added to the vehicle in the most advantageous locations. These sensors can also be readily 

 changed to provide the optimum sensor package for a given mission task. 



Characteristics of the two vehicles are shown in table 1 . The vehicle actually chosen 

 for demonstration of the fiber-optic communication link is the NOSC Free Swimmer, a 

 photograph of which appears as figure 2. Detailed descriptions of the NOSC-developed 

 EAVE WEST submersible are given in references 4 and 5. 





NOSC 



UNH 





Submersible 



Submersible 



Characteristic/Capability 



(EAVE WEST) 



(EAVE EAST) 



PHYSICAL CHARACTERISTICS: 







Length, ft 



9 



5 



Breadth, inches 



20 



5 



Height, inches 



20 



3 



Dry Weight, lb 



400 



820 



OPERATING CHARACTERISTICS: 







Speed (max sustained still water), knots 



5 



3.5 



Maneuverability, deg of freedom 



3 



5 



Hovering Capability 



Yes 



Yes 



Reverse Capabihty, knots 



3.5 



3.5 



Mission Duration, h 



1* 



8 



Depth (max operating), ft 



2200 



2000 



SENSORS/COMPUTER: 







Control Sensors 



Gyrocompass 



Depth 



Time 



Leak detection 



Altitude 





Data Sensors 



TV camera & Ught 

 Magnetic pipe following 

 Super 8 movie & still camera 

 Acoustic pipe following 





COMPUTER CAPABILITY: 







CPU 



8080 A 



IntersU6100 



ROM, kbytes 



20 



1 



RAM, kbytes 



5 



3 



Word length, bits 



8 



12 



Clock 



2 MHz 



3 MHz 



COMMUNICATION 



Preprogrammable 



Preprogrammable 





fiber optics 



acoustic 



*Extendable to 5 hours' duration by using lithium batteries in the same container space. 



Table 1 . Current characteristics and capabilities of the NOSC and UNH submersibles. 



11 



