Highlights of two and one-half years of simulation efforts for deep submergence vehicles

This paper describes the highlights of two and one-half years of computer simulation effort on the deep submer gence vehicles Trieste II (Trieste), NR-1, and Deep Sub mergence Rescue Vehicle (DSRV). The work, which is still in progress, is being performed by Sperry Gyroscope Com pany under Navy and company-funded programs. Introductory material of the paper presents the simula tion program objectives, outlines the simulation facilities, and gives an overall simulation block diagram. The com puter simulations are being used in control-system, hull, and force-effector design efforts for the development of operational doctrine, as a tool for human engineering as sessment of displays, control input devices, and console layouts, and as a pilot training aid. Basic computation equipment consists of a hybridiza tion between an Electronic Associates 231-R analog com puter and an Ambilog Model 200 digital computer. Major facilities used to supplement these computers are a two- degree-of-freedom cab containing console mockup, pilot's control station, and an electronic flying-spot-scanner tele vision display generator. Major elements characterized in the simulations are six- degree-of-freedom boat dynamics; coordinate transforma tions for television display cues and real-world television pictures; various effectors, actuators, and sensors; and control computer equations. The body of the paper gives details on the use of the computer simulation in deep submergence craft design work. The design stages are broken down as: statement of design criteria, analysis of system parts, analysis of com plete system, synthesis of system design, fabrication of system hardware, test and evaluation, and improvement of design. Unique hull, effector, actuator, and control-system design problems encountered during the two-and-one- half-year simulation study are outlined.. This paper on simulation is concluded with a summary which indicates the need for highly integrated displays, control input devices, and control computers for deep sea craft.