either side of thie bulkliead and underwater connect/disconnect. Our designs 

 are readily configured for hermetic applications. 



6. Demonstration of the operation of the EAVE WEST submersible with a 



supervisory-controlled architecture that incorporates appropriate automatic 

 contingency procedures has been completed (ref 4). This vehicle has been 

 tested in water and has followed a simulated pipeline. Real-time TV has been 

 used to control its movement by means of controls on the vehicle console. A 

 twisted-pair wire link was substituted for the communication link to permit 

 these tests to be conducted early in the development phase. 



4.2 RECOMMENDATIONS 



Since the approach has been determined to be feasible for pipeline and structures 

 inspection, it is recommended that the entire hardware concept be implemented aboard the 

 EAVE WEST submersible and tested in the ocean. Adequate contingency procedures in the 

 event of communication link failure should be implemented in tiie vehicle control software 

 and also demonstrated during an actual inspection operation. 



The major remaining task is the system integration of each of the above technological 

 subareas, and the demonstration of the total system in the water. This is expected to take 

 place early in FY 81. More effort is required in the development of color multiplexing 

 components (ie, wavelength duplexers and optoelectronic components such as transmitters 

 and receivers designed to operate at a variety of wavelengths). 



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