1. AUV LEVELING SYSTEM QUALIFICATION TESTING Tech Topic Dale Williams 3/9/05

2. Leveling System Overview Calibration Features: 1)Weight can be adjusted 2)Motor speed control 3)Hysteresis adjust

3. Qualification Data that will be Obtained Proper h Proper hysteresis setting for maximum stability. The maximum tilt angle of the device that it can be turned on at, as well as the response to that angel and lesser angles. The maximum recoverable step input and the response to that step and lesser step inputs.

4. Apparatus

5. Proper Hysteresis Setting for Most Stability and Least Oscillation The hysteresis setting will be changed systematically from 25% to 0% by 5% increments. The degree of oscillation will be recorded so hysteresis Vs. positive oscillation can be graphed. The lowest point on this curve will be the setting used for the next two tests. The hysteresis setting will be changed systematically from 25% to 0% by 5% increments. The degree of oscillation will be recorded so hysteresis Vs. positive oscillation can be graphed. The lowest point on this curve will be the setting used for the next two tests.

6. Maximum Recoverable Tilt The pipe will be moved to increasing angles in 1 degree increments until the system can no longer recover. The system will have to recover from the chosen angle to the level position. The pipe will be moved to increasing angles in 1 degree increments until the system can no longer recover. The system will have to recover from the chosen angle to the level position. The positive starting position will be recorded as well as the negative overcorrection. The positive starting position will be recorded as well as the negative overcorrection.

7. Maximum Recoverable Step Input Weights will be added to one end of the sealed pipe to simulate a step input to the system. The maximum angle of deflection in the negative than the positive directions will be measured. Weights will be added to one end of the sealed pipe to simulate a step input to the system. The maximum angle of deflection in the negative than the positive directions will be measured. When the weight is added to one end of the pipe the apparatus will move in the negative direction than correct and move back to towards the positive direction. Any over correction will be measured by the distance the rope moves in the negative direction. When the weight is added to one end of the pipe the apparatus will move in the negative direction than correct and move back to towards the positive direction. Any over correction will be measured by the distance the rope moves in the negative direction.

8. Questions?