.: Torpedo Recovery The objective of this scenario is to perform the safe retrieval of an MK48 Torpedo from the bottom of the seafloor. This is achieved by attaching a specialized skid onto the ROV. This skid will have controls for latching and unlatching onto MK48 Torpedoes. Look in the VMX folder to find a VMAX player file with a trainee completing the scenario.

.: Introduction

At the start of the scenario, there will be four (4) MK48 Torpedoes littered on the sea floor. It is the job of the ROV Pilot to retrieve the torpedoes. The ROV is equipped with a specialized Torpedo Recovery Skid.

.: Controlling the Skid

The Torpedo Recovery Skid (TRS) is designed to be highly buoyant. This aids the ROV in carrying the weight of the MK48 Torpedo when it the torpedo is grabbed. The TRS comes equipped with eight (8) weights to help keep the skid, when attached to the ROV, neutrally buoyant in the water. Once the Torpedo is grabbed you can release the weights in order to allow the full buoyancy of the TRS to be applied. With a torpedo grabbed and the weights released the ROV will remain neutrally buoyant.

The TRS has two (2) cameras mounted in the interior of the chassis. Both cameras have rotation and pitch controls.  The exterior of the TRS has many guards to keep the Floatation objects from being unnecessarily harmed. The interior of the chassis holds the Torpedo grabbing mechanism. This grabbing mechanism can extend downwards as well as slide forwards and backwards down the length of the ROV.

.: Procedure

In order to retrieve the MK48 Torpedo the ROV must be piloted to a torpedo that is lying on the sea floor. The ROV pilot must use the TRS and its grabbing mechanism to attach to and grab the torpedo. Once the torpedo is grabbed, the weights of the TRS must be released. At this point the ROV will be retrieved and the TRS will be refitted with weights.

The following will allow for retrieval of an MK48 Torpedo:
1. Survey the sea floor for MK48 Torpedoes. Four (4) torpedoes exist in this scenario. (Ref A)
2. Pilot the ROV to any of the torpedoes.
3. Using the ROV cameras and TRS cameras position the ROV above the Torpedo. (Ref B)
4. Lower the grabbing mechanism’s cradle.
5. Open the grabbing mechanism on the TRS. (Ref C)
6. Gently lower the ROV as to make sure the Torpedo lies peacefully in the middle of the grabbing mechanism. (Ref D)
7. Once a proper fit is established, close the grabbing mechanism. (Ref E)
8. The ROV will now be too heavy to pilot, so you must release the weights on the TRS. (Ref F)
9. Once the weights are released you are free to move the ROV about the scenario.
10. Raise the grabbing mechanism’s cradle.

.: Notes to remember

You can release the weights on the TRS at any time during the scenario.  However, releasing the weights without a torpedo means that the attached skid will be too buoyant for the ROV and thus you will not be able to pilot the ROV.  This will eventually result in a cut Tether.

You may change the order for steps 4, 5, and 6 and it will not interfere with the accomplishment of the mission, however you should use the TRS cameras to ensure slow and steady grabbing of the Torpedo.

.: Reference Pictures

A
B
C
D
E
F

.: Control Scheme

Action	Control System	Manifold	Valve	Control
TRS – Grabbing Mechanism Carriage Down/Up	XLS and XL	2	1	A – Down B – Up
	XLX	3	3
TRS – Grabbing Mechanism Carriage Slider	XLS and XL	2	2	A – In B – Out
	XLX	3	4
TRS – Grabbing Fingers	XLS and XL	2	3	A – Open B – Close
	XLX	3	5
TRS – Port Camera Pan	XLS and XL	2	4	A – Left B – Right
	XLX	3	6
TRS – Port Camera Tilt	XLS and XL	2	5	A – Up B – Down
	XLX	3	7
TRS – Starboard Camera Pan	XLS and XL	2	6	A – Left B – Right
	XLX	3	8
TRS – Starboard Camera Tilt	XLS and XL	2	7	A – Up B – Down
	XLX	3	9
TRS – Release Weights	XLS and XL	2	8	A – Release B – Release
	XLX	3	10

© Copyright VMAX Technologies, Inc. 2009, All rights reserved.