REMOTE UNMANNED WORK SYSTEM (RUWS) 



Under the Deep Ocean Technology (DOT) program, NOSC is developing RUWS, 

 a remotely-controlled submersible system that can perform a variety of work tasks at 

 ocean depths to 20,000 feet (6000 meters). This depth capability provides access to more 

 than 98 percent of the ocean floor. The system is designed for air transport and deployment 

 from specified ships of opportunity. 



RUWS equipment on the support ship consists of a control center, motion compen- 

 sation deck-handling system (MCDHS), diesel-power generators, and maintenance van. A 

 single-coaxial-core, high strength, synthetic cable connects the control center and the pri- 

 mary cable termination (PCT). The PCT serves as a line weight to aid on-stationkeeping 

 and to limit forces that might otherwise be transmitted to the work vehicle. It is the power 

 and signal distribution center between the primary cable and the flexible, multiconductor, 

 vehicle tether. With its own propulsion system, it also provides the capability for ship- 

 coordinated transit across the ocean floor to establish a new holding position. 



The RUWS work vehicle (figure 4), which weighs 4300 pounds (1950 kilograms) 

 in air, is 4.5 by 4.5 by 1 1 feet long (1.4 by 1.4 by 3.4 meters). The work vehicle moves 

 freely at the end of a buoyant flexible tether deployed from the PCT. Vehicle sensors in- 

 clude an active-passive CTFM sonar, bottom transponder integrator, altimeter, depthom- 

 eter, compass, head-coupled stereo television with lights, and EG&G 35mm still camera 

 with strobes. All signals and power needed to control and operate the submersible are 

 multiplexed on the single coaxial core of the primary cable. A highly accurate, deep-ocean 

 navigation system provides coordinated inputs to the vehicle's operators and the support 

 ship's bridge. 



The deep-ocean navigation system and a local-area, bottom-search sonar are used by 

 the operator to guide the vehicle work site. At the work site a 4-degree-of-freedom grabber 

 holds the workpiece, while a highly dexterous, 7-degree-of-freedom manipulator positions 

 individually powered tools or performs other work functions. 



Figure 4. RUWS. 



