74 



The thrusters are controlled by an on-board micro-computer which is programmed 

 to interpret information from 12 acoustic sensors mounted on a ring-like 

 structure on the vehicle base. Basic characteristics of the UNH vehicle 

 are: length: 1.5m (5 ft); width: 1.5m (5 ft); height: 0.9m (3 ft); dry weight: 

 372kg (820 lbs); speed (maximum sustained in still water): 3.5 knots (6.5km/hr); 

 maneuverability: 5 degrees-of- freedom; mission duration: 8 hours; power: lead- 

 acid batteries 7.5 kWh. 



Field demonstrations of the test bed vehicle were conducted in the summer of 

 1978. Future work involves: investigation and determination of the optimum 

 navigation system for a pipeline inspection vehicle; design and fabrication 

 of a one-way (and, subsequently, two-way) acoustic telemetry link; and to 

 develop a control concept which will allow operator control of an untethered 

 ROV. 



