the water medium is only possible through a bandwidth-reduction scheme such as 

 that of using a two-computer supervisory-controlled configuration. Based on 

 the results of laboratory experiments, however, there is reason to believe 

 that control of the entire teleoperator (ie, vehicle plus manipulator) would 

 be more efficient than previous conventional operator command techniques. An 

 artist's conception of how the manipulator would be used on the NOSC free- 

 swimming submersible, EAVE WEST, is shown in fig 3. The shaded portion of the 

 vehicle represents those parts that are directly concerned with the use and 

 support of the manipulator. The unshaded portion of the drawing represents 

 the basic configuration of the vehicle used for other mission scenarios. The 

 manipulator could also be attached to the center of the vehicle if the major 

 design was to lift objects in an open area with the least adverse consequences 

 to vehicle stability. 



10 



