Subsystem 



Electronic 

 design base 



First Unmanned 

 Vehicle Design 



All analog circuitry 



Present 

 Designs 



Hardwire digital 

 with analog feed- 

 back control 



Free-Swimmer 

 Design 



Microprocessor-based 

 digital using A/D 

 and D/A interfaces 

 with sensors and 

 controls 



Robot Vehicles with 

 Artificial Intelligence 



Distributed microprocessor 

 architecture 



Control 



Display 

 console 



Data 

 storage 



Support 



equipment 



(required) 



Sensor 

 systems 



Joystick control 

 with television 

 feedback 



Analog circuit 

 feedback control 

 loops to provide 

 auto-hold functions 



Special hardwire 

 console rack 



None on vehicle 



Television recording 

 on surface 



Support craft 

 Control console 



Vehicle-handling 

 system 



Multiconductor 

 cable 



Cable-handling 

 system 



Television camera 



Special hardwire 

 consoles with 

 sonar systems 

 added 



Film recording 

 on vehicle 



Television record- 

 ing with voice, 

 time, etc. on sur- 

 face 



Support craft 



Control console 



Vehicle-handling 

 system 



Coaxial cable and 

 multiplex 



Minimum cable- 

 handling system 



Television camera 



Digital circuit 

 feedback control to 

 provide auto-hold 

 functions and pro- 

 grammable track 



Automatic emergency 

 routines 



Alphanumeric CRT 

 display and event- 

 ually a graphics 

 system augmented 

 with joystick 



Film recording on 

 vehicle 



Television frame 



grabbing 



SLS recording 



Support craft 

 Control console 



Vehicle-handling 

 system 



Side-looking sonar 

 Magnetometer 



Scene analysis 



Pattern recognition 



Obstacle avoidance 



Onboard absolute (trans- 

 ponder) navigation and/or 

 inertial navigation 



Adaptive control system 



Self preservation 



Self-organizing system 



Alphanumeric and color 

 graphics display systems 

 augmented with joystick 



More data storage through 

 bubble memories and disk 

 recording 



Support craft 

 Control console 



Vehicle-handling 

 system 



Additional sensors 



Tab! 



e 1. Progress of Unmanned Vehicle Technology. 

 6 



