CONTENTS 

 1.0 INTRODUCTION . . . page 3 



1.1 NOSC Free-swimming Submersible ... 4 



1.2 Supervisory Control ... 8 



2.0 TECHNICAL APPROACH ... 12 



2.1 Design Requirements ... 12 



2.2 Component Tradeoffs ... 13 



2.3 Structure Elements ... 16 



3.0 SYSTEM DESCRIPTION ... 17 



3.1 General Description ... 17 



3.2 Performance Specifications ... 17 



3.3 System Integration ... 23 



4.0 CONCLUSIONS AND RECOMMENDATIONS ... 26 

 APPENDIXES: 



A. ASSEMBLY PROCEDURE FOR LARGE MOTOR ASSEMBLY ... 27 



B. ASSEMBLY PROCEDURE FOR SMALL MOTOR ASSEMBLY ... 49 



REFERENCES ... 71 



ILLUSTRATIONS 



1. The NOSC free-swimming submersible mounted on its laboratory 

 test stand ... 6 



2. The principle of supervisory control applied to remote teleoperator 

 systems ... 7 



3. The NOSC free-swimming submersible configured for use with the 

 supervisory-controlled manipulator ... 9 



4. The final underwater manipulator configuration as mounted in a test 

 support apparatus in the laboratory ... 18 



5. Manipulator shown grasping small object with "fingertips" ... 19 



6. Manipulator shown grasping large object ... 20 



7. The fiberglass portions of the manipulator (before painting) ... 21 



8. Manipulator assembly drawing showing the movement angle for each 

 joint ... 22 



9. NOSC free-swimmer manipulator supervisory control block diagram ... 24 



TABLE 



1. Comparison of nitrile-based versus fl uorocarbon-based seals ... 15 



