TABLE OF CONTENTS 



Page 



PREFACE vii 



ACKNOWLEDGMENTS' viii 



1.0 SUMMARY AND RECOMMENDATIONS 1 



1.1 Vehicle Characteristics i 



1.2 Vehicle Applications 1 



1.3 Problems Encountered 5 



1.4 Current Research and Development Programs 5 



1.5 Recommended Research and Development Programs 5 



2.0 REMOTELY OPERATED VEHICLES 10 



2.1 Tethered, Free-Swimming Vehicles 10 



2.1.1 Structure 17 



2.1.2 Buoyancy 17 



2.1.3 Power 26 



2.1.4 Propulsion/Maneuverability 26 



2.1.5 Operating Depth 26 



2.1.6 Speed 28 



2.1.7 Instrumentation 28 



2.1.8 Umbilical Cable 35 



2.1.9 Control/Display Console 36 



2.1.10 Emergency Location Devices 38 



2.1.11 Support Vessels 38 



2.1.12 Launch/Retrieval 42 



2.1.13 Sub-Surface Navigation 45 



2.1.14 Personnel 54 



2.2 Bottom-Crawling Vehicles 56 



2.2.1 Functions 56 



2.2.2 Operating Depths 56 



2.2.3 Construction 58 



2.2.4 Speed 58 



2.2.5 Power 59 



2.2.6 Propulsion 59 



2.2.7 Tools/Instrumentation 59 



2.2.8 Navigation 60 



2.2.9 Support Ship Components/Requirements 60 



2.3 Towed Vehicles 62 



2.3.1 Functional Capabilities 62 



2.3.2 Operating Depth 65 



2.3.3 Construction 65 



2.3.4 Towing Speed 66 



2.3.5 Power 66 



2.3.6 Vehicle Control 66 



2.3.7 Instrumentation 67 



2.3.8 Navigation 67 



2.3.9 Support Ship Requirements 68 



