Submersible unit and diving position control method therefor

Abstract From the Canadian patent

A submersible unit, comprising propulsion means for changing a diving position based on a total work quantity which is the sum of a first work quantity and a second, work quantity; proportional control means for generating and outputting said first work, quantity based on a difference between position quantities indicating a target diving, position and a diving position; and network control means which uses a neural network, data processing system for learning movement characteristics of a diving position based, on said first work quantity and a diving position sampled over a plurality of times, for, learning to minimize an evaluation quantity determined from a difference between …