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FOREWORD
PREFACE
ACKNOWLEDGMENTS
LIST OF FIGURES AND CREDITS
CHAPTER 1: WHAT ARE THEY?
HISTORY
Introduction
The Creation of an ROV Industry
Infancy (1953-1965)
Childhood (1966-1974)
Adolescence (1975-1982)
"Immaturity" (1982-1989)
Maturity (1990+)
Cutting the Apron Strings
The Rest of the Family
Bottom Crawling/Towed Vehicles
Hybrids
Towed (Mid-water) Vehicles
TODAY'S CLASSES OF SYSTEMS
Tethered Remotely Operated Vehicles
Small Vehicles
Low Cost ROVs
"Wire Guided" ROVs
High Capability Electric ROVs
Medium Sized Vehicles
Large Sized Vehicles
New Generation ROVs
Ultra Deep Vehicles
Untethered, Autonomous, Underwater Vehicles
Test Bed AUVs
Ocean Voyager I & II
EAVE III
MUST Lab
XP-21
ARCS
Otter
Twin Burger
Search & Survey
AUSS
Hugin
Martin
Scientific AUVs
Epaulard
SIRENE Shuttle
Odyssey IIb
Ocean Explorer
Marconi AUV
Auto-Sub --- 1
ABE
Cryrobot & Hydrobot
Military AUVs
DARPA AUVs
Mk30 Mod 1
Navyís Large-Diameter Vehicle
Cetus
Theseus
Mac AROV
Phoenix
Manta
MAUVE
Miniature AUVs
Fetch
Navy Mini-AUVs
SEASHUTTLE
Hermes
Gliders
PTEROA 150
Aqua Explorer 1000
ALBAC
Slocum
Towed Systems, Bottom Crawlers, Hybrids and Ploughs
Towed Systems
Data Collection (Oceanographic)Systems
Survey (Search) Systems
Cable/Pipeling Location Systems
Bottom Crawlers
Hybrid Vehicles
Ploughs
CHAPTER 2. WHAT CAN THEY DO?
INTRODUCTION
TASK SUMMARY
ROVs
Diver Observation
Platform Inspection
Pipeline Inspection
Surveys
Drilling Support
Construction Support
Debris Removal
Call Out Work
Platform Cleaning
Subsea Installations
Telecommunications Support ---
Inspection, Burial, Repair
Object Location and Recovery
COMMERCIAL—OFFSHORE ENERGY
Introduction
Drilling and Completion
General
Scope of Services
System Configuration
Manpower
Duration
Contracting/Commercial
Installation/Construction
Inspection/Maintenance and Repair
AUVs
Search & Survey
Cable Laying
Towed Systems, Bottom Crawlers, Hybrids and Ploughs
Mid-Water Survey
Telecommunications Support
Miscellaneous Tasks
MILITARY
Mine Countermeasures
Conventional MCM Vehicles
Non-conventional MCM Vehicles
Submarine Launched Vehicles
Surf Zone MCM Techniques
Search/Recovery
Search
Recovery
Intelligence, Surveillance and Reconnaissance
The "Innerspace Shuttles"
Theseus (Canada)
MUST (US)
DARPA UUV (US)
The "Missiles"
Intruder Detection
ACADEMIC/SCIENTIFIC APPLICATIONS
On-Going Programs
The MBARI Approach
Background
Advantages and Limitations of Manned
Submersibles
The Ventana
Mission Requirements Drive the Tiburon
Harbor Branch Oceanographic Institution
Rescue ROV
Other uses
Woods Hole Oceanographic Institution
Autonomous Benthic Explorer (ABE)
Jason/Medea and ARGO-I
Florida Atlantic University
Ocean Explorer II
Ocean Voyager
MIT Sea Grant Laboratory
Naval Postgraduate School
U.K.’s TUUV Program
Underwater Vehicle Research in Australia
Commercial Sector Potential
OTHER APPLICATONS
Inland Operations
A Case Study
Structural Inspection
Nuclear Plants
Civil
Environmental
Legal
Fisheries
Treasure Hunting
Personal Use
Education
ROV/Diver Operations
Outer Space
CHAPTER 3. WHAT CAN'T THEY DO?
ENVIRONMENTAL ASPECTS (NATURAL)
Depth
Currents
Sea State and Swell
Weather
Water Characteristics
Bottom Characteristics
Arctic
Biological Environment
ROV OPERATIONAL FOOTPRINT AND SPEED
FABLES AND OTHER DREAMS
Raise the Titanic
The Manipulators of Petaluma
Don’t Shout Stealth!
CHAPTER 4. WHERE ARE THEY DOING IT?
EXPLORATION WATER DEPTHS
ROV OPERATIONS
Europe
Asia
South America
North America
Arctic
Africa
Other
CHAPTER 5. HOW SUCCESSFUL ARE THEY?
DEEPWATER DRILLING SUPPORT
Introduction
Deepwater Drilling Support — 1998 And Beyond
Deepwater ROV Capabilities
Compactness & Power
Cage Deployment
Umbilical
Redundant Subsystems
Installation and Launch Configurations
Installation Concepts
High Current Operations
Operational Support and Backup
CABLE BURIAL OPERATIONS
Introduction
Background
When Demand Exceeds Bandwidth
Cable Ships — Purpose Built
Threats to Cable in the Sea
Options for Protecting the Cable
Cable Burial: Methods and Equipment
The Cable Plow
Water Jets
Mechanical Cutting Tools
The Right Tool for the Job
Cable Maintenance Agreements
Perry Tritech
Oceaneering International, Inc.
Margus Company Inc.
The Many Others
The Pre-Lay Survey
Cable Repair Operations
Greater Capabilities, Increased Expectations
RELIABILITY/MAINTAINABILITY
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CHAPTER 6. WHAT SHOULD I KNOW ABOUT?
MAJOR SYSTEM CONSIDERATIONS
System Design
System Categories
Support Systems
The ROV Offshore — System Considerations
Available Horsepower
Through the Frame Lift
Electrical Control
Working Envelopes
Grab Rails vs. Docking Cones vs. Suction Pads
Manipulator Configurations
Colors and Labels
Buoyancy
Deployment and Recovery Times
Deepwater Intervention
Basic ROV Intervention Components
Tooling Skids
Subsea Acquired Tools
Fluid Transfer
Deepwater Challenges
MAJOR SUBSYSTEM CONSIDERATIONS
Structure
Frame
Pressure Resistant Structures
Corrosion Protection
Ballast/Buoyancy Control
Buoyancy and Stability
Fixed Ballast
Variable Ballast
Communication and Control
Propulsion
General
Propulsion Types
Electro-Hydraulic
ElectriC
Propulsion Control
Standard Thrusters
Unique Thrusters
Thruster Arrangement
Control and Navigation
Viewing Systems
Manipulators
ROV Cable Design Considerations
Introduction
Power Requirements
Signal Requirements
Strength Requirements
Conclusion
Acoustic Positioning/Measuring Systems
Types of Acoustic Positioning systems
Ultra Short or Super Short Baseline
Long Baseline
Short Baseline
Combined Systems
Advantages/Disadvantages of Positioning Systems
Ultra Short Baseline (USBL)
Short Baseline (SBL)
Long Baseline (LBL)
Integrated Systems can provide the best of both worlds
Important (Basic) Acoustic Theory
Optimum Frequency BandsThe Sonar Equation
Transmission Loss
Received Signal Level
Noise Considerations
Hardware Design
Case Study — Deep Water DP Drilling
What is just over the horizon?
Digital Signal Processing
System Integration
Less Knowledgeable Operators
Summary
Where to get more information
Training Sessions
Books. Papers
Manufacturers and survey companies
Underwater Viewing Systems
Optical Viewing Systems
Television/Video
Still Cameras
Digital Cameras
Lighting Considerations
Lasers Line Scanners
Sonars: Our Acoustic Eyes
Manipulators
The Requirement for Manipulators
Manipulator and Controller Types and Applications
Manipulator Types
Control Types
Performance Specifications
Depth Ratings
Work Volumes (Useful Envelopes)
Lift Capacities and Lift-to-Weight Ratios
Operational Requirements
Hydraulic versus Electrical Power
Hydraulic Requirements
Manipulator ToolS
Grippers
Other Tools
State of the Art
Future of Remote Manipulation
Standard Architecture
Robust Interchangeable Tooling
Force-Compliant Control
System Engineering
Model-Based Robotic Control
Sensors — Surveying Small Diameter Subsea Cables Passively
AUXILIARY WORK PACKAGES
General
Design Considerations
Typical Applications
Integration Issues
Auxiliary Work Package Example
CHAPTER 7. MURPHY'S LAWS
SUPPORT PLATFORMS
Ships-of-Opportunity vs. Permanent Installation
Platform Types
Monohull
Catamaran
Semi-submersible
Fixed Platform
Inland "Platforms"
Ice
Submersible
Other
Live Boating
GENERAL PROCEDURES FOR THE OPERATION OF ROV SYSTEMS
Introduction
Definitions
Operational Procedures
Dive Preparation, Launch and Recovery
Operation from Vessel using Dynamic Positioning Systems
Operation from Semi-Submersibles and Fixed Installations
Operations with Divers
Video Recording and Reporting
Environmental Limitations
Water Depth
Sea State
Wave Height
Wind Speed
Current
Underwater Visibility
Tunnels, caves, etc.
Insurance Warranties
Limitations
Indemnification Agreement
Vehicle System Failure
Maintenance
Safety
Policy
Responsibilities
Accidents
Fire Safety
ADC Electrical Regulations
Machinery
OSHA
Emergency and Mayday Procedures
Administration
Operational Structure — ROV Department
Documentation
SPECIFIC ROV OPERATING PROCEDURES
Introduction
Crew Briefing
Notification of Operations
Vehicle Preparation
Work Task
ROV Deployment
Use of "A" Frame
TMS — ROV Separation
Locating the Work Site
ROV Recovery to the TMS
Recovery of the ROV/TMS to the surface
Emergency Recovery Procedures
Actions in the Event of Failure
Maintenance
DOCUMENTATIN OF ROV OPERATIONS
Introduction
Company Documents
Dive Checklists
Dive Logs
Video/Photo Log Sheets
Daily Operations Report
Maintenance
Maintenance Log Sheet
TELEX Report
Equipment Movement Order
Material Requisitions
Indemnification Agreement
SAFETY OF ROV OPERATIONS
Safety Policy
Operating Standards
Maintenance Standards
General Safety and Rules of Conduct
First Aid
Personal Protective Equipment
Boat Safety
Helicopter Safety
Offshore Platforms and Vessels
Rigging Safety
Cranes, Hoists and Forklifts
Electrical Safety
Hand and Power Tools
Fire Prevention and Protection
Welding and Burning
Hazardous Areas and Materials
Material Handling and Storage
Sandblasting and Painting
Ladders, Handrails and Machine Guards
Miscellaneous Safety Rules
Accident Reporting
SAFETY PROCEDURES DURING MAINTENANCE
Hydraulic Systems
Electrical Safety
Electrical Domestics in Control Container
Power Distribution Unit (PDU)
ROV
General
SAFETY CONSIDERATIONS AND REGULATIONS
TRAINING
Requirements
Training — The Bottom Line
ROV Trainer and Simulator
Training in the Virtual Environment
The Tutoring System
Curriculum
Training Scenarios
Aids and Interventions
LEGAL CONSIDERATIONS
Insurance
General
Values
Precautions
Operational Considerations
Claims
Peculiar International Considerations
General
Customs/Import/Export
Taxation
Manpower/Industrial Relations
Quality/Certification
Contracting and Specifications
Legal Description
Preamble
Scope of Services
Indemnities and Liabilities
Insurance
Term and Termination
Schedule of Rates
Application of Rates
Specifications
CHAPTER 8. WHAT WILL THEY DO IN THE FUTURE?
FORECAST
An Overview
Observation
Bottom Surveys
NDT Inspection
Diver Support/Monitoring
Search/Identification/Location
Object Retrieval
Activity Monitoring
Construction Assistance
Drilling Assistance
Scientific Reconnaissance/Sampling
Instrumentation/Hardware Installation/Recovery
Geotechnical Measurements
Mine Neutralization/Countermeasures
Maintenance/Repair
Positioning/Navigation
Arctic Applications
ROV Design and Capabilities
General Comments
THE FUTURE?
APPENDICES
A. LIST OF ACRONYMS
B-1. CD BIBLIOGRAPHY
B-2. ROV BIBLIOGRAPHY (1983-1992)
B-3. UI BIBLIOGRAPHY (1993-1998)
C-1. INTERNET DIRECTORY
C-2. ROV COMMITTEE MEMBERSHIP DIRECTORY
EDUCATIONAL AND RESOURCES
INSTITUTIONS
PROFESSIONAL SOCIETIES
U.S. GOVERNMENT
MUSEUMS & MISCELLANEOUS
E. TRAINING ORGANIZATIONS
F. INTERNATIONAL COLOR TV FORMATS
ENVIRONMENTAL DATA
SEA STATE CHART
ARCTIC ENVIRONMENTAL CONDITIONS
UNDERWATER ACOUSTICS REFERENCES
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