Abstract
A micro-computer controlled tethered vehicle JTV-1 (JAMSTEC Tethered Vehicle-1) was designed and fabricated in Japan Marine Science and Technology Center (JAMSTEC). JTV-1 is capable of operating to depths of 200 m. It is designed small in size and light in weight, so can be transported by 2 or 3 persons. The vehicle has a spherical pressure hull of casted aluminum alloy with a spherical acrylic window. Four cylinder type magnetic torque coupling thrusters penetrate through the wall of the pressure hull. The vehicle is equipped with a TV camera (sensitivity 0.5 lux, \pm 60 degree tilt), two 150 watt tungsten halogen lamps, magnetic compass, depth meter and 35 mm still camera. The system utilizes a micro-computer based control unit which controls 4 thrusters, automatic depth keeping and digital bi-directional telemeter channels.
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