The ROV manual : a user guide to observation-class remotely operated vehiclesPDF电子书下载

1 A bit of history 1

1.1 Introduction 1

1.2 What is an ROV？ 1

1.3 In the beginning 2

1.4 Today’s observation-class vehicles 8

2 ROV design 11

2.1 Underwater vehicles to ROVs 11

2.2 Autonomy plus：‘why the tether？’ 13

2.3 The ROV 18

3 ROV components 46

3.1 Mechanical and electro/mechanical systems 47

3.2 Primary subsystems 58

3.3 Electrical considerations 64

3.4 Control systems 71

4 Underwater acoustics and positioning 81

4.1 Underwater acoustics 81

4.2 Acoustic positioning 96

5 Sonar 125

5.1 Sonar basics 125

5.2 Sonar types and interpretation 142

5.3 Sonar techniques 155

6 Oceanography 162

6.1 Distribution of water on Earth 162

6.2 Properties of water 162

6.3 Coastal zone classifications and bottom types 190

6.4 Effects of wave pattern upon ROV operation 191

7 Environment and navigation 193

7.1 The 3D environment 193

7.2 The necessity of achieving objectives through navigation 197

7.3 Currents and tether management 202

8 Homeland security 207

8.1 Concept of operations 207

8.2 Tactics，techniques，and procedures（TTPs） 207

8.3 Operating characteristics of ROV size categories 208

8.4 Port security needs 208

8.5 Underwater environment of ports 209

8.6 Navigation accessories 210

8.7 Techniques for accomplishing port security tasks 212

8.8 Development of TTPs for port security 214

8.9 Results of procedures testing by sizes 214

9 Explosive ordnance disposal and mine countermeasures 219

9.1 Background 219

9.2 EOD applications 222

9.3 MCM today 222

10 Public safety diving 229

10.1 Public safety diving defined 229

10.2 Mission objectives and finding items underwater with the ROV 229

10.3 When to use the diver/when to use the ROV 230

10.4 Search theory and electronic search techniques 231

11 Commercial，scientific，and archeological 242

11.1 Video documentation 242

11.2 High current operations 244

11.3 Operations on or near the bottom 245

11.4 Enclosed structure penetrations 246

11.5 Aquaculture 254

11.6 Documentation and disposition 255

12 Standard operating procedures 256

12.1 Overall operational objectives 256

12.2 Equipment mobilization 257

12.3 Operational considerations 257

12.4 Pre-dive operations and checks 260

12.5 Specific considerations for operational deployment of ROVs 263

12.6 Task list and guidelines 267

12.7 Post-dive procedures 278

13 Servicing and troubleshooting 279

13.1 Maintenance 279

13.2 Basics of ROV troubleshooting 280

13.3 Tools and spares for field work 282

13.4 Standard preventative maintenance checklist 283

13.5 Operational forms 283

14 Putting it all together 289

14.1 Attention to detail 289

14.2 Training and personnel qualifications 289

14.3 Equipment setup considerations 290

14.4 Division of responsibility 290

14.5 Boat handling 291

14.6 Marking the target（s） 291

14.7 Methods for navigating to the target 293

14.8 Sonar/ROV interaction 294

Appendix A Test questions and answers 296

Bibliography 303

Index 305