الفهرس 
AbstractOnly 14 pages are availabe for public view
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Abstract
This study deals with the development of some assistive devices that will enable scuba divers to control, on command,
their underwater posture and movements. These devices include an orientation control mechanism, a depth-seeking systern, and a gliding propulsion system. The natural forces of buoyancy, gravity and hydrodynamic drag are utilized in the operation of these systems to minimize the power requirements.
Design procedures are devised to select the main parameters and to synthesize the controlling actions of the different devices in order to optimize their performance. Optimum travel trajectories are developed for different diving missions in clear waters and around obstacles. Testing of the systems in a 12 foot deep diving pool showed their excellent potential as diving tools.
APPROVED BY Professor Mechanical Engineering