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e x p l o r i n g t h e d e e p e s t d e p t h s a n o v e l l i g h t- t e t h e r e d（e x p l o r n g t h e d e e p e s t d e p v t h s n o e l l i g h t - t e t h e r e d）（35页）.doc

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Exploring the Deepest Depths: A Novel Light-Tethered Hybrid ROV for Global Science in Extreme Environments Andrew D. Bowen, Dana R. Yoerger, Louis L. Whitcomb, Daniel J. Fornari Woods Hole Oceanographic Institution, Woods Hole, Massachusetts 02543, USA Abstract This paper describes a new project to build an operational underwater vehicle that can perform scientific survey and sampling to the full depth of the ocean (11000 meters). The vehicle, called HROV for Hybrid Remotely Operated Vehicle, will operate in two different modes. For broad area survey, the vehicle will operate in fully autonomous, untethered mode and will be able to map the seafloor with sonars and cameras. After targets of interest have been found, the vehicle will be converted at-sea to an ROV mode that will permit close up imaging and sampling. The ROV mode will include an add-on capability for cameras, lights, a manipulator, and sampling gear. In ROV mode, a lightweight fiber optic cable to the surface will permit the high bandwidth feedback to the surface to permit high-quality teleoperation. The paper outlines the scientific motivation for the project as well as the feasibility of our design concept. Analysis of the fiber optic cable shows our approach to be practical even with fairly extreme current profiles. An overall approach to the vehicle design is also presented, including options for pressure housings and buoyancy materials. Introduction Our goal is to provide the U.S. oceanographic community with the first capable and cost-effective technology for regular and systematic access to the world’s oceans to 11,000 meters. The vehicle will be able to operate untethered as a fully autonomous vehicle, and also as a self-powered vehicle employing a 3mm diameter optical fiber tether for real-time telemetry of data and video to its human operators on a surface ship. We term this new class of vehicle a Hybrid Remotely Operated Vehicle (HROV). The HROV, depicted in Figure 1, will have cap