TABLE OF CONTENTS (CONTINUED) 



FIGURES (Continued) 



5.1 Block diagram of the INTERSUB pipeline surveying system's 



instrumentation and surface processing 



5.2 Major components of the INTERSUB pipeline surveying system. 



Page 



138 

 140 



TABLES 



1.1 Remotely Operated Vehicle Depth Capabilities, Manufacturers 



and Operators 2 



1.2 General Vehicle Characteristics 3 



1.3 Remotely Operated Vehicle Work Categories 4 



1.4 Remotely Operated Vehicle Problems Reported 6 



1.5 Current Research and Development' Programs 7 



1.6 Recommended Research and Development Programs 9 



2.1 Salient Characteristics of Present and Future ROVs 19 



2.2 Tethered, Free-Swimming Vehicles, Depth and Distribution 21 



2.3 Vehicle Instrumentation 29 



2.4 Selected Vehicle Display/Control Data and Functions 37 



2.5 Bottom Crawling Remotely Operated Vehicles 57 



2.6 Towed Vehicles 63 



2.7 Untethered Remotely Operated Vehicles 70 



3.1 ROV Work Categories 76 



3.2 Activities of U.S. Remotely Operated Vehicles (FY 1978) 97 



4.1 ROV Problems Reported 99 



4.2 Problems/Solutions Summaries 117 



PLATES 



2.1 The RCV-225 System 11 



2.2 The TREC System 16 



2.3 Components of the TOM 300 System 41 



3.1 The Naval Research Laboratory ROV used in the retrieval of the 



JOHNSON-SEA-LINK 94 



C-1 ANGUS 002, ANGUS 003, BOCTOPUS, CETUS C-52 



C-2 CONSUB 1, CONSUB 201, CORD I, CURV II C-53 



C-3 CURV III, DART, DEEP DRONE, ERIC II C-54 



C-4 ERIC 10, EV-1, FILIPPO, IZE C-55 



C-5 MURS-100, OBSERVER DL.l, ORCA I, PAP 104 C-56 



C-6 PHOCAS II, PINGUIN B6, RCV-150, RCV-225 C-57 



C-7 RECON II, RECON III, RECON V, RUWS C-58 



C-8 SCAMP, SCAN, SCARAB, SCORPIO C-59 



C-9 SEA INSPECTOR, SEA SPY, SMARTIE, SMIT SUB-1000 C-60 



C-10 SMT 1, SNOOPY, SNURRE, TELESUB 1000 C-61 



C-11 TOM 300, TREC, TROV-Bl, NOZZLE PLUG DEWATERING SYSTEM C-62 



C-12 SCAT (Prototype), SCAT, SNOOPY (Prototype), SUB 2 C-63 



D-1 KVAERNER MYREN TRENCHING SYSTEM, PBM, RUM II, SEABUG 1 D-17 



D-2 SEACAT, SL 3, SUBTRACTOR, TM IV . . '. D-18 



D-3 TRAMP, UNDERWATER BULLDOZER, UNDERWATER TRENCHER D-19 



E-1 ANGUS, BATFISH, DEEP TOW, DIGITOW E-16 



E-2 DSS-125, MANKA 01, NRL SYSTEM, RAIE I E-17 



E-3 RAIE II, RUFAS II, S^, TELEPROBE E-18 



F-1 SPURV, UARS, UFSS, UNNAMED (Naval Ocean Systems Center) ..... F-12 



F-2 UNNAMED (University of New Hampshire) , EPAULARD F-13 



ADDENDUM .. w ...... G-1 



vi 



