represented in the listing of Table 2.3;. 35 

 of these vehicles (33 percent) are equipped with one or two manipulators, one 

 (ORCA) carries three. The capabilities of these manipulators range widely, 

 some are simple grasping devices which rely upon the vehicle's maneuvering 

 capability to locate them on the correct work site, others are quite sophisticated. 

 The TROV vehicles, for example, are fitted with two manipulators, one with 

 four degrees-of- freedom and one of seven, (The former has a static lift capacity 

 of 45kg (100 lbs) . ) 



The most sophisticated manipulative system is that of Saab Scania' s ORCA, 



it consists of one master-slave primary work effector and two rate-controlled 



work- assistance grabbers. The master-slave manipulator has seven degrees-of- 



