Review of Review of Underwater Underwater VehiclesVehicles

Module 1, Section 1Module 1, Section 1

Types of Underwater Types of Underwater VehiclesVehicles

T yp e s o f U nd e rw ate r V eh ic les

M ilita ry R e se a rch T o u ris tS u bs

S u b m a rin es S u b m ers ib les A tm osh e ricD iv in g

S u it(A D S )

M a nn e d V e h ic les

F re e S w im m ing B o tto m C ra w ling S tru c tu ra llyR e lia n t

R O V s

G lid e rs

A U V s H yb rid V e h ic les

U n m an n ed V eh ic les

M o d ern U n de rw ate r V eh ic les

Insert Fig. 1.3 from text book

Types of Underwater Types of Underwater VehiclesVehicles

Manned VehiclesManned Vehicles Unmanned VehiclesUnmanned Vehicles Non-VehiclesNon-Vehicles

Manned VehiclesManned Vehicles

SubmarinesSubmarines Atmospheric Atmospheric Diving SuitDiving Suit

SubmarinesSubmarines

MilitaryMilitary ResearchResearch TouristTourist

Military SubmarinesMilitary Submarines

Classified by Classified by Propulsion System:Propulsion System:

NuclearNuclear Diesel-ElectricDiesel-Electric

Classified by MissionClassified by Mission AttackAttack Missile Missile

Research SubmarinesResearch Submarines

SubmersiblesSubmersibles Smaller Smaller Carries 2 to 3 Carries 2 to 3

scientistsscientists

Tourist SubmarinesTourist Submarines

Atmospheric Diving SuitAtmospheric Diving Suit

Resemble space Resemble space SuitsSuits

One person One person SubmersibleSubmersible

Expensive to Expensive to maintainmaintain

OceanWorks Atmospheric Diving Suit (ADS)

The best current example of non-hyperbaric underwater intervention.

The secret is in the pressure balanced joints.

Note claws and limited visibility.

Unmanned VehiclesUnmanned Vehicles

ROVsROVs AUVsAUVs Hybrid VehiclesHybrid Vehicles

ROVsROVs

Free-SwimmingFree-Swimming Bottom CrawlingBottom Crawling Structurally Structurally

ReliantReliant

Free Swimming ROVsFree Swimming ROVs

All are tetheredAll are tethered Tether provides, Tether provides,

power and datapower and data Equipped with Equipped with

video/TV Camerasvideo/TV Cameras Highly Highly

maneuverablemaneuverable

Free Swimming ROVsFree Swimming ROVs

Heavy Duty Work Heavy Duty Work ClassClass

Work ClassWork Class High-Capability High-Capability

ElectricElectric Small (electric) Small (electric)

ROV Observation ROV Observation ClassClass

Heavy Work Class Heavy Work Class They primarily service the oil and gas industryThey primarily service the oil and gas industry 225 Horsepower - 2900 pounds of vertical lift225 Horsepower - 2900 pounds of vertical lift Multiple heavy toolsMultiple heavy tools

Work ClassWork Class

MillenniumMillennium

Electro-Hydraulic

100-200 HP

Drilling support, Construction, Pipeline or Inspection

High-Capability ElectricHigh-Capability Electric

Compact work class Compact work class systemsystem

Not as powerful as Not as powerful as hydraulic hydraulic

2000-4000 lbs2000-4000 lbs Payload 220-440 lbsPayload 220-440 lbs Depth capacity to Depth capacity to

approximately approximately 3,000’3,000’

Small (electric) ROVSmall (electric) ROV(Observation Class)(Observation Class)

Lower CostLower Cost Usually less than 10 Usually less than 10

HPHP Used for inspection Used for inspection ObservationObservation Search and RescueSearch and Rescue Scientific Scientific

ExplorationExploration

Bottom Crawling ROVsBottom Crawling ROVs

Large Large Heavily WeightedHeavily Weighted Used for Used for

trenching and trenching and burying cableburying cable

500 Horsepower Cable and Pipeline, Trencher

Structurally Reliant ROVsStructurally Reliant ROVs

Attached to Attached to various types of various types of underwater underwater structuresstructures

Used for cleaning Used for cleaning or inspecting or inspecting structure they are structure they are attached toattached to

AUVsAUVsAutonomous Underwater Autonomous Underwater VehiclesVehicles

Tether lessTether less Carries own Carries own

powerpower No pilotNo pilot Pre-ProgrammedPre-Programmed Easy Launch and Easy Launch and

RecoveryRecovery

GlidersGliders

Require less Require less stored energystored energy

Hybrid VehiclesHybrid Vehicles

NereusNereus Can be operated Can be operated

as an ROV or as as an ROV or as an AUVan AUV

http://http://www.whoi.edu/www.whoi.edu/home/home/interactive/interactive/nereus/nereus/

Non-VehiclesNon-Vehicles

Underwater HabitatsUnderwater Habitats Tow fishTow fish Anchored PlatformsAnchored Platforms

Underwater HabitatsUnderwater Habitats

Tow fishTow fish

Anchored PlatformsAnchored Platforms