国家重点研发计划(2017YFC1404704)
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Figure 1
(Color online) Conch ROV
Figure 2
(Color online) (a) “6000 m" deep sea ROV; (b) “Hippocampus" ROV
Figure 3
(Color online) (a) The rescue ROV discovers the losing ROV; (b) the rescue ROV grabs the losing ROV
Figure 4
(Color online) (a) Put the losing ROV in the basket; (b) the basket takes back the losing ROV
Figure 5
(Color online) (a) Actual satellite imagery; (b) multibeam Sonar imagery
Figure 6
(Color online) (a) Drop ROV from shipside; (b) drop markers based on the location of ROV
Figure 7
(Color online) ROV observes the cage underwater
| Manufacturer | Product model | Vehicle | Performance index |
| ELAC Nautik | ELAC SeaBeam 3020 | Vessel | Depth rating 50$\sim$9000 m, beam width 1$^{\circ}$/2$^{\circ}$, depth accuracy in accordance with IHO SP44 for depths greater than 100 m |
| R2SONIC | SONIC 2026 | ROV/AUV, vessel | Sounding depth 800 m, beam width 0.45$^{\circ}$$\times$0.45$^{\circ}$ (450 kHz), resolution 1.25 cm |
| Atlas | Hydrosweep MD/30 | Vessel | Sounding depth 5$\sim$7000 m, beam width 1$^{\circ}$$\times$1$^{\circ}$, resolution 6 cm |
| Reson | Reson SeatBat IDH T50-R | Vessel | Sounding depth 0.5$\sim$550 m, beam width 0.5$^{\circ}$/1$^{\circ}$/2$^{\circ}$, resolution 6 mm |
| Manufacturer | Product model | Vehicle | Performance index |
| Teledyne BlueView | BlueView P900 | ROV/AUV, vessel, etc. | 2D imaging sonar, depth rating 1000 m, beam width 1$^{\circ}$$\times$20$^{\circ}$, resolution 2.5 cm |
| Tritech | Gemini 720im | ROV/AUV, vessel | 3D imaging sonar, depth rating 200 m, beam width 90$^{\circ}$$\times$20$^{\circ}$, resolution 8 mm |
| Teledyne BlueView | BlueView BV5000 | ROV/AUV | 3D imaging sonar, depth rating 300 m, beam width 1$^{\circ}$$\times$1$^{\circ}$, resolution 1.3 cm |
| Sound Metrics公司 | ARIS VOYAGER 3000 | ROV/AUV | 3D imaging sonar, depth rating 4000 m, beam width 0.3$^{\circ}$$\times$15$^{\circ}$/0.2$^{\circ}$$\times$15$^{\circ}$, resolution 3 mm$\sim$10 cm |
| Manufacturer | Product model | Depth rating (m) | Manipulator | Main tools |
| WHOI | Jason 2/ Medea | 6000 | Two 7-function manipulators, Schilling Orion, Kraft Predator II | 12 cameras, optional tools, samplers, etc. |
| ISE | HYSUB-150 | 6000 | Two 7-function manipulators | 6 cameras; optional tools,such as cutter, sampler, etc. |
| MBARI | Tiburon | 4000 | Two 7-function manipulators, Schilling Conan, Kraft Raptor | 2 cameras, optional tools,such as drill, sampler, etc. |
| MBARI (ISE) | Ventana | 1850 | Two 7-function manipulators, Schilling Titan3, ISE Magnum | 11 cameras, drill, etc. |
| SAAB Seaeye | Jaguar | 6000 | one 7-function manipulators, one 4-function manipulators, Schilling Orion 7P, Schilling Orion 4R | 2 cameras, optional tools, samplers, etc. |
| Manufacturer | Product model | Vehicle | Performance index |
| FMC Schiling | ORION 7P/7R | light-/medium-class ROV | 7-function position/rate controlled hydraulic manipulator, weight 54 kg (air)/38 kg (water), standard depth 6500 msw |
| FMC Schiling | TITAN 4 | ultra-heavy work class ROV | 7-function position controlled hydraulic manipulator, weight 100 kg (air)/78 kg (weight), standard depth 4000 msw/7000 msw |
| FMC Schiling | CONAN 7P | light-/medium-class ROV | 7-function position controlled hydraulic manipulator, weight 107 kg (air)/ 73 kg (water), standard depth 3000 msw |
| SAAB Seaeye Hydro-Lek | HLK-43000 | light-class ROV | 5-function manipulator, weight 6 kg (air)/4 kg (water), standard depth 80/160 bar |
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