The present invention relates to a device for positioning submarine pipeline robots and method. The demodulator has a sampler to sample the source signal in sampling periods and to compare signal samples with at least one of other signal samples and a clock or reference signal to remove or reject the carrier of the received RF signal and to extract the modulation. The carriage assembly comprises a fixed section and at least one extending section. The PEs are executed on the processors in accordance with the computed order and the scheduling policy, to produce a simulation result.