FORWARD 



PORT 



STARBOARD 



REVERSE 



Fig. 8.33 Primary motor and variable ballast and pitch/trim control on BEAVER. 



pulling back. Side motion is effected by push- 

 ing the joystick in the desired direction of 

 movement. Directional changes are effected 

 by twisting the joystick. Depth and attitude 

 changes are commanded by rotating the trim 

 wheels. For emergencies, the propellers can 

 be stopped or reversed by pressing override 

 buttons. 



An unusual aspect of this control system is 

 the incorporation of the variable ballast con- 

 trol in the same component with the motor 

 controllers. The majority of vehicles locate 

 ballasting controls completely separate from 

 the motor controller. The backup control sys- 

 tem is adjacent to the primary system and 

 allows independent pod rotation and motor 



rpm control. Control in the backup mode 

 permits most maneuvers with the primary 

 system but requires more operator attention. 



ALUMINAUT: 



Vehicles as large as ALVMIISAUT, AU- 

 GUSTS PICCARD and BEN FRANKLIN are 

 generally operated by both pilot and co-pilot. 

 In the first two vehicles a third crewman 

 acts as engineer or, more precisely, elec- 

 tronic technician. AUGUSTS PICCARD had 

 all controls in the bow hemi-head where both 

 pilot and co-pilot were stationed. BEN 

 franklin's control station was slightly aft 

 of the bow on the port side and, when cruis- 

 ing near the bottom, the co-pilot operated 

 the controls on voice command from the pilot 

 who maintained visual contact with the bot- 

 tom from one of the forward viewports. ALU- 

 MINAUT operated similarly to BEN FRANK- 

 LIN, except that the pilot had the option of 

 controlling the vehicle from his forward posi- 

 tion with a portable control unit. ALUMI- 

 NAUT received thrust and yaw from two 

 reversible, 115- and 230-VDC motors of 5 hp 

 each and heave from a motor mounted atop 

 the vehicle with similar characteristics. 

 Stern planes and rudder were moved by a V4- 

 hp electric motor. The primary control panel 

 (Fig. 8.34) contains individual controls for all 

 thrusters, planes and the rudder, in addition 

 to motor monitoring devices (amperage, 

 rpm's, etc.). Motor speed for both forward 

 and reverse movement is Vs, ^/s and full. 

 Pitch control, by transfer of water fore or aft, 

 is also incorporated in this panel's trim pump 

 control. The portable control box (Fig. 8.35) 

 incorporates all features of the primary con- 

 trol panel except monitoring devices and 

 trim control. 



DSRV-1 & 2: 



The U.S. Navy's rescue vehicles have the 

 most sophisticated control system in manned 

 submersibles. Called ICAD (Integrated Con- 

 trol and Display) it is likened to the control 

 and navigation system used in the APOLLO 

 spacecraft system (Fig. 8.36). The ICAD sys- 

 tem is complex and its research and develop- 

 ment cost is reckoned in the millions of dol- 

 lars. An ICAD simulator is located at San 

 Diego where candidate DSRV operators 

 undergo a several-week course to learn of its 

 operation before they are confronted with 

 the actual DSRV's themselves. A description 



402 



