SIMULATION OF THE ENVIRONMENT AND 



OF THE VEHICLE DYNAMICS ASSOCIATED 



WITH SUBMARINE RESCUE 



H, G. Schreiber, Jr., J. Bentkowsky, and K. P. Kerr 



Loakheed Missiles and Spaoe Company 

 Sunnyvale 3 California 



I. INTRODUCTION 



The U.S. Navy's first Deep Submergence Rescue Vehicle 

 (DSRV) was launched at San Diego, California on January 24, 1970, 

 This vehicle was designed and built by Lockheed Missiles & Space 

 Company (LMSC) under contract to the U.S. Navy's Deep Submergence 

 System Program, Office (DSSPO) to provide the capability to rescue 

 the crew of a submarine immobilized on the ocean floor. The DSRV 

 is 50 feet long, 8 feet in diameter, has a fiberglas external hull and 

 an inner (pressure) hull made of three interconnected HY140 steel 

 spheres. Propulsion and control of the vehicle are provided by a 

 stern propeller in a movable shroud, horizontal and vertical ducted 

 thrusters located in pairs fore and aft, and a mercury trim and list 

 systenn. An Integrated Control And Display (ICAD) system developed 

 at the Massachusetts Institute of Technology Instrumentation Labora- 

 tory enables the DSRV operators to correlate information from 

 sonars , closed circuit television, and advanced navigation devices, 

 In order to perform this Intricate rescue nnlsslon. The mission 

 scenario of the DSRV Is as follows. Word and position of a dis- 

 tressed submarine Is received and the DSRV and Its support equip- 

 ment are flown by three Cl4i aircraft to a nearby port. The DSRV 

 is then loaded on to a mother submarine, by being attached to the 

 after escape trunk, and transported to the area of the downed sub- 

 marine. The DSRV then detaches Itself from the mother subnnarlne 

 and descends to the disabled submarine, and mates to one of the 

 escape trunks of the distressed vessel as shown In Fig, 1« The 

 rescuees are then transferred Into the aft two spheres of the DSRV 

 and returned to the mother subnnarlne, 24 at a time. Because of the 

 possibility that the distressed submarine may be at an unusual atti- 

 tude, and there may be bottom currents, the DSRV must be able to 

 perform this hovering and mating maneuver In a one knot current 

 and at attitudes up to 45 degrees In pitch and roll. 



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