The ROV Manual

The ROV Manual

A User Guide for Remotely Operated Vehicles

2nd Edition - October 16, 2013

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  • Authors: Robert Christ, Robert Wernli, Sr.
  • Hardcover ISBN: 9780080982885
  • eBook ISBN: 9780080982915

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Written by two well-known experts in the field with input from a broad network of industry specialists, The ROV Manual, Second Edition provides a complete training and reference guide to the use of observation class ROVs for surveying, inspection, and research purposes. This new edition has been thoroughly revised and substantially expanded, with nine new chapters, increased coverage of mid-sized ROVs, and extensive information on subsystems and enabling technologies. Useful tips are included throughout to guide users in gaining the maximum benefit from ROV technology in deep water applications.  Intended for marine and offshore engineers and technicians using ROVs, The ROV Manual, Second Edition is also suitable for use by ROV designers and project managers in client companies making use of ROV technology.

Key Features

  • A complete user guide to observation class ROV (remotely operated vehicle) technology and underwater deployment for industrial, commercial, scientific, and recreational tasks
  • Substantially expanded, with nine new chapters and a new five-part structure separating information on the industry, the vehicle, payload sensors, and other aspects
  • Packed with hard-won insights and advice to help you achieve mission results quickly and efficiently


Marine and offshore engineers using remotely operated vehicles for research, surveying, inspection and maintenance

Table of Contents

  • Foreword



    Part 1: Industry and Environment

    Chapter 1. The ROV Business

    1.1 The ROV

    1.2 Types of ROV services

    1.3 ROV economics

    1.4 ROV services by industry

    1.5 Conclusions

    Chapter 2. The Ocean Environment

    2.1 Physical oceanography

    2.2 Chemical oceanography

    2.3 Ocean dynamics

    Part 2: The Vehicle


    Chapter 3. Design Theory and Standards

    3.1 A bit of history

    3.2 Underwater vehicles to ROVs

    3.3 Autonomy plus: “why the tether?”

    3.4 Vehicle classifications

    3.5 Design theory

    3.6 Standards and specifications

    Chapter 4. Vehicle Control and Simulation

    4.1 Vehicle control

    4.2 Simulation

    Chapter 5. Vehicle Design and Stability

    5.1 Vehicle design

    5.2 Buoyancy and stability

    Chapter 6. Thrusters

    6.1 Propulsion and thrust

    6.2 Thrusters and speed

    6.3 Electric versus hydraulic

    Chapter 7. Power and Telemetry

    “Failure is not an option!”

    7.1 Electrical considerations

    7.2 Control systems

    Chapter 8. Cables and Connectors

    8.1 Introduction

    8.2 Definitions

    8.3 Applications and field requirements, writing specifications

    8.4 Underwater connector design

    8.5 COTS underwater connectors

    8.6 Reliability and quality control

    8.7 Field maintenance

    8.8 Underwater cable design

    8.9 Testing and troubleshooting

    8.10 Tips from the field

    8.11 Summary


    Chapter 9. LARS and TMS

    9.1 Free-flying vehicle deployment techniques

    9.2 TMS-based vehicle deployment techniques

    9.3 Currents and tether management

    Chapter 10. Video

    10.1 History

    10.2 How it works

    10.3 Digital video

    10.4 Video capture

    10.5 Video compression

    10.6 Video over Internet protocol

    10.7 Video documentation

    10.8 Documentation and disposition

    10.9 Underwater optics and visibility

    Chapter 11. Vehicle Sensors and Lighting

    11.1 Vehicle sensors

    11.2 Vehicle lighting

    Part 3: Payload Sensors

    Chapter 12. Sensor Theory

    12.1 Theory

    12.2 Sensor categories

    12.3 Common ROV sensors

    12.4 The future

    Chapter 13. Communications

    13.1 Overview

    13.2 Transmission

    13.3 Communication

    13.4 Standard protocols

    Chapter 14. Underwater Acoustics

    14.1 Introduction

    14.2 Sound propagation

    14.3 Transducers

    14.4 Acoustic noise

    Chapter 15. Sonar

    15.1 Sonar basics

    15.2 Sonar types and interpretation

    15.3 Sonar techniques

    15.4 New and emerging technologies

    Chapter 16. Acoustic Positioning

    16.1 Acoustic positioning—a technological development

    16.2 What is positioning?

    16.3 Theory of positioning

    16.4 Basics of acoustic positioning

    16.5 Sound propagation, threshold, and multipath

    16.6 Types of positioning technologies

    16.7 Advantages and disadvantages of positioning system types

    16.8 Capabilities and limitations of acoustic positioning

    16.9 Operational considerations

    16.10 Position referencing

    16.11 General rules for use of acoustic positioning systems

    Chapter 17. Navigational Sensors

    17.1 Payload sensors versus vehicle sensors

    17.2 Gyros

    17.3 Accelerometers

    17.4 Inertial navigation systems

    17.5 Bathymetric sensors

    17.6 Conductivity, temperature, depth (CTD) sensors

    17.7 Altimeters

    17.8 Doppler velocity logs

    17.9 Inclinometers

    17.10 Long baseline arrays

    17.11 Ultrashort baseline arrays

    17.12 Combined instruments

    Chapter 18. Ancillary Sensors

    18.1 Nondestructive testing definition and sensors

    18.2 Metal object detection

    18.3 Flooded Member Detection (FMD)

    18.4 Cathodic potential sensors

    18.5 Ultrasonic metal thickness

    Part 4: Manipulators and Tooling

    Chapter 19. Manipulators

    19.1 Background

    19.2 Manipulator types

    19.3 Joint design

    19.4 Range of motion and workspace

    19.5 Types of controllers

    19.6 Hydraulic versus electrical power

    19.7 Subsea interface standards

    Chapter 20. Tooling and Sensor Deployment

    20.1 Manipulator-operated tooling

    20.2 Remotely operated (ROV-positioned) tooling and sensors

    20.3 Conclusion

    Part 5: In the Field

    Chapter 21. Practical Applications

    21.1 Explosive ordnance disposal and mine countermeasures

    21.2 Commercial, scientific, and archeological operations

    21.3 Public safety diving

    21.4 Homeland security

    21.5 Conclusion

    Chapter 22. It’s the Little Things That Matter

    22.1 Standard operating procedures

    22.2 Servicing and troubleshooting

    22.3 Putting it all together

    Chapter 23. The Future of ROV Technology

    23.1 Standard ROVs

    23.2 Fiber-optic linked ROVs

    23.3 Autonomous ROVs

    23.4 The crystal ball

    23.5 The bottom line



Product details

  • No. of pages: 712
  • Language: English
  • Copyright: © Butterworth-Heinemann 2013
  • Published: October 16, 2013
  • Imprint: Butterworth-Heinemann
  • Hardcover ISBN: 9780080982885
  • eBook ISBN: 9780080982915

About the Authors

Robert Christ

Robert D. “Bob” Christ is President of SeaTrepid International, a full-service subsea robotics company operating a fleet of over 35 ROVs worldwide. He began his ROV career with Oceaneering then continued on as a co-founder of VideoRay (a leading OCROV manufacturer) and has continued his career as the founder of SeaTrepid. He has dual BS degrees from Louisiana Tech University and lives in heart of the US Offshore Oil & Gas industry in Southeastern Louisiana.

Affiliations and Expertise

President of SeaTrepid International

Robert Wernli, Sr.

Robert L. Wernli Sr. is President of First Centurion Enterprises. He is an engineering consultant with 40 years experience in the field of ROVs and undersea technology. In addition to his technical publications, he is an award-winning author in fiction where he is continuing his work on a series of underwater techno-thrillers.

Affiliations and Expertise

President of First Centurion Enterprises

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