Dutch research on development of direct observation techniques started with the purchase of an underwater towed vehicle of type "Mermaid Explorer" in 1985. Targets for further development were observation of a wider range of fishing gears, with speeds up to 7 knots, and inspections of the marine environment requiring low-speed operation. A feasibility analysis showed the potential of an increase in magnus rotor performance. The single towing mode will be extended by a propelling mode (hovering mode). The two modes are to be interswitched without paying back. Performance measurements on several rotor configurations were conducted as part of the vehicle design process. A cross lay-out with four rotors reached the greatest depth in the shortest amount of time. A spherical rotor appeared to be ineffective.
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