Adept at Depth 



VERTICAL 

 CONTROL 



Fig. 6 - Control input device used 

 for a model tandenn propeller 



as to whether supporting motions are provided by vehicle motions or arm mo- 

 tions. This mode of operation could well be another special mode like the anti- 

 mud mode described previously and in which the apportionment of motions is 

 assigned in a logical sequence by the control computer. 



In summary, the features which go to make up a high-performance vehicle 

 are: (a) six degrees of uncoupled freedom, (b) as much installed power as pos- 

 sible within imposed constraints, (c) neutral stability, (d) a precision sensor 

 suit with meaningful displays to the operator and inputs to the control computer, 

 (e) an automatic orientation holding control system, (f) a vehicle-oriented con- 

 trol input device, (g) a high-response prosthetic arm, and (h) a hand-positioning 

 control mode. 



There have been discussed the many functions which, when properly inte- 

 grated, will enable the production of a vehicle which is indeed adept at depth. 



311 



