/ 



r 



■""HRUSTER \ 



FM/D 



PORT 

 "'"TRUSTER r 



DIVE 

 PORT JR ^ 



R/SE 



Fig, 8.35 ALUMINAUTs portable conliol unil and torwarO gyro-repeater (NAVOCEANO) 



of the ICAD is not merely the subject of a 

 book itself, it is the subject of three large 

 volumes which cover installation, operation, 

 troubleshooting and maintenance. Hence, 

 the description herein will merely acquaint 

 the reader with ICAD's existence. 



The heart of the ICAD is a digital com- 

 puter which integrates signals from the 

 DSRV"s sonars and from the other data-gath- 

 ering and producing devices, including a 

 miniature precision inertial platform. The 

 computer serves as a central processer which 

 displays pertinent information to the DSRV 

 operators. 



With the aid of visual and aural displays 

 from the ICAD, the operators make the nec- 

 essary command decisions and activate the 

 vehicle's controls. Two hand controllers con- 

 trol vehicle maneuverability with the ICAD 

 translating the operator's commands into 

 the proper signals to the various propulsion 

 and control mechanisms to provide the pre- 

 cise reaction. 



The development of ICAD was undertaken 

 to minimize work and assist the operator 

 during the intricate DSRV mission. A typical 

 rescue mission cycle for a DSRV is graphi- 

 cally outlined in Chapter 15 and under cer- 

 tain conditions — e.g., where a stricken sub- 

 marine is listing with an up or down bow 

 angle and high currents and low visibility 

 prevail — the ability of a human to direct the 

 DSRV and respond to the environmental dy- 

 namics is exceeded. By integrating the con- 

 trols and displays, the ICAD system reduces 

 the situation to within the limits of human 

 capabilities. 



The operator's console shown at the top of 

 Figure 8.36 is too complex to be shown in 

 detail, hence the major panel components 

 are presented at the bottom of the figure. 

 DSRV maneuvering is realized through the 

 operation of the two joysticks in the ship 

 control panel; translational motions (thrust, 

 heave, sidle) are obtained from the left stick 

 and rotational motions (yaw, roll, pitch) from 



404 



