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LARS and TMS 9 CHAPTER CONTENTS
9.1 Free-flyingvehicledeploymenttechniques.....................................................................................222
9.1.1 Directlydeployed/free-flying......................................................................................222
9.1.2 Tethermanagementsystem.......................................................................................223
9.2 TMS-based vehicle deployment techniques ....................................................................................226
9.2.1 Winches..................................................................................................................227
9.2.1.1 Standardwinch....................................................................................................231 9.2.1.2 Traction winch...................................................................................................... 232 9.2.1.3 Heavecompensation............................................................................................232
9.2.2 Tether management systems...................................................................................... 234
9.2.3 Launch and recovery systems .................................................................................... 236
9.3 Currents and tether management....................................................................................................241
9.3.1 Tethereffects...........................................................................................................242 9.3.2 Currents..................................................................................................................244 9.3.3 Teamworkandpropertethermanagement...................................................................244 9.3.4 Tethersnags.............................................................................................................245 9.3.5 Tether guides and ROV traps...................................................................................... 246 9.3.6 Clump weights and usage.......................................................................................... 247 9.3.7 Rulesfordeployment/tethermanagement...................................................................247
The most sophisticated and capable remotely operated vehicles (ROVs) to date are fully deployed and operational all over the world. However, these vehicles must be launched, recovered, and oper- ated safely and efficiently in order to be functional. The tether is an asset because it provides the capability for the working end of the system to get to the operational location; however, the tether is also a major problem because it can become damaged or entangled, which could result in the loss of the vehicle. Therefore, this section will address two areas: (i) launch and recovery systems (LARS) along with tether management systems (TMS) and (ii) the management of the tether itself. This manual addresses the operation of ROVs of various sizes, and each category of vehicle has its own areas of concern. However, even heavy WCROVs can be crane or A-frame launched (i.e., in free-flying configuration as opposed to TMS-based launch) while even smaller OCROVs can be TMS based. The descriptions below divide the launch and recovery techniques by the presence/
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© 2014 Robert D Christ and Robert L Wernli. Published by Elsevier Ltd. All rights reserved.
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