CONTENTS 



1 .0 INTRODUCTION . . . page 7 



1 . 1 Undersea Pipeline and Structures Inspection ... 7 



1 .2 Generic Types of Undersea Vehicles ... 7 



1.3 Free-Swimming Vehicle Testbeds ... 10 



2.0 REQUIREMENTS ... 12 



2.1 Operational Requirements for Undersea PipeUne and Structures Inspection ... 12 



2.2 Communication Requirements for Supervisory-Controlled Vehicles ... 14 



3.0 SYSTEM REALIZATION ... 15 



3.1 Deployment Concept ... 16 



3.2 Mission Scenario Impact and Tether Dynamics ... 27 



3.3 Modulation and Multiplexing Techniques ... 27 



3.4 Underwater Housing Penetration Techniques ... 30 



4.0 CONCLUSIONS AND RECOMMENDATIONS ... 37 



4.1 Progress to Date ... 37 



4.2 Recommendations ... 38 



APPENDIX: DEPLOYED CABLE DYNAMICS AND COST FACTORS ... 39 

 REFERENCES ... 55 



