| 摘要 |
A method of performing an under water operation on a structure (10) or in the vicinity of the structure includes providing a device (18) having a movable arm (20) and at least a first support (22) constructed to be connected to the structure, the movable arm (20) directly or indirectly connected at a proximal end (34) to the support, the first movable arm having a first tool (30) connected to a distal end (36) of the first movable arm, at least one actuator (33) configured to controllably move the first tool (30) in a three dimensional working range in order to position the first tool at a target location, attaching the device to the structure via the at least one support, and-moving the tool in three dimensions and performing an operation under water. |
