Abstract: A vessel wave heading control apparatus is disclosed for use on a floating vessel. Linear acceleration signals from two accelerometers, which sense the rotational acceleration of the vessel due to waves which impact the vessel from a particular direction, are processed by a computer which subsequently produces vessel heading change signals to the steering and propulsion means of the vessel. These signals indicate the required heading and required rate of change of vessel heading necessary to turn the vessel into the direction of the oncoming waves in a timely manner.

Abstract: Operators of submerged remotely operated vehicles (R.O.V.)'s must typically view the subsea environment by use of a submerged television camera carried by the R.O.V. Often no part of the vehicle is visible to the operator to give him a natural indication of the direction in which the camera is facing with respect to the vehicle. The apparatus of the present invention generates an artificial "crosshair" on his television viewing screen representing a selected reference axis of the vehicle. This not only reduces directional disorientation of the operator but also gives him a line of sight, independent of camera direction, which he can use to establish the azimuth of subsea features with respect to the vehicle's compass.

Abstract: A manipulator apparatus carried by a remotely operated vehicle is provided with a suction device capable of gripping underwater objects. The suction portion of the manipulator apparatus utilizes suction chambers isolated from the body of water. When fluid is removed from the suction chambers an appropriately shaped moveable wall moves inwardly thereby forming a suction cavity between the suction device and the object to be moved.The moveable wall may take the form of a rubber-like flexible membrane wall or a piston moveable within the suction portion of the manipulator apparatus.

Abstract: A manipulator apparatus carried by a remotely operated vehicle is provided with a suction device having a flexible membrane wall capable of gripping underwater objects. The suction portion of the manipulator apparatus utilizes expansion chambers isolated from the body of water in combination with the flexible membrane wall which when expanded outward contacts and forms a suction cavity between the manipulator object and the object to be manipulated.

Abstract: Method and apparatus for use in a floating vessel subjected to wave action, used to determine the proper vessel heading so that the longitudinal axis of the vessel will be positioned parallel to the direction of oncoming waves, thereby reducing the risk of capsizing of the vessel. The apparatus comprises a mass elastically suspended from a portion of the vessel structure. Observation of the direction of rotation of the mass allows the helmsman to determine what direction to steer the vessel so that the vessel remains headed into the waves.