Abstract

The NASA Phantom system is a mixture of newly developed items, existing products that have been modified for use with this system, and off-the-shelf production items. This prototype ROV system explores new concepts for human/machine interfaces that may provide the operator with a feeling of telepresence. Emphasis was placed on portability and cost-effectiveness. Systems that prove effective in the underwater environment may be used for analogous applications in space.

The physical layout of the NASA Phantom varies significantly from production Phantoms to make it better suited for manipulative tasks. It is relatively long and narrow, with two vertical thrusters for vertical motion and pitch correction and two lateral thrusters for steering and lateral translation. Two horizontal thrusters are used for forward and reverse propulsion. DOE's unique high-velocity pan-and-tilt carries a stereo pair of color video cameras. The key to the telepresent control system is the Pilot's Control Chair.

Dimensions L x W x H: 71" x 27" x 27" (180 cm x 68 cm x 68 cm)
Weight: 450 lb (204 kg)
Depth rating: 1000ft (300m)