4.0 CONCLUSIONS AND RECOMMENDATIONS 



The manipulator described in this report was developed by NOSC to allow 

 interfacing with the latest advanced concepts in man/machine interface and 

 supervisory-controlled teleoperator systems research being conducted by MIT. 

 The resulting manipulator, designed, fabricated, and laboratory-tested at 

 NOSC, appears to be quite satisfactory as a testbed for these advanced control 

 concepts. The oil-filled, pressure-compensated motor assembly design, incor- 

 porating potentiometer feedback and harmonic-drive gearing, represents one of 

 the most compact underwater designs of its kind in existence. The sleek ex- 

 terior design, together with the smooth, quiet operation of the entire 

 manipulator configuration, are noteworthy features. 



Current efforts are directed toward the development of algorithms for 

 supervisory control of the manipulator. These efforts include the integration 

 of the two LSI/11-23 computers, which will link the vehicle computer with the 

 surface command console. Laboratory and field tests are planned to verify 

 fundamental system design principles and to demonstrate the performance 

 effectiveness of these control concepts. 



It is recommended that the manipulator and the EAVE WEST free-swimming 

 vehicle now be used to attack the advanced research and technological problems 

 listed in the system integration section (3.3) of this report. 



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