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