CONTENTS 



INTRODUCTION . . . page 3 



BACKGROUND ... 3 



PROGRAM OBJECTIVES ... 7 

 TECHNICAL APPROACH ... 9 



DEVELOPMENT PHILOSOPHY ... 9 



VEHICLE CONFIGURATIONS FOR VARIOUS MISSIONS ... 10 



SUPERVISORY CONTROL ... 11 

 SYSTEM DESCRIPTION ... 15 



OPERATIONAL PROCEDURE ... 15 



DESIGN STRUCTURE ... 15 



PERFORMANCE CHARACTERISTICS ... 30 



SUBSYSTEM BREAKDOWN ... 32 

 TEST RESULTS ... 41 



INITIAL TESTS ... 41 



SUPERVISORY CONTROL: FIBER-OPTIC DEVELOPMENT TESTS ... 44 



REAL-TIME CONTROL TESTS ... 46 

 CONCLUSIONS AND RECOMMENDATIONS ... 48 

 REFERENCES ... 50 

 APPENDIX: FREE-SWIMMING SUBMERSIBLE ASSEMBLY ... 51 



