TABLE OF CONTENTS (CONTINUED) 



Page 



2.4 Untethered Vehicles 69 



2.4.1 SPURV I & II and UftRS 69 



2.4.2 EPAULARD 71 



2.4.3 ROVER 71 



2.4.4 Unmanned Free Swimming Submersible (UFSS) 72 



2.4.5 Naval Ocean Systems Center 73 



2.4.6 University of New Hampshire 73 



3.0 VEHICLE APPLICATIONS 75 



3.1 Industrial Tasks 75 



3.1.1 Inspection ' 75 



3.1.2 Monitoring 79 



3.1.3 Survey 82 



3.1.4 Diver Assistance 83 



3.1.5 Search/Identification 85 



3.1.6 Installation/Retrieval 87 



3.1.7 Cleaning 87 



3.2 Military Tasks 88 



3.2.1 Inspection 89 



3.2.2 Survey 90 



3.2.3 Search/Identification/Location 90 



3.2.4 Retrieval 91 



3.3 Scientific/Research Tasks 95 



3.3.1 Inspection 95 



3.3.2 Surveys 96 



3.4 U.S. ROV Utilization 96 



4.0 PROBLEMS ENCOUNTERED 98 



4.1 Entanglement 98 



4.2 Electrical Connectors 101 



4.3 Sediment Disturbance 102 



4.4 Cable Rupture 102 



4.5 Electrical Interference 103 



4.6 Support Ship Station-Keeping 104 



4.7 Compass Performance 104 



4.8 Power Supply Surges 105 



4.9 Currents 105 



4.10 Sea State 106 



4.11 Launch/Retrieval Damage 107 



4.12 Vehicle Station-Keeping 107 



4.13 Manipulation 108 



4.14 Pay load 108 



4.15 Human Engineering 109 



4.16 Vehicle Freeboard 110 



4.17 Electrical Shocks 110 



4.18 Maneuverability 112 



4.19 Water Visibility 113 



4.20 Television 113 



4.21 Other 114 



