ROV Manual (eBook)

Front cover 1
The ROV Manual: A User Guide for Observation-Class Remotely Operated Vehicles 4
Copyright page 5
Contents 6
Foreword 10
Preface 12
Acknowledgments 14
History and dedication 16
Introduction 18
Chapter 1 A bit of history 20
1.1 Introduction 20
1.2 What is an ROV? 20
1.3 In the beginning 21
1.4 Today's observation-class vehicles 27
Chapter 2 ROV design 30
2.1 Underwater vehicles to ROVs 30
2.2 Autonomy plus: 'why the tether?' 32
2.3 The ROV 37
Chapter 3 ROV components 65
3.1 Mechanical and electro/mechanical systems 66
3.2 Primary subsystems 77
3.3 Electrical considerations 83
3.4 Control systems 90
Chapter 4 Underwater acoustics and positioning 100
4.1 Underwater acoustics 100
4.2 Acoustic positioning 115
Chapter 5 Sonar 144
5.1 Sonar basics 144
5.2 Sonar types and interpretation 161
5.3 Sonar techniques 174
Chapter 6 Oceanography 181
6.1 Distribution of water on Earth 181
6.2 Properties of water 181
6.3 Coastal zone classifications and bottom types 209
6.4 Effects of wave pattern upon ROV operation 210
Chapter 7 Environment and navigation 212
7.1 The 3D environment 212
7.2 The necessity of achieving objectives through navigation 216
7.3 Currents and tether management 221
Chapter 8 Homeland security 226
8.1 Concept of operations 226
8.2 Tactics, techniques, and procedures (TTPs) 226
8.3 Operating characteristics of ROV size categories 227
8.4 Port security needs 227
8.5 Underwater environment of ports 228
8.6 Navigation accessories 229
8.7 Techniques for accomplishing port security tasks 231
8.8 Development of TTPs for port security 233
8.9 Results of procedures testing by sizes 233
Chapter 9 Explosive ordnance disposal and mine countermeasures 238
9.1 Background 238
9.2 EOD applications 241
9.3 MCM today 241
Chapter 10 Public safety diving 248
10.1 Public safety diving defined 248
10.2 Mission objectives and finding items underwater with the ROV 248
10.3 When to use the diver/when to use the ROV 249
10.4 Search theory and electronic search techniques 250
Chapter 11 Commercial, scientific, and archeological 261
11.1 Video documentation 261
11.2 High current operations 263
11.3 Operations on or near the bottom 264
11.4 Enclosed structure penetrations 265
11.5 Aquaculture 273
11.6 Documentation and disposition 274
Chapter 12 Standard operating procedures 275
12.1 Overall operational objectives 275
12.2 Equipment mobilization 276
12.3 Operational considerations 276
12.4 Pre-dive operations and checks 279
12.5 Specific considerations for operational deployment of ROVs 282
12.6 Task list and guidelines 286
12.7 Post-dive procedures 297
Chapter 13 Servicing and troubleshooting 298
13.1 Maintenance 298
13.2 Basics of ROV troubleshooting 299
13.3 Tools and spares for field work 301
13.4 Standard preventative maintenance checklist 302
13.5 Operational forms 302
Chapter 14 Putting it all together 308
14.1 Attention to detail 308
14.2 Training and personnel qualifications 308
14.3 Equipment setup considerations 309
14.4 Division of responsibility 309
14.5 Boat handling 310
14.6 Marking the target(s) 310
14.7 Methods for navigating to the target 312
14.8 Sonar/ROV interaction 313
Appendix A: Test questions and answers 315
Bibliography 322
Index 324
A 324
B 324
C 324
D 324
E 325
F 325
G 325
H 325
I 325
J 325
K 325
L 325
M 325
N 325
O 326
P 326
R 326
S 326
T 327
U 327
V 327
W 327