Design considerations for a computer controlled platform to support working divers

This paper describes the design requirements and investigates the feasibility of a platform capable of providing support for the working diver under common activity conditions. The platform would have the ability to maintain a fixed position and orientation relative to the work object and to resist the forces and moments exerted on it by the diver. A computer control system is developed which monitors the platform's position and orientation, calculates the optimal correction and automatically controls the thrusters in order to maintain the predetermined position. A 1/5 scale model is constructed and tested using a hybrid computer. The model performance is found to be in good agreement with the theoretical predictions.