Potential tasks involved for the manipulator relative to the USGS pipe- 

 line and structure inspection are as follows: 



1. Positioning a cavitation, erosion-cleaning nozzle developed under 

 contract to the USGS R&D program. 



2. Placing a self-contained sensor package at selected positions on a 

 structure; these packages may be attached either mechanically or 

 magnetically. 



3. Positioning imaging subsystems to allow visual inspection of welded 

 joints and structural members; candidates include still and motion 

 picture photography and conventional and solid-state television. 



4. Attaching a line to instrument packages or navigation transponders 

 through a hook arrangement to recover such packages from underwater 

 structures or in the vicinity of pipelines on the ocean bottom. 



Details of this work are in reference 13. 



40 



