exact trajectory designed. The use of analogic controls and displays, such as 

 graphics of the planned trajectory, analogic displays of panel meters, and 

 joystick controls, greatly simplifies the procedure of operator interaction to 

 the system. Symbolic displays, such as digital readings and digital depth in- 

 dicators, require much time in the field to study and to understand their im- 

 plications. The use of a computer keyboard is also somewhat limited for field 

 test operations. The experience gained from this particular test, therefore, 

 caused further investigation into the use of analogic controls and displays. 



ENTANGLEMENT OF THE FIBER-OPTIC LINK. No problem was observed in deploying 

 the fiber-optic link along a straight-line or forward-directed run. Difficul- 

 ty was experienced on occasion, however, in deploying the more flimsy unclad 

 fiber or the substitute nylon fishing line when performing simulated docking 

 maneuvers. It was possible to entangle the link in the vehicle propellers 

 when backing into the deployed cable. Although the link was held away from 

 the thrusters by the deployment tube (or "stinger") hanging from the rear of 

 the vehicle, this was proven to not be sufficient. Either a mechanical guard 

 on the propellers or the more expensive, stiffer, fiberglass-clad fiber must 

 be used. Further tests will have to be run. 



REAL-TIME CONTROL TESTS 



Tests on the ability of the vehicle to respond to real-time control com- 

 mands were made in March 1980 at TRANSDEC and in San Diego Bay. The experi- 

 ments were a preliminary step to the implementation of the projection mode of 

 operation when the final fiber-optic link is installed. The cursor keys on 

 the control console keyboard were used to control the direction and magnitude 

 of the vehicle operated under proportional control. Hitting a given key once 

 produced a 1/4 full thrust change in the control signals applied to the ve- 

 hicle motors. Progress of the vehicle was visually monitored through an un- 

 derwater television camera mounted on the vehicle when the vehicle was sub- 

 merged. The vehicle was operated in the supervisory configuration with a min- 

 imum of top console display operator interaction. The console computer merely 

 formatted and relayed the commands input from the keyboard to the vehicle. 

 Vehicle response to the operator was the primary concern. A photograph of the 

 entire operational set up as used during the TRANSDEC tests is shown in figure 6. 



Accompl ishments 



During the TRANSDEC portion of the tests, experiments were devoted to 

 operating the motor controls in a real-time mode using the television camera 

 to guide and position the vehicle. These preliminary tests illustrated the 

 following: 



1. The vehicle operated without any mechanical or electrical failures. 



2. The vehicle was controlled with real-time motor controls and per- 

 formed the maneuvers necessary to submerge and follow the lip of the elliptical 

 disk at TRANSDEC. 



3. A good quality television image, received over the umbilical cable, 

 was recorded on video tape. 



46 



