Thrust, Yaw, Pitch: 



A total of 18 vehicles obtains these three de- 

 grees of freedom utilizing three different ap- 

 proaches. Pitch in all cases is provided by dive 

 planes; yaw is obtained in two instances with 

 other than rudders, 

 rudders. 



a) In the most general situation, maneu- 

 vering consists of a fixed, reversible 

 stern propeller, a rudder and dive 

 planes; the only variation is in the loca- 

 tion (and shape) of the dive planes. The 

 following vehicles have bow planes: 

 NAUTILETTE, NEKTON A, B, and C. 

 PC-3A1 and 2, PC-3B, PC3-X and 

 SPORTSMAN 300 and 600. Aft dive 

 planes are found on the MINI DIVER 

 and Martine's SUBMANAVT (Fig. 8.11) 

 while the dive planes are mounted amid- 

 ships on SEA-RAY. KUROSHIO II com- 

 bines both fore and aft planes with a 

 rudder. While the location of planes var- 

 ies, the motions obtainable are equiva- 

 lent and PC-3B (Fig. 8.19c) is used to 

 demonstrate this arrangement. 



b) In place of a rudder, AQUARIUS I has a 

 trainable stern propeller (90° port/star- 

 board) to provide yawing motion. This 

 propeller is also reversible and a bow 

 plane provides pitch motion (Fig. 8.19d). 

 PAULO I had a similar system, but its 

 dive planes were mounted aft in a fash- 

 ion similar to Martine's SUB MAN AUT . 



c) AUGUSTE PICCARD has both fore and 

 aft hydraulically controlled dive planes 

 (called hydroplanes) to provide pitch. To 

 obtain yaw, its Kort nozzle can be di- 

 rected 25 degrees to port or starboard 

 while its fixed, reversible stern propel- 

 ler remains in one position. While the 

 approach to yaw is different from those 

 of PC-8 and its associates, the result is 

 the same. Figure 8.19e shows only the 

 motion of the Kort nozzle on AUGUSTE 

 PICCARD. 



d) TOURS 64 and 66 employ a rudder and 

 port and starboard mounted propellers 

 amidships. Both propellers are reversi- 

 ble and capable of 210 degrees of rota- 

 tion in the vertical plane. 



Thrust, Yaw, Heave, Pitch: 



By including vertical thrusters in a propel- 



ler/rudder/planes arrangement, the motion 

 of heave is included in two vehicles. 



a) ALUMINAUT (Fig. 8.19f) employs two 

 fixed, reversible stern propellers, a 

 fixed, reversible vertical thruster top- 

 side amidships, a hydraulically-powered 

 rudder and aft dive planes. 



b) SURVEY SUB 1 or TS-1 (Fig. 8.19g) 

 obtains similar maneuverability using 

 one fixed, reversible stern propeller, one 

 fixed, reversible, lateral bow thruster, 

 one fixed, reversible, vertical bow thrus- 

 ter, bow planes and a rudder. 



Thrust, Yaw, Heave, Pitch, Roll: 



BEN FRANKLIN(Fig. 8.19h) is equipped 

 with four 360-degree, rotatable, reversible 

 thrusters mounted port and starboard, fore 

 and aft. Hydraulically-powered rudders as- 

 sist in yaw motion. The roll motion is as- 

 sumed to be obtainable by orienting the port 

 and starboard pairs in vertical opposition to 

 each other, though this effect is not stated 

 by the manufacturers. 

 Trust, Yaw, Heave, Pitch, Sidle: 



By various arrangements of thrusters, 

 rudders and planes, seven vehicles obtain 

 these motions, each with a system different 

 from the others. 



a) VOL-Ll (Fig. 8.19i) has one 180-degree 

 laterally trainable, reversible, stern pro- 

 peller, one fixed, reversible, lateral bow 

 thruster and one vertical thruster aft 

 and dive planes port and starboard 

 amidships. 



b) DEEP DIVER (Fig. 8.19J) has one 180- 

 degree laterally trainable, reversible, 

 stern propeller, one bow thruster capa- 

 ble of rotating 360 degrees in the verti- 

 cal plane, one fixed, reversible, aft lat- 

 eral thruster and bow dive planes. 



c) HAKUYO (Fig. 8.19k) has one 180-degree 

 laterally trainable, reversible, stern pro- 

 peller, two fixed, reversible, vertical 

 thrusters fore and aft, one lateral thrus- 

 ter forward and bow planes. 



d) SEA OTTER (Fig. 8.191) has one fixed, 

 reversible, stern propeller, two fixed, re- 

 versible, lateral thrusters fore and aft, 

 one fixed, reversible, bow thruster and a 

 rudder. 



e) SHELF DIVER (Fig. 8.19m) has one 180- 

 degree laterally trainable, reversible, 

 stern propeller, two fixed, reversible. 



387 



