1997 – “DeepWorker 2000” Submersible – Phil Nuytten (Canadian)

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The one-atmosphere DeepWorker 2000 submersible allows a pilot to go deeper and spend more time below the surface than traditional diving methods. The sub comes with external manipulators to tackle serious underwater jobs.

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HydroNewt Manipulators having a standard reach of 5 feet.


Submersible
Publication number    USD461445 S1
Publication type    Grant
Application number    US 29/152,829
Publication date    13 Aug 2002
Filing date    3 Jan 2002
Priority date    4 Jul 2001
Inventors    Phil Nuytten, Mike Humphrey
Original Assignee    Nuytco Research Ltd.

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1979 – OMAS SPIDER Atmospheric Diving Suit – Graham Hawkes (British)

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1979 –  OMAS SPIDER Atmospheric Diving Suit.

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Underwater World – 1978, Volumes 1-2 – Page 43
A new atmospheric diving suit called OMAS has recently been developed by Vickers Slingsby, and two of these are already in use by the Aberdeen-based diving and underwater engineering company, Wharton-Williams. Nicknamed 'Spider' by Wharton-Williams, this is the fifth A.D.S. to have been developed, the others being Oceaneering's 'JIM' and 'Sam', and OSEL's 'Wasp' and 'Mantis'.
OMAS (alias 'Spider') is guilt of glass reinforced plastic (GRP) and operates to a depth of around 600m. Handling problems sink hopes of Lloyd's certification for Omas, the Vickers-Slingsby one-man diving submersible OMAS,


Plastics and Rubber International – 1979, Volumes 4-6 – Page 7
OMAS (One Man Atmosphere Submersible) is the latest underwater development from Vickers-Slingsby. Constructed from BP Chemicals Cellobond A2785 CV glass reinforced polyester resin (GRP), the 2.2 metre long OMAS is tethered during operations to a mother-ship via an umbilical cord through which power is supplied. OMAS is shaped like a rigid space suit.


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01/01/2001. Source: here.
The Spider, owned by Silvercrest Submarines, has emerged after many years of dormancy. The Spider, built in the 1970s, has unique features not in use on other suits, including hydraulically operated manipulators and vectored thrusters that allow some lateral movement. The Spider is rated to a water depth of 610 meters. Alan Whitfield of Silvercrest Submarines, current owner of the two working Spiders said "the units are presently in Hawaii, in support of a scientific research program. The water depth in the area is 1,500 ft. In November 2000, it is expected that both suits will move to a facility on the US mainland for a maintenance program. After that time, the two units will be available for charter." It remains to be seen if the Spider will effectively compete in the ADS industry.  

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Interior view showing the divers seat and some of the controls. A view of the divers depth gauges etc. Scrubber units can be seen in the base of the vehicle and the auto pilot can be seen near the diver's head position.

The SPIDER had hydraulically operated manipulators. An adjustable pressure relief valve permitted varying the grip pressure.

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One Man 1 Atmosphere Submersible, also known as OMAS SPIDER.

Source: here.

The Spider 'Atmospheric' Diving Suit was produced in the 1970s for exploration and maintenance work in the North Sea. The Spider had a depth rating of 2000 feet and was used in many deep operations mainly from drilling rigs. It had an eclectically insulated GRP body and a Plexiglas hemispherical dome. The diver could operate articulated arms with powered claws capable of various tasks. Six variable direction motors and thrusters provide propulsion . For static operations there are suction pads for gripping smooth surfaces.

Atmospheric Diving Suits normally work in pairs for safety reasons to help release the trapped vehicle should this occur. This also enables round the clock operations.
The Spider was easily moveable and could be deployed very quickly. Apart from work in the Petrochemical industry it could be used for salvage and rescue work. The diver in the vehicle breathes normal air so could work for long periods sometimes eight hours a day without costly saturation diving systems. It was used until 1982 when it was replaced by the Draeger-Newt suit suit, designed by Dr Phil Nuytten from Canada.

Technical specification:
Height:     2,2 Metres
Width:     1.5 Metres
Displacement:     1200kgs
Depth rating:     610 Metres
Propulsion:     6 x 1 hp motors
Umbilical:     12 Tonne breaking strain
TV System:     Low light/colour /real time recording
Emergency power:     24 V 8 Ah for emergency communications

The Spider was completely self contained with power packs and oxygen supply on board giving up to 72 hours of emergency life support systems.

Spider-x640 The SPIDER (Self-Propelled Inspection Submarines DivER) was developed in the 1970's, in answer to the WASP. The basic design was very similar to the WASP, in that it had segmented ball and socket arm joints, a hemispherical pressure vessel for the legs and a 360° viewing dome (Wharton, 1979). One of the SPIDER's unique features were the two hydraulically operated suction pads, 'sticky feet', located in the equipment package that were intended to allow the SPIDER to attach itself to any relatively smooth surface, that is if you can find one in the barnacle encrusted sea. Additionally, rather than the 'standard' mechanical advantage manipulators found on other atmospheric diving suits, the SPIDER had hydraulically operated manipulators. An adjustable pressure relief valve permitted varying the grip pressure. Like the WASP, the SPIDER also has variable ballast control. Two SPIDERs, owned by Silvercrest Submarines, are currently operating in Hawaii in support of a scientific research program.

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Stamp showing the SPIDER.


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1978 – WASP Atmospheric Diving Suit – Graham Hawkes (British)

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WASP – A mid-water unit using thrusters and a tubular lower body section rather than articulated legs.

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Wasp, built by OSEL, Offshore Submersibles Ltd., U.K. The Wasp may be regarded as the next development step in that it maneuvers by the use of four hull-mounted thrusters. Essentially it is a one-atmosphere, armoured diving suit without legs. The Wasp has a depth capability of 610 m and has been used for drilling support since 1978.

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Graham Hawkes inside a WASP suit.

See Wasp 1:24 into clip.

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WASP Dive Suit TYPE 2A-x640 WASP Dive Suit TYPE 2-x640  wasp-diag-x640 wasp-inspection-x640 wasp-jack-x640  WASP-JIM-x640 WASP-oceaneering - copy-x640 Wasp-scotland-x640

The Manipulator/Limbs are aluminium construction, fully articulated, fluid-supported flexible arms with direct acting manipulators.

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Models of WASP.

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WASP – The WASP is a new-comer to the ADS Service line and essentially comprises a standard ADS upper body and vision dome system with tubular lower body. The unit is fitted with rotatable thrusters and "flys" in a manner similar to the most maneuverable of the current crop of small manned submersibles. The unit is fitted with the type 3 SAM arms and manipulators. Since WASP in not as widely known as "JIM", it may be appropriate to discuss the design and working concept in some detail.
The WASP unit nay be viewed as a hybrid between a very small submersible and the standard ADS articulated system. WASP is designed to work at depths up to 2,000 feet and receives power for its thrusters through a small diameter surface umbilical. A unique feature is the on-board battery system which acts as a buffer to allow spurts of full power that the umbilical would not be capable of supplying. In addition, the battery system acts as a safety device in that it provides for self-contained operation for nearly one hour, should the umbilical be severed. The umbilical can be detached from inside the WASP and the operator can surface using thruster power, or make a buoyant ascent by jettisoning ballast.
The WASP unit can alter buoyancy and altitude and is able to assume virtually any position by use of the rotating thruster. Since the operator has his arms occupied during work tasks, the unit is designed to be controlled by foot pedal motions similar to those used in driving a motor vehicle. WASP was designed by Graham Hawkes, an engineer who worked extensively with the JIM systems.

Note: The article was written by Phil Nuytten, co-founder of Oceaneering International. Nuytten later left Oceaneering and set up another company to build the HARDSUIT and EXOSUITs.

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Oceaneering's Wasp was originally designed by Graham Hawkes and built by Osel Ltd in the mid-1970s. Currently, there are seven Wasp 2As in service, and two under development, to be known as the WASP 3.


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1978 – “Mantis” Submersible – Graham Hawkes (British)

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1978 – "Mantis" Submersible.

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Sylvia Earle and Graham Hawkes.

Mantis, built by OSEL, U.K., designed by Graham Hawkes is the latest [c1978] development in the tethered submarine field. It is fitted with eight or ten electric thrusters and has two seawater hydraulically operated manipulators. The Mantis was built in 1978 and has been used for rig inspection and debri clearance operations.

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1989 – Shinkai 6500 Submersible – (Japanese)

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1989 – Shinkai 6500 Submersible.

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In Japanese, shinkai means deep sea. Aptly named, the Shinkai 6500 (しんかい) is a manned research submersible that can dive up to a depth of 6,500 m. It was completed in 1989 and until 2012 it had the greatest depth range of any manned research vehicle in the world. The Shinkai 6500 is owned and run by the Japan Agency for Marine-Earth Science and Technology (JAMSTEC) and it is launched from the support vessel Yokosuka.

Two pilots and one researcher operate within a 73.5 mm thick titanium pressure hull with an internal diameter of 2.0 m. Buoyancy is provided by syntactic foam.

Three 14 cm methacrylate resin view ports are arranged at the front and on each side of the vehicle. Source: Wiki.

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The SHINKAI 6500, owned by Japan Agency for Marine-Earth Science and Technology, can go deeper underwater than any other manned submarine can. It uses underwater manipulators designed by SCHILLING ROBOTICS, LLC., the world's top manipulator manufacturer for underwater robots.

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Schematic of Schilling manipulator arms as used by the Shinkai 6500.

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