types of operations. The basic configuration required for all applications is 

 shown in figure 3A. Figure 3B illustrates the placement of sensors and effec- 

 tors for performance of a pipeline inspection mission, and figure 3C illus- 

 trates the configuration required to use a manipulator for implanting sensors 

 on an undersea structure. Descriptions of the various sensor systems required 

 will be given later. 



SUPERVISORY CONTROL 



The basic software and hardware architecture for the vehicle described in 

 this report is that of supervisory control using a two-computer configuration. 

 One computer is placed at the operator console and the other is placed in the 

 vehicle, as suggested by T. Sheridan at MIT (reference 8) (see figure 4). The 

 operator communicates with a given teleoperator system, such as a vehicle, 

 through the intermediary of a computer. He observes displays, plans and moni- 

 tors operations, and issues intermittent commands in the form of program up- 

 dates through interaction with a local computer. A remote computer receives 

 these instructions and executes them through relatively short feedback control 

 loops. When the remote computer-driven teleoperator finishes a given set of 

 instructions, it stops, sends back status information, and awaits further in- 

 structions. Such a configuration easily lends itself to semiautonomous ve- 

 hicle operation by programming of the vehicle's computer to execute task com- 

 mands through a higher and broader hierarchy. The vehicle software then 

 breaks down these task commands to the primitive functions that it can easily 

 execute. Eventually, the surface computer command link could be totally 

 disconnected during an operation at sea. 



11 



