NAVAL OCEAN SYSTEMS CENTER, SAN DIEGO, CA 92152 



AN ACTIVITY OF THE NAVAL MATERIAL COMMAND 

 SLGUILLE,CAPT, USN HL BLOOD 



Commander Technical Director 



ADMINISTRATIVE INFORMATION 



The effort to develop an advanced supervisory-controlled manipulator for a free- 

 swimming submersible has been undertaken by the Ocean Technology Department of the 

 Naval Ocean Systems Center in cooperation with the U.S. Department of Interior, Geolo- 

 gical Survey (Mr. John Gregory); the Office of Naval Research, Code 455 (Mr. Gerald 

 Malecki); and the NOSC Independent Exploratory Development Programs (Dr. Eugene 

 Cooper). This specific task to develop the manipulator itself was funded by the NOSC 

 Independent Exploratory Development Program under element 62766N, task ZF61512, 

 project ZD57. The research on supervisory control concepts for advanced undersea tele- 

 operator systems is sponsored by the Office of Naval Research and is being conducted by 

 Dr. Tomas Sheridan at MIT with the technical cooperation of the Naval Ocean Systems 

 Center. The development of a free-swimming, unmanned, untethered submersible testbed 

 was funded by the U.S. Geological Survey and is a part of a total research and development 

 program designed to supply technology required for pollution prevention and safety in 

 outer continental shelf oil and gas operations. Unmanned, untethered submersible systems 

 have a significant potential for upgrading the scope and complexity of these inspection 

 missions in a cost-effective manner. The investigation of unmanned submersibles for pipe- 

 line and structures inspection problems represents an attempt to transfer technology from 

 the Navy's Ocean Technology Programs for use in these inspection missions. The Navy, 

 in turn, is using this testbed to assess advanced concepts in supervisory-controlled work 

 systems as well as other advanced techniques applicable to search, recovery, and rescue 

 missions at sea. 



Released by 



I. P. Lemaire, Head 



Advanced Systems Division 



Under authority of _ i 



H. R. Talkington, Head =551 ' 



Ocean Technology Department c === ] 



