Delphis MU-Submarine
There were to be 2 ultrasound components - one for scanning
the floor beneath. and the other a forward-seeking one.
Scanning a fixed strip below was tricky as angle would vary
with depth, but we solved this problem by designing a variable
pulse stepper control system. It's control word is:
A vital component was the Ultrasound equipment discussed in detail in the next tab. What follows is a flow diagram of the entire control loop.