## 4 Illustration: Technology Roadmapping in the Case of Underwater Vehicles
### Phase 4: MA-Based TRM for Existing Technologies and Products
\begin{table}
\begin{tabular}{c c} \hline \hline
**Category** & **Products** & **Description Based on Morphology Analysis** \\ \hline \multirow{6}{*}{GAVIA} & Battery: lithium-ion—Communication: iridium, acoustic modem, wireless LAN—Navigation: GNSS, DGPS, DVL, IBL, USBL—Sensor: swath bathymetry module, telepleve blueview microbathymetry and gapfill, side-scan sonar, telydyne benths sub-bottom profiler (SBP), environmental sensor—Shape: cylindrical \\ \cline{2-2}  & SEAGLIDER & Sensor: pressure sensor, turbulence sensor—Pump: vacuum pump—Shape: wings, fish—Localization: GPS, iridium communication \\ \cline{2-2}  & HUGIN & Sonar: side-scan sonar, synthetic aperture sonar, multibeam echo sounder, fishery sonar, laser plankton counter—Battery: lithium polymer battery, aluminum oxygen semi-fuel cell—Winch: L/R system winch—Shape: torpedo, cylindrical—Equipment carrying system: stinger ramp system \\ \cline{2-2}  & MUNIN & Echo sounder: tailored EM 2040 multibeam—Battery: Li-ion—Sensor: paroxcientific digiquartz depth sensor—Localization and communication: HiPAP acoustic positioning and communications, Iridium, wifi, cNODE acoustic command and data link—Navigation: multibeam echosounder and side-scan sonar—Shape: cylindrical \\ \cline{2-2}  & REMUS & Navigation: IBL, GPS, INS, acoustic, WAAS, Iridium—Battery: Li-ion battery—Sonar: bathymetric side-scan sonar, gap-filler sonar—Shape: cylindrical—Localization: acoustic transponder, acoustic modem, iridium modem—Communication: acoustic modem, iridium, WiFi, Ethernet—Propulsion: DC brushless motor \\ \hline \multirow{6}{*}{LBV} & Motion form: 4-axis maneuverability—Camera: high-intensity LED tracking camera, HD and zoom camera—Motor: brushless DC thruster—Equipment carrying system: reel optional, integrated tether reel with slip ring, optional wheeled crawler skid assembly with patented vortex generator—Sonar: flexible platform, imaging, scanning, profiling —Arm: three jaw—Shape: box \\ \cline{2-2}  & REMOTEFLYER & Sonar: Didson sonar system—Movement: 4-axis translation—Motor: brushless DC motor—Propeller: stainless steel—Nozelle: nylon Kort nozzle—Camera: High-resolution color video, high-Ifotation jacket over Kevlar braid—Sensor: depth, heading \\ \cline{2-2}  & MINIROVER & Sensor: heading and depth, pitch/roll—Camera: high-resolution zoom color camera and low light-level B\&W—Body material: ultra-high molecular weight polyethylene—Thruster: magnetically coupled DC brushless thruster \\ \cline{2-2}  & H-ROV & Material: stainless steel, GRP—Arm: 5-axis electric, 7-axis electric—Camera: multiple PTZ video camera—Navigation: horizontal and vertical DVL—Sonar: SSS, MBES \\ \hline \multirow{6}{*}{SEAROVER} & Camera: high-resolution color camera, ultra-low-light B\&W camera, 180° tilt camera NTSC/PAL—Motion form: 3-axis translation—Propeller: Stainless steel—Nozelle: nylon Kort nozzle—Tether: dual coax—Thruster: magnetically coupled brushless thruster \\ \cline{1-1} \cline{2-2}  & SEAROVER & NICE: NTo build the linkages between product nodes, the cosine similarity values between different products are determined with document vectors based on Equation (1), as presented in Table 8. In this demonstration, a similarity value greater than 0.3 is represented as a dotted line, and a similarity value greater than 0.5 is represented as a solid line. A dotted line indicates that the relationship between the two products is weak, while a solid line indicates that it is strong. The linkage between the technology layer and the product layer is determined by calculating the cosine similarities between each product node and technology node, as shown in Table 9. In this illustration, the five largest values that are over 0.1 are selected as the guideline to link the technology layer and product layer. T2 and the product \"H-ROV\" are excluded from the TRM because of their low values compared with others.