TABLE OF CONTENTS (CONTINUED) 



Page 



5.0 CURRENT RESEARCH AND DEVELOPMENT 121 



5.1 Progressive Replacement of Man Underwater (U.K-) 121 



5.2 Untethered Vehicles 124 



5.3 Diver Assist Vehicles 127 



5.3.1 Dragerwerk System 127 



5.3.2 Office of Ocean Engineering, NOAA 127 



5.4 ROV Instrumentation 128 



5.4.1 Chanister Investment Ltd 129 



5.4.2 Office of Ocean Engineering, NOAA 129 



5.5 Manipulation 130 



5.6 Power 132 



5.7 Navigation 135 



5.8 Pipeline Inspection System Integration 136 



5.9 Tethered Maintenance Vehicle 141 



6.0 RECOMMENDED RESEARCH AND DEVELOPMENT 143 



6. 1 Immediate Research and Development Programs (Commercial and 



Military Sector) 144 



6.1.1 Cable Technology 144 



6.1.2 Television 144 



6.1.3 Surface Location Techniques 145 



6.1.4 Thruster/Power Module 145 



6.1.5 Diver Assist ROV 146 



6.1.6 Acoustic Imaging 146 



6.1.7 Heave Compensation 146 



6.1.8 Reliability /Performance 147 



6.2 Immediate Research and Development Programs (Scientific/Research) . 147 



6.2.1 Scientific Indocrination 147 



6.2.2 Instrumentation 148 



6. 3 Long-Term Research and Development Programs 149 



6.3.1 Untethered Vehicle Technology 149 



6.3.2 Manipulation, 149 



6.3.3 Navigation. . 150 



6.3.4 Free- Swimming/Towed Vehicle 150 



APPENDICES 



A Organizations Contacted A-1 



B Bibliography B-1 



C Free- Swimming, Tethered Vehicles Specifications C-1 



D Bottom-Crawling Vehicle Specifications D-1 



E Towed Vehicles Specifications E-1 



F Untethered Vehicle Specifications F-1 



FIGURES 



2.1 Vehicle Growth 18 



2.2 Vehicle Volume 24 



2.3 Vehicle Dry Weight. 25 



2.4 Vehicle Maximum Operating Depth 27 



4.1 Outline of Electrical Shock Hazards Analysis for the 



U.S. Navy's SNOOPY HI 



