Customize this Documentation - My_Notes

My_Notes are easy to incorporate directly into the pages of this manual. They can be used to clarify content, add additional information, or document your custom settings, operational tactics or procedures. My_Notes are page specific and display at the bottom of the desired page under the "My_Notes" heading. No programming is required - it is as simple as saving a file with your notes.

Creating My_Notes

My_Notes can be written in HTML or plain text. HTML allows for more flexible formatting and inclusion of images or links to other web pages.

To add a My_Note, create an HTML or text file containing the note and save it in the VideoRay\My_Notes\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP).

The file should be named the same as the page in which you want the note to appear, with a "my_" prefix (without the quotes). For example, if you want a My_Note to appear at the bottom of this page, the name of the file to create is: my_custom_my_notes.html. The name of the page being viewed can be found in the address bar of the browser being used to display this documentation.

Even if you are using a text file, the file name must end with the ".html" extension.

All My_Notes files are processed as HTML, so if you are using a plain text file, you will need to add "<pre>" (without the quotes) at the beginning of the file and "</pre>" (without the quotes) at the end of the file if you want to preserve the layout. The "<pre>" and "</pre>" will not show up in the display.

When using HTML, the My_Notes folder serves as the root for relative links. An images folder is included for you to store images. You may add other folders or files as desired.

Viewing My_Notes

When you reload the page, your My_Note will appear - there is nothing else to install or configure. A sample My_Note file has been included to display the My_Note below. You can use this file as a model for creating your own My_Notes.

Updating My_Notes

To update a My_Note, simply edit and re-save the My_Note file.

Removing My_Notes

My_Notes can be removed by deleting or renaming the My_Note file.

Sizing My_Notes Display (Optional)

The default vertical size for My_Notes is set to 200 pixels, which is used for the sample My_Note below. Due to browser limitations, My-Notes do not size dynamically. This means that a long My_Note may display a scroll bar in order to view the whole My-Note. You can adjust the size to eliminate the need for the scroll bar. To set the size of a My_Note, you need to edit the file named "my_notes_size_table.js" in the My_Notes\ folder (location defined above). The file contains one line for each page of this document using the following format:

    window.page_name = size_in_pixels;

Find the line for the page that includes the My_Note you want to resize and replace the value of size_in_pixels with the desired size in pixels. The page names are listed alphabetically. Example line from the "my_notes_size_table.js" file for this page:

    window.custom_my_notes = 200;

Note that ".html" in not included in the page name, and the line must end with a ";" Also, the optimum size required is dependent upon the size and aspect ratio of the browser window.

Before Contacting Support

Please make sure to consider the following information before contacting VideoRay's Technical Support to report a problem. The following information should available:

• User name and contact information
• Name of the owner if not the same as the user
• System model
• Serial Number of the affected component(s)
• Accessories in use
• Detailed information about the issue:
  • Symptoms
  • Operating conditions that create the symptoms
  • Anything new or unusually about the system or operations

Once you have collected the recommended information, visit the "How to Get Help" page for contact information.

In addition, please review VideoRay's Support website for additional information about:

• Principles of Customer Interactions
• Customer Care Philosophy
• Technical Support Policy
• Third Party Accessory Support Statement
• Use of Non-VideoRay Supplied Computers

Safety First

Operating electrical devices in and near the water can be dangerous. There is always a risk of drowning or electrocution in such an environment. Reduce these risks by using common sense and observing safety regulations and recommended safe practices including the following:

• Never handle power cords while in contact with water or allow power cord connectors or the control panel to enter the water. The only components that can safely be placed in water are the submersible, any onboard accessories and tether, and only after making sure the connections are secure.

• Always test the safety components, such as GFCI switches and interlock devices, before beginning operations. Follow the procedures described in this manual for.

• Have proper safety equipment, such as PFDs (Personal Flotation Devices), on hand and make sure you know how to use them before you need them.

• Keep fingers, hair, loose clothing and other objects away from VideoRay's propellers and other pinch points.

• Monitor weather and sea conditions and heed any warnings or alerts.

• Be aware of and follow any legal ordinances or regulations in your area regarding operation of vessels and underwater equipment in the water.

Before setting up for or commencing any dive, it is a good practice to make sure there are no hazards to people or the equipment on land or in the water. If there are other people in the water nearby, you should advise them that you are going to be operating the ROV. As the owner/operator, it is your responsibility to ensure the safety of those around you as well as that of the equipment and nearby property.

How Safe Is Safe Enough?

Addressing all aspects of safety while working in a water environment is beyond the scope of this documentation. VideoRay encourages you to participate in safety training appropriate for your industry and applications, including such topics as vessel operations, first aid, survival and other relevant topics.

Introduction to the System Components

Unpack the system and familiarize yourself with the components.

	ROV The ROV, or Remotely Operated Vehicle, carries the cameras, lights and sensors or accessories to the underwater places you want to observe. Thrusters provide mobility and these systems are controlled from the surface using the control panel and hand controller. See the ROV section of the Equipment Guide for more information.
	Operator Control Console The Operator Control Console includes the system's power and communications modules, computer and hand controller, and serves as the operator's control interface and video display. Open the Operator Control Console and familiarize yourself with the components and primary controls on the hand controller. See the Operator Control Console and Hand Controller sections of the Equipment Guide for a complete description of all of the controls and connections. See the Control Panel section of the Equipment Guide for more information.
	Hand Controller The hand controller is used to pilot the VideoRay and operate other features like the lights, camera controls and manipulator. The hand controller is pre-programmed, but can be customized to meet specific user or operational needs. See the Hand Controller section of the Equipment Guide for more information.
	Tether The tether connects the ROV to the control panel. It delivers power and control signals to the ROV, and returns video and sensor data (optional) from the ROV to the surface. Some systems come with a TDS (Tether Deployment System), that makes the work of managing the tether easier. The tether is also often referred to as the umbilical. See the Tether section of the Equipment Guide for more information.

Additional Items

Additional items may be supplied with your system including tools, spare parts and other items. If included, these items are described in other sections of this documentation.

Some items shown may be optional and not included with your configuration.

Pre-Dive Preparations

Select a safe and preferably level area to set up the Operator Control Console. See the On-site Operations section of the Project Management Guide for more information about site selection and set up.

The pre-dive preparations consist of five parts:

1. Visual inspection before setting up the system
2. Setting up the system including making connections
3. Power on tests of the system's safety circuits
4. Primary functions test of the systems features
5. Adjusting the ballast for the desired buoyancy (to be completed in the next phase)

Conduct a Visual Inspection

Assuming this is your first time using the VideoRay, everything should be in proper working order and ready to go, but it is good practice to perform a pre-dive inspection before every dive, even your first. If any problems are noticed, they should be addressed before continuing.

1. Inspect the ROV and other system components to make sure there are no visible signs of damage or loose or worn parts. Also check for water inside any pressure hull modules, such as the camera.

2. Check the horizontal thrusters to make sure that the shafts are not bent and the propellers are free to spin and are not fouled, loose or binding on the thruster guards.

3. Check the vertical thruster(s) to make sure the shaft is not bent and the propeller is not fouled or loose or binding on the float block.

Make the Connections

It is best to start making connections at the ROV and working your way to connecting the system to the power source.

Connecting or disconnecting cables while the system is powered on is not recommended.

Make sure the Operator Control Console power switch is set to the Off position and make sure the ROV power switch is set to the off position by pressing it.

Top View

Side View

Some of the cables have been connected at the factory. See the appropriate sections of the Equipment Guide for detailed information about each of the connections.

You will typically need to connect only the ROV, tether, strain relief hand controller, and power cord.

1. Connect the female end of the tether connector to the ROV. The connectors have one pin that is offset towards the center of the connector. Make sure the connectors are clean, align the pins, and push the connectors together - do not twist the connectors. Secure the locking collar by screwing the halves together.

2. Connect the braided strain relief from the tether to the rear of the ROV using the retaining screw. See the strain relief section for more information.

3. Connect the male end of the tether to the Operator Control Console. When not in use, keep the tether connectors clean and protected for the best performance and reliability.

4. Connect the hand controller to one of the USB ports on the Operator Control Console

5. Plug the Operator Control Console power cord into a conventional power source (100-240 Volts AC, 50,60 Hz). Power can be supplied through a land-based power outlet, generator or battery and inverter. See the Operator Control Console section of the Equipment Guide for power source requirements.

Power On Tests

If the system does not pass any of the following tests, it should not be used until the problem is identified and corrected.

The VideoRay MSS includes two circuit safety components.

• GFCI (Ground Fault Circuit Interrupter)

• LIM (Line Insulation Monitor)

Testing the Circuit Safety Components

Connect the power cord to a suitable power source.

The GFCI can be found inline in the power cord.

1. Press the GFCI Reset button to turn on the GFCI. The green LED should illuminate.

2. Press the test switch on the GFCI. The GFCI should interrupt power and the green LED should go out.

3. Press the GFCI Reset button to restore power and continue the pre-dive steps.

When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord.

Power On and LIM Tests

Set the Power switch to the On position. The green Power On indicator light should turn on. If the green Power On indicator light is not on, make sure the system is connected to a working power source and the GFCI switch is turned on.

Twist the ROV Power switch to the On position. The green 400 V Power On indicator light should turn on. If the green 400 V Power On indicator light is not on, make sure the system is connected to a working power source and the GFCI and main power switches are turned on.

Test the LIM. The LIM can be found on the right side of the Operator Control Console. The GFCI switch and the main and 400 V Power switches must both be set to On in order to perform this test.

1. The yellow Alarm light should be off. If the yellow light is on, press and hold the Reset button until the yellow Alarm light turns off.

2. To test the LIM, press and hold the Test button until the yellow Alarm light turns on. This may take up to 10 seconds. Release the button when the yellow Alarm light turns on.

3. Press and hold the Reset button to reset the LIM. The yellow Alarm light should turn off. Release the button when the yellow Alarm light turns off.

Starting the VideoRay Control Software

Make sure the system is connected to a working power source and the GFCI / Circuit Breaker and Power switches are turned on.

1. Turn on the Operator Control Console and wait for the system to complete the boot up process.

2. To start the MSS EOD Workspace control software, double click on the Defender icon on the desktop.

See the Software Guide for more information about the VideoRay control software.

Testing the System's Functions

The next step is to ensure that the essential features of the ROV are functioning properly. Use the hand controller to perform the following tests. The manipulator functions listed below do not necessarily represent the full capabilities of the system. See the Hand Controller section of the Equipment Guide for the complete list of functions and more information about using the hand controller.

Horizontal Control joystick Depth Control knob Camera Tilt Up button Camera Tilt Down button Camera Focus In button Camera Focus Out button Lights Intensity knob

Additional features and controls may be available depending on the system configuration. These tests represent the minimum set for all configurations.

Test the thrusters

For the next two steps, make sure no one is near the thrusters and do not operate the thrusters out of water for more than 30 seconds to avoid overheating or premature wear of the seals.

1. Gently move the joystick forward and backward and left and right - the horizontal thruster motors should turn the propellers. Release the joystick - it will return to center on its own, and the propellers will stop turning.

2. Rotate the Depth Control knob - the vertical thruster motor should turn the propeller. Return the Depth Control knob to center to cease the vertical propeller rotation.

Test the lights

For the next two steps, do not leave the lights on bright for more than 30 seconds while the ROV is out of water to avoid overheating.

1. Rotate the Lights Intensity knob clockwise to increase the intensity of the lights - the lights should get brighter.

2. Rotate the Lights Intensity knob counter clockwise to dim the lights - the lights should dim.

Test the camera functions

1. Press and hold the Camera Tilt Up button - the camera should tilt up smoothly through its entire range.

2. Press and hold the Camera Tilt Down button - the camera should tilt down smoothly through its entire range.

3. Press and hold the Camera Focus In button - the camera should focus in smoothly through its entire range.

4. Press and hold the Camera Focus Out button - the camera should focus out smoothly through its entire range.

If a manipulator or other accessories are attached, these items should be checked at this time.

Good Advice

The time to catch small problems before they become big problems is during the pre-dive inspection.

Dive Operations

After the previous four pre-dive checks and tests have been completed successfully, you are almost ready to commence the dive. But, there is one more issue to address that could affect the performance of the ROV. The ROV is designed to be operated in a near neutrally buoyant configuration, so the last step before launching your VideoRay is to check the buoyancy, and adjust the ballast if necessary. For most operations, the buoyancy is optimal when the top of the float block is even with the water surface and the ROV is level. If the ROV is too buoyant or too heavy, the vertical position may be hard to maintain or control.

Buoyancy will need to be adjusted for use in fresh water versus salt water and depending upon whether accessories are used with the ROV.

Buoyancy Check and Adjustment

To determine if the buoyancy is correct, lower the ROV and at least 3 meters (10 feet) of tether into the water. You can lower the ROV by the tether - it will not hurt the tether because there is Kevlar in it. Observe the ROV in the water - it should not be floating too high or sink. It should also be floating level and not tipped to one side or pitched up or down. If the ROV floats too high, you will need to add some ballast weights. If the ROV sinks, you will need to remove some ballast weights. If the ROV is not floating level, you can change the locations of the weights.

The buoyancy can be adjusted by adding or removing the supplied ballast weights to the vehicle. The weights can be added to or removed from the slots by hand. For most operations, the weights should be evenly distributed to provide a balanced attitude of the ROV in water.

Commence the Dive

Once the buoyancy has been adjusted the ROV is ready to launch. Lower it into the water and operate the controls to maneuver it. The ROV can be lowered using the tether.

• Start with the ROV on the surface and push the joystick forward slightly to make the ROV move forward. Move the joystick to the left or right to make it turn left or right. Get a feel for how agile the ROV is.

• Observe the video display as well as the ROV to become acquainted with the camera's wide angle lens and its affect on depth perception underwater.

• Once you feel comfortable with the horizontal maneuverability of the ROV, rotate the depth control knob to dive the ROV. Tilt the camera down as you dive so you can see towards the bottom. Rotate the depth control knob to bring the ROV back to the surface. Tilt the camera up as you surface so you can see towards the surface.

• Change the lights settings, and adjust the camera focus. If you have a manipulator, tilt the camera down so you can see it and open and close the jaws.

• As you get familiar with maneuvering the ROV, you can start to observe some of the on-screen displays including the depth, heading, camera settings and other data.

For your first dives, practice until you are comfortable operating the controls without looking at them and you are able to control the ROV with some precision.

See the Hand Controller section of the Equipment Guide for complete information about using the hand controller and see the Piloting section of the Operations Guide for more advanced tips on piloting the MSS.

Automated Flight Operations

Automated flight operations require additional configuration and tuning to ensure accurate flight dynamics and control. See the Automated Flight Operations section for more details.

Practice Makes Perfect

Developing the skills to operate your MSS Defender
like an expert may take some time. Practicing on a regular basis is highly recommended.

Post-Dive Operations

At the conclusion of your dive, retrieve the VideoRay and power down the system by closing VideoRay Balefire software, turning off the ROV power switch, shutting down the computer and then turning off the main power switch.. Make sure the ROV is secure before disconnecting the tether. After disconnecting the tether, keep the tether connectors clean and do not let them drag on the ground.

Proper maintenance of your VideoRay system ensures a long service life and that it will be ready to operate when you are. After each dive, you should visually inspect the system for damage that might have occurred during your operation.

Keeping the ROV clean is one of the most important aspects of good preventative maintenance practices, especially after using it in salt water. If you use your ROV in salt water, or water with contaminants, you should first rinse it, and then soak it in clean fresh water for at least one-half hour. After cleaning the ROV and tether, they should be allowed to air dry before being put away for storage.

Failure to properly maintain the ROV by thoroughly cleaning it after use may dramatically reduce its service life.

Debriefing

Congratulations! You are well on your way to becoming an accomplished micro-ROV operator, but there are still many things to learn and skills to master. Continue learning about the system by reviewing the additional sections of this documentation and, most importantly, practice, practice, practice.

If you encountered any difficulties or have any questions, review these Quick Start Instructions and the other documentation that came with your system, including the Equipment Guide. If you still have difficulty or questions, contact VideoRay. Your success is our success, and we are here to help you get the most out of your VideoRay.

VideoRay contact information is available on the About this Documentation page.

Ready to Learn More?

To accelerate your learning and receive recognition for your knowledge and skills, VideoRay offers in-person classes and online training as well as the Micro-ROV User Certificate program. Training can be delivered at your site and customized to your needs. To learn more about these opportunities, click on the training link above to visit the VideoRay Educational Resources website.

Specifications

Specifications for the VideoRay Mission Specialist Defender are provided on the following pages.

MSS Defender
features and specifications are subject to change without notice.

Product News

See www.videoray.com for the most up-to-date product information.

Specifications for the ROV Modules

Specifications for the VideoRay M5 Modules are provided on the following pages.

Power Module Specifications

Depth Rating

• 2,000 meters (6,500 feet)

Mechanical

• Dimensions: 18 cm x 13 cm x 4 cm (7.1 inches x 5.1 inches x 1.6 inches)
• Weight in Air: 1.14 kg (2.5 pounds)
• Weight in Water: 0.55 kg (1.2 pounds)

Connections

• 8-Pin Male Connector (Tether)
• 9-Pin Female Connector (Communications)
• 5-Pin Female Connectors (Thrusters and LEDs) 2X

Power Input

• Input Voltage Range: 200 - 420 V DC

Power Output

• 48V: 1500 W
• 24V: 300 W
• 12V: 120 W

M5 Power Module features and specifications are subject to change without notice.

Communications Module Specifications

Depth Rating

• 2,000 meters (6,500 feet)

Mechanical

• Dimensions: 25.5 cm x 15.2 cm x 5.3 cm (6.12 inches x 6.0 inches x 2.1 inches) not including cable
• Weight in Air: 1.19 kg (2.6 pounds)
• Weight in Water: 0.55 kg (1.2 pounds)

Connections

• 9-Pin Male Connector (Upstream, Port 1)
• 9-Pin Female Connectors (Accessories, Ports 2 - 6) 5X

Power Input

• 24V: 300 W
• 12V: 120 W

Power Output

• 24V: 300 W
• 12V: 120 W

Communications

• Ethernet
• RS-485

Sensor Feedback

• Current Monitoring
• Voltage Monitoring

M5 Communications Module features and specifications are subject to change without notice.

AHRS Module Specifications

Depth Rating

• 2,000 meters (6,500 feet)

Mechanical

• Dimensions: 17.8 cm x 7 cm x 5.4 cm (7.0 inches x 2.75 inches x 2.12 inches) not including cable
• Weight in Air: 0.55 kg (1.2 pounds)
• Weight in Water: 0.21 kg (0.46 pounds)

Connections

• 9-Pin Female Connector

Power Input

• 12 VDC

Communications

• Ethernet
• RS-485

Sensor Feedback

• 9 DOF IMU
• Magnetic compass
• RPM
• Pressure Based Depth Sensor (100 Bar, with 400 Bar optional)

IMU Features

• 0.2 degree Static Roll/ Pitch
• 0.5 degree Dynamic Roll/ Pitch
• 1.0 degree Yaw
• 18 degree/h Gyro Bias Stability

M5 AHRS Module features and specifications are subject to change without notice.

Thruster Module Specifications

Depth Rating

• 2,000 meters (6,500 feet)

Mechanical

• Dimensions: 13.2 cm x 12.2 cm x 11.8 cm (5.19 inches x 4.80 inches x 4.64 inches) not including cable
• Weight in Air: 0.65 kg (1.4 pounds)
• Weight in Water: 0.33 kg (0.73 pounds)

Connections

• 5-Pin Male / Female Connector (Stackable)

Power Input

• 48 VDC at 750-Watt Max input

Communications

• RS-485 Galvanically Isolated Control

Sensor Feedback

• Input Current Total
• Input Voltage
• RPM
• Internal Temperature

Features

• Direct Drive Brushless Motor
• Several Mounting Options
• 90mm Diameter Propeller
• 3 Blade Propeller with quick connect/release Collet
• Smooth Start at 120 RPM
• Instant Reverse
• No Cogging
• Very Quiet and Smooth Operation

M5 Thruster Module features and specifications are subject to change without notice.

Camera Module Specifications

Depth Rating

• 2,000 meters (6,500 feet)

Mechanical

• Dimensions: 15.4 cm x 8 cm diameter (6.1 inches x 3.1 inches diameter) not including cable
• Weight in Air: 0.66 kg (1.45 pounds)
• Weight in Water: 0.9 kg (0.20 pounds)

Connections

• 9-Pin Female Connector

Power Input

• 12 VDC; Power Consumption: 57w

Communications

• Ethernet
• RS485

Sensor Feedback

• Internal Pressure/Vacuum Integrity
• Internal Humidity
• Internal Temperature
• Tilt Position

Protocols

• Video: Ethernet
• Camera Control: Ethernet
• Servo Control: RS485

Visibility

Features

• Optical BK7 Glass Dome
• Autofocus
• Whitebalance Control
• 16x Digital Zoom
• 13.19 Megapixel Still Capture

M5 HD Camera Module features and specifications are subject to change without notice.

LED Light Module Specifications

Depth Rating

• 2,000 meters (6,500 feet)

Mechanical

• Dimensions: 7.6 cm x 7 cm x 2.8 cm (3.0 inches x 2.75 inches x 1.12 inches) not including cable
• Weight in Air: 0.14 kg (0.31 pounds)
• Weight in Water: 0.09 kg (0.10 pounds)

Connections

• 5-Pin Male / Female Connector (Stackable)

Power Input

• 48 VDC at 76 Watt

Communications

• RS-485 Galvanically Isolated Control

Sensor Feedback

• Input Voltage
• Input Current Total
• Internal Temperature

Features

• 3,000 K CCT, 80 CRI White
• 2,880 Calculated minimum flux (lm) per array, 5,760 total lm per light module
• Individually Controlled Arrays (16 emitters per array, 32 total)
• 60 Degree Spot Beam
• 110 Degree Flood Beam
• Hard Anodized, Potted Housing

M5 LED Light Module features and specifications are subject to change without notice.

Specifications for the ROV Accessories

Specifications for the VideoRay Mission Specialist Defender accessories can be found on the respective information pages of each accessory. See the Optional Accessories section for more information.

Tether Specifications

Tether Diameter

New tether was introduced in 2018. These tethers include a braided Kevlar around the conductors, are slightly different diameter and can be identified by an "FB" code printed on the tether.

Minimum Tether Bend Radius

Tether Connector Pin Configuration

Tether pin numbering in the connector is shown above. When looking at the mating surface of the connector, Pin 1 is the offset pin / socket. For male connectors, pins 2-8 proceed in a clockwise direction. For female connectors, sockets 2-8 proceed in a counter-clockwise direction.

Tether Pin Function and Conductor Wire Gauge

All conductors are straight through, such that pin 1 in the male connector is connected to socket 1 in the female connector, and so on for all eight pins / sockets.

Conductor pairs 1 & 2, 4 & 6 and 7 & 8 are twisted.

Pins 3 and 5 use 2 conductors each for maximizing power transmission and tether flexibility.

Tether Buoyancy

Performance and Neutral tether includes buoyancy compensating foam that provides near neutral buoyancy in fresh water. Negative tether contains no foam and will sink. The connectors do not contain any buoyancy compensation and will sink slightly.

Tether Strength

All tether types include Kevlar that is rated at 450 kg (1,000 pounds), the connectors are rated 80 kg (175 pounds).

The maximum usable tether length is limited by the ability of the tether to transmit power and data signals. The maximum usable tether length of MSS systems is about 550 meters (1,800 feet). MSS systems can use fiber tether to extend the range. See the Tether Management section of the Operations Guide for more information.

Kevlar is a registered trademark of E. I. du Pont de Nemours and Company

ROV Nomenclature

ROV nomenclature follows the general pattern for seagoing vessels. The image below provides a visual reference for the directions and attitude relative to the ROV.

ROV Orientation and Directions Reference

Bow - The front of the ROV.

Stern - The rear of the ROV

Port - The left side of the ROV when facing forward.

Starboard - The right side of the ROV when facing forward.

Fore - Towards the front or The forward direction.

Aft - Towards the rear of the rearward direction.

Surface - To ascend or move up in the water column to a shallower depth.

Dive - To descend or move down in the water column to a deeper depth.

ROV Attitude and Motion Reference

Surge - Forward and Reverse motion of the ROV, forward is positive.

Heave - Up and Down motion of the ROV, up is positive.

Sway - Left (to port) and Right (to starboard) lateral motion of the ROV, left is positive.

Yaw - Right (to starboard) and Left (to port) rotational motion of the ROV, right (clockwise, viewed from the top) is positive.

Pitch - Bow Up or Bow Down inclination of the ROV, bow up (clockwise, viewed from the port side) is positive.

Roll - Port UP or Port Down relative to Starboard, port up (clockwise, viewed from the rear) is positive.

Defender Frame

The Defender Frame is a 4 vectored horizontal thrusters x 3 vertical thrusters. It uses two vertical thrusters in the front and one in the rear. It is designed to carry a complement of accessories including sonar, manipulator and DVL. Other accessories would require a payload mounting platform configured for each accessory.

Defender Dimensioned Views

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Defender Exploded Views

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Defender Buoyancy

The Mission Specialist buoyancy consists of a top float block made of buoyant material. The purpose of the float block is to offset the weight of the vehicle structure and modules to achieve a neutral buoyancy. The float block is usually designed with extra flotation capacity to allow accessories to be mounted to the vehicle. Ballast weights are then added to fine tune the buoyancy depending on the payload and whether the ROV will be used in fresh or salt water.

The Defender float block is secured to the vehicle using 4 screws. It can be removed to access modules and connections.

Defender Ballast

The Mission Specialist Vehicle's buoyancy can affect performance and should be adjusted for water type (fresh versus salt), payload and performance requirements.

The Defender ballast configuration consists of stainless steel weights that can be attached to the frame using the screws provided. Ballast should be added until the vehicle has a slight positive buoyancy so that it will return to the surface slowly when pushed down manually.

There are numerous hole in the ballast and mounting holes that allow the ballast to be placed slightly fore or aft to trim the vehicle so that it is level. The Defender has pitch control, so a perfectly level trim is not necessary. If the mission calls for pitch down (retrieving object from the bottom) or pitch up (ship's hull inspection), adjusting the trim accordingly can help reduce the pitch control effort required.

Power Module

The Power Module receives power from the topside and converts it to power levels required by the various modules, sensors and accessories.

8 Pin Male Tether Connector

5 Pin Female High Power (Thruster, Lights) Connector (2)

Power is rated at 750 Watts per port for 1,500 Watts total.

9 Pin Female Communications Module Interface Connector

Power is rated at 300 Watts for the 24 Volt circuit and 120 Watts for the 12 Volt circuit.

Power Module Arrangement

The Defender vehicle power module is configured as follows:

Communications Module

The communications module is the "brains" of the vehicle and coordinates vehicle control systems and provides data paths for sensors and accessories.

9 Pin Interface Connectors

Power is rated at 300 Watts for the 24 Volt circuit and 120 Watts for the 12 Volt circuit. This is the total output of the internal DC/DC converters and is divided across all connections as demanded by each externally connected device. Each connector pin is rated to 5 Amps, which should not be exceeded. For any one connector, the maximum Watts should not exceed 120 Watts for the 24 Volt circuit and 60 Watts for the 12 Volt circuit.

Defaults: Group ID - 193; Node ID - 2; IP address - 192.168.1.64; RS-485 accessible

AHRS Module

AHRS - Attitude and Heading Reference System

The AHRS is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback on the vehicle's orientation. Measurements include magnetic heading, attitude and rates of change. The AHRS also includes a pressure sensor to determine the depth of the vehicle.

The AHRS compass may require a Magnetic Field Calibration. See the Compass Calibration page for more information.

Cable Pinout

Thruster Module

Mission Specialist vehicles use a modular thruster configuration that allows vehicle designs to be optimized for water conditions and payload delivery requirements. Modular thrusters are also easy to replace in the field.

Thruster Propeller

The propellers are designed to be used on counter-rotating thruster arrangements to eliminate torque roll or yaw. Propellers are identified by their pitch orientation using left and right based on their pitch. The convex edge of the propeller blade is the leading edge during motion that is considered forward for that thruster.

• Right-hand propellers can be identified as follows:
  • The top blade has the leading edge on the right when viewed from the end with the nut.
  • The blades appear to curve counterclockwise when viewed from the end with the nut.
  • Right hand propellers have a stainless steel collar on the hub at the shaft end.
  
  
• Left-hand propellers can be identified as follows:
  • The top blade has the leading edge on the left when viewed from the end with the nut.
  • The blades appear to curve clockwise when viewed from the end with the nut.
  • Left hand propellers have hub that is all plastic.
  
  

Cable Pinout

The Thruster connector uses a male / female stackable connector allowing the thrusters and LED lights to be connected in series.

The Defender vehicle is a Defender frame that uses a vectored horizontal thruster arrangement, and three vertical thrusters. The thrusters are configured as shown below:

Camera Module

The camera module provides a live video feed from the vehicle to the surface.

Cable Pinout

High Definition Camera

LED Light Module

The LED Light Module provides variable levels of illumination and beam pattern control.

Cable Pinout

The LED Light connector uses a male / female stackable connector allowing the LED lights and thrusters to be connected in series.

ROV Connections

The Mission Specialist ROV system uses 3 types of connectors for power and communications between the control panel, vehicle modules and accessories.

Pin Function 1 Interlock (GND) 2 Interlock (Sense) 3 Tether V+ 4 M100 EOP+ 5 Tether V- 6 M100 EOP- 7 RS-485 A 8 RS 485 B

Pin numbering starts at 1 for the offset pin and is clockwise on the male connector and counter clockwise on the female connector.

Pin Function 1 48 V DC + 2 Vehicle Local Ground (12 V, 48 V return) 3 48 V DC return 4 RS-485 A 5 RS-485 B

Pin numbering is clockwise starting at 1 in the upper left when looking at the face of the male connector with the row of 3 pins on top.

Pin Function 1 ETH_RXP+ 2 ETH_RXP- 3 24 V DC + 4 ETH_TXP + 5 Ground 6 ETH_TXP - 7 RS-485 A 8 RS-485 B 9 12 V DC +

Pin numbering is clockwise starting at 1 in the upper left when looking at the face of the male connector with the row of 5 pins on top.

ROV Connections

Expeditionary Splashproof Controller

The Expeditionary Splashproof Controller is a VideoRay custom tablet, frame and side-mounted hand controller pods. It is designed for compact, all weather use and convenience for the operator.

The Expeditionary Splashproof Controller is designed to be used as a stand-alone topside control console with the ROV on-board batteries and fiber tether/reel, or it can also be used in conjunction with the Workhorse Splashproof Control Console, which provides topside power for the ROV for continuous operations.

Setting Up the Controller

Expeditionary Splashproof Controller Safety Circuits

When used with the ROV On-Board batteries, the Expeditionary Splashproof controller does not require any safety circuits.

Shore or grid power is required to charge the tablet computer and the ROV On-Board batteries. When possible is it best to do this using GFCI protected outlets.

Expeditionary Splashproof Switches and Connections

The current Expeditionary Splashproof computer is the Dell Latitude Rugged Extreme Tablet. For more information about the tablet, consult Dell's 7220 Supporting Documentation.

Front

1. LED Lens
2. Camera
3. Camera Status LED
4. Ambient Light Sensor
5. Display
6. User Programmable Button 3
7. User Programmable Button 2
8. User Programmable Button 1
9. Increase Volume Button
10. Decrease Volume Button
11. Increase Brightness Button
12. Decrease Brightness Button
13. Screen Rotate Lock Button

Right Side

1. DC-in
2. Mini Serial RS-232 port
3. USB 3.0 Type-C port with DisplayPort Alt Mode/PowerShare
4. USB 3.1 Type-A with Power Delivery
5. Micro SD-card slot
6. Combo mic/headphone Jack
7. Power Switch

Bottom

1. Human Machine Interface (HMI) Fischer Push-pull connector to connect to workhorse Splashproof console or Reel
2. USB

Back

The back of the tablet / docking station includes the mounting bracket and kick-stand.

Workhorse Splashproof Operator Control Console

The Workhorse Splashproof Control Console consists of the Expeditionary Splashproof Controller, which is the control processor and Human Machine Interface (HMI), and the Workhorse Splashproof Control Console, which provides power and communications interfaces for the ROV.

Operator Control Console Power Specifications

The VideoRay MSS operates on typical residential power in the range of 100-240 Volts AC, 50,60 Hz. This can be provided from the land-based grid, a generator, or a battery with an inverter (optional). The typical power requirements for operating from a generator or inverter are 3,000 Watts continuous minimum.

The system includes a GFCI (Ground Fault Circuit Interrupter) / Circuit Breaker to protect the operator.

The power in the tether is 400 Volts DC. This circuit is protected by a LIM (Line Insulation Monitor).

The procedures for testing the circuit safety components can be found in the Pre-Dive Preparations section of the Quick Start Instructions.

Display Monitor Tilt Arm

The Display Monitor Tilt Arm on the left side of the Operator Control Console can be used to adjust the angle of the Operator Control Console lid and monitor. To adjust the angle of the monitor, loosen the locking collar, adjust the lid to the desired angle and tighten the locking collar.

Make sure to loosen the display monitor tilt arm before closing the Operator Control Console lid, and be careful when closing the lid to avoid damaging the computer or monitor or pinching any cables.

Safety Circuits

The Operator Control Console includes three safety circuit components.

• GFCI (Ground Fault Circuit Interrupter)

• LIM (Line Insulation Monitor)

• ROV Power Safety Interlock

GFCI (Ground Fault Circuit Interrupter)

The GFCI protects the operator from shock from the AC circuit of the power source.

The GFCI is inline with the power cord. When initially connected to a power source, it is in the Off state. You must press the Reset Button to enable it. When enabled, the green LED will be illuminated.

When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord.

LIM (Line Insulation Monitor)

The LIM protects the operator and persons in the water nearby from shock from the DC circuit of the tether. While the GFCI switches are part of the GFCI component and must be turned on to operate the Operator Control Console, the LIM is automatically enabled when the system is turned on. The LIM operates on a principle similar to the GFCI and monitors the quality of the insulation of the conductors in the tether. If the resistance between the conductors drops below the safe threshold, the LIM will trip.

A normal reading on the LIM display is > 4 M-Ohm, indicating that the insulation of the power conductors in the tether is good. If there is any degradation of insulation, the value displayed will decrease. The MSS LIM is two stage. When the LIM detects the resistance between the ROV power conductors falls below 900 kOhms, the yellow LIM Alarm A1 LED will turn on, but the power circuit will remain on. When the LIM detects the resistance falls below 200 kOhms, the yellow LIM Alarm A2 LED will turn on and the ROV power circuit will be disabled. The LIM can be reset by pressing and holding the R button. The yellow LIM Alarm light should turn off. To test the LIM, press and hold the T button. If the LIM continues to trip, the system should be inspected for a fault before being used.

The LIM has additional features that are described in more detail in the LIM Module Manual.

ROV Power Safety Interlock

The ROV Power Safety Interlock prevents the ROV power from being engaged unless an ROV is plugged into the tether. This feature protects users from accidentally contacting the ROV power circuit of an open tether connector.

See the Operator Control Console Switches and Connections section for more information about these components and their locations, and see the Pre-Dive Preparations section of the Quick Start Instructions for information about testing these components.

Workhorse Splashproof Switches and Connections

The Operator Control Console top includes the following switches:

The Operator Control Console top includes the following connections:

Mounting the Expeditionary Splashproof Controller in the Workhorse Splashproof Console Lid

These images show the mounting plates on the Expeditionary Splashproof Controller and Workhorse Splashproof console. The Expeditionary Splashproof Controller is connected by engaging its mounting plate with the one in the console lid.

The side pod controllers must be removed from the Expeditionary Splashproof Controller to mount it in the Workhorse Splashproof console lid. See the Side Pods Controller Section for unmounting and mounting instructions.

Computer

Workhorse Operator Control Console

The Operator Control Console provides power, communications and a video interface between the surface and the ROV through the tether. The computer, which runs software to control the ROV, is housed in the Operator Control Console along with a display monitor .

Operator Control Console Power Specifications

The VideoRay MSS operates on typical residential power in the range of 100-240 Volts AC, 50,60 Hz. This can be provided from the land-based grid, a generator, or a battery with an inverter (optional). The typical power requirements for operating from a generator or inverter are 3,000 Watts continuous minimum.

The system includes a GFCI (Ground Fault Circuit Interrupter) / Circuit Breaker to protect the operator.

The power in the tether is 400 Volts DC. This circuit is protected by a LIM (Line Insulation Monitor).

The procedures for testing the circuit safety components can be found in the Pre-Dive Preparations section of the Quick Start Instructions.

Do not block the Operator Control Console fans. Blocking the fans can lead to overheating and component failure.

Display Monitor Tilt Arm

The Display Monitor Tilt Arm on the left side of the Operator Control Console can be used to adjust the angle of the Operator Control Console lid and monitor. To adjust the angle of the monitor, loosen the locking collar, adjust the lid to the desired angle and tighten the locking collar.

Make sure to loosen the display monitor tilt arm before closing the Operator Control Console lid, and be careful when closing the lid to avoid damaging the computer or monitor or pinching any cables.

Safety Circuits

The Operator Control Console includes three safety circuit components.

• GFCI (Ground Fault Circuit Interrupter)

• LIM (Line Insulation Monitor)

• ROV Power Safety Interlock

GFCI (Ground Fault Circuit Interrupter)

The GFCI protects the operator from shock from the AC circuit of the power source.

The GFCI is inline with the power cord. When initially connected to a power source, it is in the Off state. You must press the Reset Button to enable it. When enabled, the green LED will be illuminated.

When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord.

LIM (Line Insulation Monitor)

The LIM protects the operator and persons in the water nearby from shock from the DC circuit of the tether. While the GFCI switches are part of the GFCI component and must be turned on to operate the Operator Control Console, the LIM is automatically enabled when the system is turned on. The LIM operates on a principle similar to the GFCI and monitors the quality of the insulation of the conductors in the tether. If the resistance between the conductors drops below the safe threshold, the LIM will trip.

A normal reading on the LIM display is > 4 M-Ohm, indicating that the insulation of the power conductors in the tether is good. If there is any degradation of insulation, the value displayed will decrease. The MSS LIM is two stage. When the LIM detects the resistance between the ROV power conductors falls below 900 kOhms, the yellow LIM Alarm A1 LED will turn on, but the power circuit will remain on. When the LIM detects the resistance falls below 200 kOhms, the yellow LIM Alarm A2 LED will turn on and the ROV power circuit will be disabled. The LIM can be reset by pressing and holding the R button. The yellow LIM Alarm light should turn off. To test the LIM, press and hold the T button. If the LIM continues to trip, the system should be inspected for a fault before being used.

The LIM has additional features that are described in more detail in the LIM Module Manual.

ROV Power Safety Interlock

The ROV Power Safety Interlock prevents the ROV power from being engaged unless an ROV is plugged into the tether. This feature protects users from accidentally contacting the ROV power circuit of an open tether connector.

See the Operator Control Console Switches and Connections section for more information about these components and their locations, and see the Pre-Dive Preparations section of the Quick Start Instructions for information about testing these components.

Workhorse Switches and Connections

The Operator Control Console top includes the following switches:

The Operator Control Console top includes the following connections:

The Operator Control Console side includes the following switches:

The Operator Control Console side includes the following connections:

Computer

The computer provides the hardware and operating system platform for VideoRay ROV control software and image and video editing and production. The computer is embedded in the Operator Control Console.

For information about using the computer in general, see the instructions that came with it.

VideoRay does not recommend installing additional hardware or software on the computer unless you are familiar with its operation and confident it will not interfere with the VideoRay control software or the computer's ports. Software that is packaged with VideoRay accessories has been tested and is approved for use.

The computer includes the following connections (which are passed through to connectors on the Operator Control Console):

Additional Specifications

Operating System

• Ubuntu

Temperature

• Operating Temperature: -40 C - 70C
• Storage Temperature: -40 C - 85C

Power Input

• 9 - 48 VDC

Hard Disk Space

• 256 Gb

Computer specifications are subject to change without notice.

HD Monitor

The display port cable has a latching connector. Make sure to press the latch button before trying to remove the connector.

The monitor includes a brightness knob.

The monitor includes the following connections:

Additional Specifications

Size

• 18.5" Diagonal

Power Input

• 12 VDC

Native Resolution

• 1920 X 1080

Brightness

Power Options

Each Operator Control Console requires some sort of external topside power, and the Expeditionary Splashproof controller also requires the ROV On-Board Batteries when used in stand-alone mode.

External Topside Power Requirement Specifications

The Expeditionary Splashproof Controller has its own internal battery and an external charger, like most laptops. The external charger requires 100-250 VAC, 50, 60Hz (typically plugged into a conventional 15 Amp, 120 VAC wall outlet in the United States. Other countries that use 240 V may have different amperage ratings for their residential outlets).

The Workhorse Splashproof and Workhorse controllers require 100-250 VAC, 50, 60 Hz at a minimum of 3,000 Watts. (on 120 VAC supplies, this equates to 25 Amp, and on 240 VAC, 12.5 Amp).

Power Sources

Power sources include the following:

• Shore/grid power
• Stand-alone generator
• Stand-alone battery with inverter
• Vessel (ship or vehicle) power, which can be via the vessel's generator or inverter
• VideoRay Portable Power Supply (a custom stand-alone battery with inverter)
• VideoRay ROV On-board Batteries (for use with the Expeditionary Splashproof Controller only.

In addition to a widely available variety of portable power solutions (generators and inverters) from many sources, VideoRay offers a dedicated power source, the Portable Power Supply. It is a custom designed battery /inverter solution to work with Mission Specialist Systems. It can used with your choice of Lead Acid, Nickel Metal Hydride NiMH, or Lithium Ion batteries.

PPS - Portable Power Supply

The PSS has its own Operator's Manual. Please see its manual for more information.

ROV On-Board Batteries

ROV On-board Batteries provide power directly at the ROV. Communications from the topside are still required over fiber tether.

VideoRay IP65 Controller

Forward / Reverse Control Lateral Control Yaw Control Depth Control Pitch Up Pitch Down Pitch / Roll Reset Reserved Lights Intensity Camera Tilt Up Camera Tilt Down Camera Focus In Camera Focus Out Snapshot Video Record Manipulator Open Manipulator Close Manipulator Rotate

Forward / Reverse Control

The joystick is used to control the forward / reverse motion of the ROV.

Location

The Joystick does not have a label.

Use

Displace the joystick forward (away from you) to move the ROV forward. Displace the joystick rearward (toward you) to move the ROV backward.

The greater the displacement from the center position, the faster the ROV will move or turn in that direction.

The joystick can be moved in any direction to simultaneously move forward or backward while turning or moving laterally.

Do not run the horizontal thrusters in air for an extended period of time. Doing so may cause overheating and damage to the components.

Forward / Reverse Control

Lateral Control

The joystick is used to control the lateral motion of the ROV.

Location

The Joystick does not have a label.

Use

Displace the Joystick to the left to slide the ROV to its left. Displace the Joystick to the right to slide the ROV to its right.

The greater the displacement from the center position, the faster it will move or turn in that direction.

The joystick can be moved in any direction to simultaneously move laterally while moving forward/backward or turning.

Do not run the horizontal thrusters in air for an extended period of time. Doing so may cause overheating and damage to the components.

Yaw Control

The joystick is used to control the yaw motion of the ROV.

Location

The Joystick does not have a label.

Use

Rotate the Joystick to the left to turn (yaw) the ROV to its left. Rotate the Joystick to the right to turn (yaw) the ROV to its right.

Displace the Joystick to the left to slide the ROV to its left. Displace the Joystick to the right to slide the ROV to its right.

The greater the displacement from the center position, the faster it will move or turn in that direction.

The joystick can be moved in any direction to simultaneously turn while moving forward/backward or laterally.

Do not run the horizontal thrusters in air for an extended period of time. Doing so may cause overheating and damage to the components.

Yaw Control

Depth Control

The Depth Control knob is used to make the ROV dive or surface by controlling the direction and amount of vertical thrust.

Knob Location and Label

Use

Rotate the Depth Control knob forward (counterclockwise) to dive. The greater the rotation from the center position, the faster it will dive. Rotate the Depth Control knob backward (clockwise) to surface. The greater the rotation from the center position, the faster it will surface.

Do not run the vertical thruster in air for an extended period of time. Doing so may cause overheating and damage to the components.

The Depth Control Knob has a center detent so that, by feel, you can tell when the knob is centered.

Pitch Up

The Pitch Up button increases the vertical angle of the vehicle in the upward direction.

Button Locations and Labels

Pitch Up

Use

Press the Pitch Up button to pitch the nose of the vehicle up in 5 degree increments.

You can press the Pitch Down button to decrease the pitch, or press the Pitch Reset button to return to level.

Pitch Up

Pitch Down

The Pitch Down button increases the vertical angle of the vehicle in the downward direction.

Button Locations and Labels

Pitch Down

Use

Press the Pitch Down button to pitch the nose of the vehicle down in 5 degree increments.

You can press the Pitch Up button to increase the pitch, or press the Pitch Reset button to return to level.

Pitch Down

Pitch / Roll Reset

The Pitch / Roll Reset button restores the vehicle to a level attitude.

Button Locations and Labels

Pitch Reset

Use

Press the Pitch / Roll Reset button to restore the vehicle to a level attitude.

You can press the Pitch Up button to increase the pitch, or press the Pitch Down button to decrease the pitch.

Pitch / Roll Reset

Reserved

Reserved

Lights Intensity

The Lights knob controls the intensity of the lights.

Control Location and Labels

Lights Intensity

Use

Rotate the Lights Intensity knob counter clockwise to dim the Lights and clockwise to increase the intensity of the lights.

Do not leave the lights on for an extended period of time. Doing so may cause overheating and damage to the components.

Lights Intensity

Camera Tilt Up

The Camera Tilt Up button increases the vertical angle of the front camera in the upward direction.

Button Locations and Labels

Tilt Up

Use

Press and hold the Tilt Up button to tilt the front camera up. Release the button when the camera has tilted to the desired setting or has reached the end of its range.

You should not continue to hold either tilt button when the camera has reached the end of its tilt range.

Camera Tilt Up

Camera Tilt Down

The Camera Tilt Up button increases the vertical angle of the front camera in the downward direction.

Button Locations and Labels

Tilt Down

Use

Press and hold the Tilt Down button to tilt the front camera down. Release the button when the camera has tilted to the desired setting or has reached the end of its range.

You should not continue to hold either tilt button when the camera has reached the end of its tilt range.

Camera Tilt Down

Camera Focus In

The Camera Focus In button adjusts the focus of the front camera for near objects.

Button Location and Label

Focus In

Use

Press and hold the Camera Focus In button to adjust the camera focus for near objects. Release the button when the camera has focused to the desired setting or has reached the end of its range.

Camera Focus In

Camera Focus Out

The Camera Focus Out button adjusts the focus of the front camera for far objects.

Button Location and Label

Focus Out

Use

Press and hold the Camera Focus Out button to adjust the camera focus for far objects. Release the button when the camera has focused to the desired setting or has reached the end of its range.

Camera Focus Out

Snapshot

The Snapshot button saves a still image from the active camera.

Button Location and Label

Use

Press the Snapshot button to capture a still image from the active camera.

Snapshots are saved as .JPG formatted files in the gss_logs folder. They are automatically named by date and time. For more information, see the Snapshots section of the Operations Guide.

You can capture a snapshot will recording video.

Video Record

The Video Record button toggles the video record feature for the active camera.

Button Location and Label

Use

Press the Video Record button to start recording a video from the active camera. Press the Video Record button again to stop recording a video from the active camera.

When the recording is active, the record icon button is illuminated green.

Video Recordings are saved as .MP4 formatted files in the gss_logs folder. They are automatically named by date and time. For more information, see the Video Recording section of the Operations Guide

You can capture snapshots while recording video.

Manipulator Open

The Manipulator Open button opens the jaws of the manipulator.

Button Locations and Labels

Manipulator Up

Use

Press and hold the Manipulator Open button to open the jaws of the manipulator. Release the button when the manipulator jaws open the desired amount or have reached the end of their range.

You should not continue to hold the Manipulator Open button when the jaws have reached the end of their range.

Manipulator Open

Manipulator Close

The Manipulator Close button closes the jaws of the manipulator.

Button Locations and Labels

Manipulator Close

Use

Press and hold the Manipulator Close button to close the jaws of the manipulator. Release the button when the manipulator jaws close the desired amount or have reached the end of their range.

You should not continue to hold the Manipulator Close button when the jaws have closed on an object or reached the end of their range. You can press and release the button a few times to tighten the jaws.

Manipulator Close

Manipulator Rotate

The Manipulator Rotate knob rotates the jaws of the manipulator.

Button Locations and Labels

Manipulator Rotate

Use

Rotate the Manipulator Rotate knob clockwise to rotate the manipulator jaws clockwise (when viewed from the rear of the manipulator). Rotate the Manipulator Rotate knob counterclockwise to rotate the manipulator jaws counterclockwise (when viewed from the rear of the manipulator). Center the Manipulator Rotate knob to stop the manipulator jaws from rotating.

Manipulator Rotate

Microsoft Xbox Elite Controller

The Xbox Elite Controller uses different modes to support all of the functional requirements on the available joysticks and buttons. The modes include: Common Controller Inputs Pitch / Roll Sonar Camera / Lights Manipulator Raw Inputs (for diagnostics) The mode is switched by using the Cycle Mode button, which is one of the common controller inputs and shown on the next page. The controller button mapping for each mode is defined on the following pages.

Hand Controller Connection

Common Controller Inputs

Pitch/Roll Mode

Sonar Mode

Camera/Lights Mode

Manipulator Mode

Raw Input

Expeditionary Side Pods Controller

The Expeditionary Controller Side Pods are designed for use with the Expeditionary Controller only. Top Controls Bottom Controls Mounting and Unmounting

Hand Controller Connection

The Expeditionary Controller Side Pods can be mounted and unmounted from the tablet frame.

Top Controls

Left Pod
Push the joystick or hat switch for the All Autos Off or Sonar Frequency Toggle.
Right Pod
Push the joystick or hat switch for the Auto Pitch/Roll Zero or to Cycle the mode of the hat switch.

Bottom Controls

Right		Left

Note that this is the bottom view and the right pod will appear to be on the left when viewed this way.

Unmounting and Mounting the Side Pods

The side pods must be removed from the tablet frame in order to use the tablet in the Workhorse Splashproof Control Console Case.

Unmounting the Side Pods

To unmount a side pod, loosen the two thumb screws that hold the top of the pod to the back side of tablet frame and rotate the pod away from the frame at the top. Once rotated, the bottom catch can be released from the slot in the frame. Note, the thumb screws are retained in the pod.

Mounting the Side Pods

The pods mount using the reverse of the steps to unmount them. To mount a side pod, engage the bottom catch into the corresponding slot in the frame and rotate the top of the pod toward the frame. Once the pod is in place, secure the thumb screws into the back of the tablet frame.

Tether Specifications

Tether Diameter

New tether was introduced in 2018. These tethers include a braided Kevlar around the conductors, are slightly different diameter and can be identified by an "FB" code printed on the tether.

Minimum Tether Bend Radius

Tether Connector Pin Configuration

Tether pin numbering in the connector is shown above. When looking at the mating surface of the connector, Pin 1 is the offset pin / socket. For male connectors, pins 2-8 proceed in a clockwise direction. For female connectors, sockets 2-8 proceed in a counter-clockwise direction.

Tether Pin Function and Conductor Wire Gauge

All conductors are straight through, such that pin 1 in the male connector is connected to socket 1 in the female connector, and so on for all eight pins / sockets.

Conductor pairs 1 & 2, 4 & 6 and 7 & 8 are twisted.

Pins 3 and 5 use 2 conductors each for maximizing power transmission and tether flexibility.

Tether Buoyancy

Performance and Neutral tether includes buoyancy compensating foam that provides near neutral buoyancy in fresh water. Negative tether contains no foam and will sink. The connectors do not contain any buoyancy compensation and will sink slightly.

Tether Strength

All tether types include Kevlar that is rated at 450 kg (1,000 pounds), the connectors are rated 80 kg (175 pounds).

The maximum usable tether length is limited by the ability of the tether to transmit power and data signals. The maximum usable tether length of MSS systems is about 550 meters (1,800 feet). MSS systems can use fiber tether to extend the range. See the Tether Management section of the Operations Guide for more information.

Kevlar is a registered trademark of E. I. du Pont de Nemours and Company

Tether Strain Relief

The Defender strain relief is used to secure the ROV to the tether to prevent separation and loss of the vehicle if the tether connection becomes separated. The strain relief also minimized the load on the tether connector.

There are two different strain relief systems. One is for use between the ROV and tether and the second is for use when connecting two tethers together. There is not a strain relief system for the topside connection.

Instructions for using these strain relief systems is found on the following pages.

ROV to Tether Strain Relief

Use the following procedures to install and secure the vehicle to the tether to prevent loss of the vehicle due to a connection failure. The strain relief cable may already be attached to the tether. If so, you can skip steps 1 to 3.

Failure to connect the strain relief properly may result in loss of the vehicle.

1. Insert the loop end of the tether webbing into the loop end of the strain relief cable.
   

2. Pass the eye socket end of the strain relief cable through the loop end of the tether webbing.
   

3. Pull the eye socket end of the strain relief cable to secure the connection.
   

4. Align the pins and insert the male ROV whip connector to the female tether connector until the faces mate. Secure the connection with the locking collar.
   

5. Insert the strain relief eye socket into the hole in the frame and secure it with the retaining screw.
   

6. Make sure the connection is secure and that all of the load is carried by the strain relief and there is no load on the tether connection.
   

When working in an area where there is a chance the tether can become snagged on a protruding object, the connection can be wrapped with tape to prevent a protruding object from passing through the space between the tether and the strain relief cable.

Tether to Tether Strain Relief

When connecting multiple tethers for an operation, each connection should be secured with a tether to tether strain relief to prevent separation of the connection. Use the following procedures to install and secure the strain relief cord for tether to tether connections. The ROV strain relief cable may already be attached to the tether. If so, it should be removed.

Failure to connect the strain relief properly may result in loss of the vehicle.

1. Ensure that you have all three parts of the tether to tether strain relief as shown below.
   

2. Ensure that both carabiners are labeled with '600lbs'. Older models of VideoRay ROVs used the '450lbs' rated carabiners and these should not be used with Mission Specialist systems.
   

   Using the incorrect carabiners may cause the strain relief to fail under loading.

3. Connect one of the carabiners to one loop end of the tether to tether strain relief cord.
   

4. Connect the carabiner to the tether strain relief webbing and secure the carabiner locking nut.
   

5. Repeat steps 3 and 4 using the second carabiner and strain relief webbing from the second tether.
   

6. Make sure the strain relief cable connections are secure so that all of the load is carried by the strain relief and there is no load on the tether connection.
   

When working in an area where there is a chance the tether can become snagged on a protruding object, the connection can be wrapped with tape to prevent a protruding object from passing through the space between the tether and the strain relief cable.

Included Accessories

Several topside accessories are included with all Mission Specialist system configurations.

Sun Shade

The sun shade can be attached directly to the control panel lid and provides shade for the computer and monitor to make it easier to see the displays when working in bright light. See the label on the sun shade for installation instructions.

Tool Kit

A basic tool kit is provided in order to perform routine maintenance and field repairs. The tool kit also contains some spare parts including ballast weights, propellers and other items.

Additional Sensors and Tooling

This configuration includes the following sensors and tooling:

• Rotating Manipulator
• GPS

Optional Accessories

The following pages provide information about the various accessories that are supported on the VideoRay Defender. Your configuration may or may not include all of these accessories.

Rotating Manipulator

GPS

GPS (Global Positioning System) is used to locate the latitude and longitude of the ROV and the deployment location (vessel or dock).

Topside GPS is used to identify the location of the the vessel or area where the pilot is working.

VideoRay ROV GPS is located on the vehicle to determine the position of the ROV while on the surface of the water.

Mission Support Accessories

In addition to the equipment that is included with each MSS configuration and the commercially available accessories, VideoRay recommends users procure a variety of mission support items. The list of recommended items will vary depending on the typical mission requirements, although it will be obvious that some of these items have general applicability to all mission profiles.

These brief lists are intended to provide a sample and stimulate thinking about what you might want to add to your "operations kit:"

General Logistical Support

• Basic operations support items including tables and chairs, foul weather gear, food, water, etc.
• Power sources including generators and batteries/inverters
• Supplemental video display devices for large group viewing (this can help prevent people from hovering over and distracting the pilot)
• Supplemental tools, such as a flashlight, knife, tape, cable ties, etc.
• Supplemental spare parts for field repairs (Basic spares are included for some items)

Tactical Operations Support

• Tether weights and davit
• Retrieval devices or baskets

Folder Structure

Home/ - User Root Folder

charts/ - Recommended location for charts

firmware/ - Module Firmware

flighthack/ - Mission Specialist Utilities

gss_config/ - Configuration Files

gss_logs/ - Recordings

gss_mission/ - Mission Definition Files

Software Updates

Software updates can be downloaded from https://videoray.exavault.com/

Username: quarterdeck
Password: quarterdeck

In the instructions below, replace <<name>> with the appropriate name for the most recent version. This name will be provided on any release notice you might receive. If do not know the name, it will be named using the following format: <<date>>_videoray_topside_<<ubuntu reference>>.run.

In the instructions below, <<configName>> is "defender" and "pro5" (use only one at a time and do not use the quotes).

1. Log in to the download site
2. Navigate to the greensea folder
3. Download the latest <<name>>.run to the Downloads folder
4. Open a Terminal Window and enter the following commands:
   1. rm gss_configs ((If this reports an error, use: rm -r gss_configs )
   2. rm -r gss_configs-<<configName>> (repeat for each vehicle model config file)
   3. cd Downloads
   4. chmod +x <<name>>.run
   5. sudo ./<<name>>.run oculus (or use the desired sonar)
   6. When prompted enter the password, use: videoray
5. Start the workspace using the desktop icon
6. Exit the workspace
7. In the Terminal Window, enter the following commands
   1. cd .config/greensea_systems
   2. rm workspace.ini
   (Do not delete any other files, specifically gss.key)
8. Close the Terminal Windows

The new version should be installed and ready to run. Contact VideoRay support if you need assistance.

Configuration Commands

The following configuration commands are available for updating firmware and configuring M5 modules for MSS vehicle systems:

• vr_refresh - Refresh the firmware for a module
• vr_enum - Enumerate (list) the connected modules
• vr_setid - Set the Node ID and Group ID for a module
• vr_debug_putty.py - Debug and/or configure a module
• vr_create_virtport_all.sh - Create virtual ports for modules not connected directly to the RS-485 bus

These commands are entered using a terminal window.

These commands are case sensitive.

More information about using these commands can be found in the following section of this guide.

Command: vr_refresh

The vr_refresh command is used to update the firmware on a module.

Use

vr_refresh [OPTIONS] [SINGLE_HEX_FILE_NAME]

• [Options] - See the table below
• [SINGLE_HEX_FILE_NAME] - The file name of the firmware update, including its path.

Some of the options use two dashes "--," not a long dash

Updating Firmware

Firmware can be found locally in the Home/firmware/ folder. The most up-to-date firmware is available from VideoRay's FTP server. You can download the firmware to the local folder by connecting to the Internet and using the following command:

• vr_pull_firmware.sh

To use vr_refresh on modules connected to the communications module, you need to open a virtual port and specify the port to use. See vr_create_virtport_all.sh for more information.

Example firmware update commands for different modules are shown below. In each case, X.Y.Z should be replaced by the actual version number. Each vr_refresh command should be entered on one line. Ignore any line breaks that may appear in the vr_refresh commands displayed below.

Power Module

• vr_refresh -i 1 ~/firmware/power_converter-X.Y.Z.hex --block_size 16384

Communications Module

• vr_refresh -i 2 ~/firmware/comms_hub-X.Y.Z.hex --block_size 16384

AHRS Module

• Required commands before running vr_refresh on the AHRS Module":
  • cd flighthack
  • ./vr_create_virtport_all.sh &
• vr_refesh command for the AHRS Module:
  • vr_refresh -c vrport2 -i 3 ~/firmware/attitude_sensor-X.Y.Z.hex --block_size 16384

Thruster Module (Use the correct Node ID)

• vr_refresh -i ~/firmware/motor_controller-X.Y.Z.hex
  

Camera Module

• Required commands before running vr_refresh on the Camera Module:
  • cd flighthack
  • ./vr_create_virtport_all.sh &
• vr_refesh command for the Camera Module:
  • vr_refresh -c vrport3 -i 4 ~/firmware/camera_adapter-X.Y.Z.hex --block_size 16384

LED Module (Use the correct Node ID)

• vr_refresh -i 11 ~/firmware/led_controller-X.Y.Z.hex
  

Firmware Block Sizes

Command: vr_enum

The vr_enum command is used to enumerate (list) the modules that are connected to the vehicle.

Use

vr_enum [OPTIONS] [min explcit id] [max explicit id]

• [Options] - See the table below
• [min explicit id] - The minimum Node ID to include the list
• [max explicit id] - The maximum Node ID to include in the list

Examples

To use vr_enum on modules connected to the communications module, you need to open a virtual port and specify the port to use. See vr_create_virtport_all.sh for more information.

For Power, Communications, Thrusters and LEDs

• vr_enum

For the AHRS and camera modules, you need to include the virtual port.

AHRS Module

• vr_enum -c vrport2

Camera Module

• vr_enum -c vrport3

Some of the options use two dashes "--," not a long dash

Command: vr_setid

The vr_setid command is used to set the Node_ID and Group_ID of a module.

Use

vr_setid [OPTIONS] SN Node_ID Group_ID

• SN - See the table below
• Node_ID - The Node ID to program into the module (1 - 255)
• Group_ID - The Group ID to program into the module (1 - 255)

Examples

To use vr_enum on modules connected to the communications module, you need to open a virtual port and specify the port to use. See vr_create_virtport_all.sh for more information.

For the examples below, replace "S.N" with the actual serial number. The serial number is case sensitive.

Power Module

• vr_setid S/N 1 196

Communications Module

• vr_setid S/N 2 193

AHRS Module

• vr_setid S/N -c vrport2 3 194

Thruster Module (Use the correct Serial Number and Node ID)

• vr_setid S/N 5 129

Camera Module

• vr_setid SN -c vrport3 4 196

LED Module (Use the correct Serial Number and Node ID)

• vr_setid S/N 11 131

Some of the options use two dashes "--," not a long dash

Command: vr_debug_putty.py

The vr_debug_putty.py command is used to configure or test a module.

Use

./vr_debug_putty.py [OPTIONS] [N [N...]]

• [Options] - See the table below
• N - The Node ID of the module to reset and enter debug mode.

This command must be executed from the flighthack folder and requires the preceding "./"

Power Module

• ./vr_debug_putty.py 1

Communications Module

• ./vr_debug_putty.py 2

AHRS Module

• ./vr_debug_putty.py -c vrport2 3

Thruster Module (Use the correct Node ID)

• ./vr_debug_putty.py 5

Camera Module

• ./vr_debug_putty.py -c vrport3 4

LED Module (Use the correct Node ID)

• ./vr_debug_putty.py 11

Some of the options use two dashes "--," not a long dash

Command: vr_create_virtport_all.sh

The vr_create_virtport_all.sh command is used to create virtual ports that allow the Ethernet protocol to be used to communication with modules connected to the communications module.

Virtual Ports

MSS communications are supported using Ethernet and RS-485 protocols. Modules may use one protocol or the other, or both. The configuration commands described on the previous page, including vr_enum, vr_setid, vr_refresh and vr_debug_putty.py use only the RS-485 protocol. For modules that only support Ethernet, a virtual port must be set up to bridge the RS-485 to Ethernet for the Communications Module port to which the device is attached. The vr_create_virtport_all.sh can be used to create the required virtual ports.

Use

./vr_create_virtport_all.sh &

There are no arguments for this command.

This command must be executed from the flighthack directory and requires the preceding "./"

The trailing "&" allows this command to run in the background, otherwise you would need to open a new terminal window to use commands that access the virtual ports. When finished using the virtual ports, they should be removed using the following command: killall socat.

Example Using Virtual Ports to Communicate with a Camera

This example assumes that a Camera Module with serial number CAMADP000123 is plugged into port 2 of the Communications Module.

1. Connect and power up the system, but do not start the control software.
2. Launch the terminal program and use the following commands to access the camera.
3. Navigate to the working folder, type: cd flighthack
4. Enumerate the modules on the system, type: vr_enum You will notice that the camera does not show up in the list of enumerated modules.
5. To create the virtual ports, type ./vr_create_virtport_all.sh &
6. Now, when you enumerate the modules using vr_enum, the camera and any other non-RS-485 devices should show up in the list. You can also see the virtual ports using the standard directory listing command, ls
7. To send a commands to the camera, you need to include the -c portNumber option, where the portNumber to use is the one to which the device is attached on the Communications Module (in this case port 3, so vrport3).
   • To set the Node_ID and Group ID:
     vr_setid -c vrport3 CAMADP000123 4 196
   • To enter Debug mode:
     ./vr_debug_putty.py -c vrport3 4

System Voltage Advisory

AC Input

Input voltage is universal at 100-240 VAC; 50, 60 Hz. The power requirement for the Mission Specialist operating at full power settings is 3,000 Watts. A 2,000 Watt source (i.e. generator) can be used if the system will not be used at full power settings.

ROV DC Power

Historically, the tether voltage to power the ROV has been increasing. Economy models (including the Scout, Explorer and Voyager), Pro 3 variants and the Pro 4 Ultra use 48 V DC for vehicle power. The Pro 4 uses 74 V DC. Mission Specialist systems uses 400 V DC with plans to use higher voltages in the future. Systems with voltages higher than 48 V DC include a LIM (Line Insulation Monitor) protection module in the ROV DC circuit.

System components should not be connected to voltage sources higher than their rating.

VideoRay Negative, Neutral and PPT tethers are rated to 600 V DC and are safe to use on any system through the Mission Specialist 400 V DC.

The standard TDS and Extended TDS are only rated to 300 V DC and should not be used with Mission Specialist systems or components.

The new version of the extended TDS is available that includes a 600 V rated slip ring.

If you have any questions about system voltage and compatibility, contact VideoRay Support.

Environmental and Chemical Compatibility

The VideoRay MSS is designed and approved for use in fresh or naturally occurring salt water and non-hazardous fresh air environments. While VideoRay recognizes that some customers may desire to use the vehicle in other solutions or environments, such use is entirely at the discretion and liability of the customer and doing so may void the product warranty.

The following additional solutions have been researched by VideoRay and use in these solutions is deemed to fall within the acceptable use guidelines and will not affect the warranty.

Temperature

The maximum recommended temperature for sustained use is 50 C.

Non Approved Solutions and Environments

VIDEORAY EXPLICITLY DOES NOT CONDONE THE USE OF ITS PRODUCTS IN ANY SOLUTIONS OR ENVIRONMENTS OTHER THAN THOSE EXPLICITLY LISTED ABOVE, AND ASSUMES NO LIABILITY FOR USE IN OTHER SOLUTIONS OR ENVIRONMENTS.

Risks of using VideoRay Systems in Non Approved Solutions or Environments may include, but are not limited to:

ROV Materials List

The following is a list of materials used in the vehicle:

Open this document in new Window

Users may check this list against chemical compatibility charts available from several sources.

VideoRay can provide engineering services for a fee to determine chemical compatibility. Contact VideoRay for more information.

Mission Planning

Once the basic objectives for an ROV mission have been established, there are several additional, and critical, requirements that need to be identified before rushing off to the dive site. Each of these additional requirements can be defined by developing a list of questions and thinking through the answers. Some of the answers may lead to more questions. With the information gathered by answering the questions, appropriate decisions can be made and your plan developed.

Below is a representative list of requirements and corresponding questions. This list is not comprehensive, and is only intended to serve as a guide for you to develop your own list of appropriate requirements and questions.

• Define the safety requirements
• How many PFDs are needed?

• Are there any known hazards in the operating area?
• Is the water contaminated or potentially contaminated?

• Define the ROV equipment requirements
• How much tether will you need?
• How deep do you plan to dive?
• How far is the dive target from the set up location?

• Are accessories needed?
  • What is the water visibility?
  • Will you need to retrieve anything?

• Define the additional equipment requirements
• What are the site conditions?
• Will you have power available or need to supply your own?
• Will you need insect repellent?

• What will the weather be?
• Will you need to bring extra clothes or rain gear?
• Will you need to bring sun screen?

• How long do you expect the mission to last?
• Will you need to bring food?
• Will you need extra staff for multiple shifts?

• Define the time-frame requirements
• How long do you think it will take to accomplish your goals?

• How long do you have to accomplish your goals?

• Are there any schedule constraints?

• Define the staff skill requirements
• Will you need extra staff to transport the equipment?

• Will you need someone to liaise with the public on-site?

• Define the transportation requirements
• Will you be operating from the shore or a vessel?

• How much equipment and how many people will you bring?

• Define any unique requirements
• Is the area of operation under any jurisdiction that requires you to get a permit for access or ROV operations?

Additional Notes

The use of checklists can facilitate the execution of the planning, logistics and operating phases of ROV missions. Consider using the ones provided with this documentation, or customize them or create your own to better meet your specific needs.

General Logistics

In addition to the ROV system and its accessories, you will typically need to provide other equipment to support your mission. The first items on your list should be those required for safety of the crew, such as personal flotation devices and a first aid kit. Depending upon your specific requirements that should have been identified in the planning phase, recommended equipment might also include:

• Items for personal comfort including appropriate clothing, chairs, tables, pop-up tents for shade
• Tools and spare parts to make field repairs
• Items to document the mission including topside cameras
• Short and long range communications equipment including cell phones and/or two-way radios
• Lights for night time operations
• Code "A" flag (similar to the "Diver Below" flag) to indicate to those around you that the ROV is deployed and they should exercise caution when entering your area

VideoRay Power Requirements

The VideoRay MSS operates on 100-240 Volts AC, 50,60 Hz. This can be provided from the land-based grid, a generator, or a battery with an inverter. Minimum generator or inverter requirements are 3,000 Watts.

Transportation

Land or water transportation will likely be required and you will need to ensure that you have enough space for your crew and equipment. You may also want to bring maps or charts of the operating area, and you should try to ascertain access points and plan your route accordingly. Carts to transport equipment while at the site may be helpful if the terrain is accommodating.

Site-specific Requirements

Often, river or shoreline sites have steep banks. For these locations, you might want to bring rappelling equipment or at a minimum some ropes to assist in climbing or transporting equipment up and down.

Sea sickness remedies for vessel operations can make the difference between a successful mission and an aborted attempt.

Unequal Grounds

All power grounds are not created equal... It is more common than you would imagine that the power ground is not at the same potential as the water. This will create a ground loop that can cause noise on the video signal or even lead to a shock if you touch a grounded part of the system and water at the same time. VideoRay includes a ground lift adapter cord that can be used to isolate the control panel ground. All connected devices must be connected through this adapter. For example, a monitor connected directly to the power source and to the computer via a monitor cable, will reintroduce the bad ground into the system.

On-site Operations

On-site operations can be hectic and demanding. The following information can help maintain order and productivity.

Site Selection and System Set Up

The following recommendations should be considered when selecting a site and setting up the equipment:

• Select a level site if possible
• Orient the panel for best visibility (avoid glare), and piloting reference (directions on the screen match real world directions)
• Watch for tripping hazards from the tether or power cord
• When operating from a vessel, make sure the system is physically secure in case of rough seas
• Watch for tether pinch points hazards around docks or chaffing hazards around rocks or coral

The ROV Team, Their Roles and Responsibilities

While one person can operate a VideoRay, having multiple people participate can be valuable or may even be required in some situations. The following roles and responsibilities are suggested to assist in developing an efficient and effective ROV team.

Additional Notes

The use of operations logs is highly recommended to track operations and develop historical profiles of the equipment, operators and missions. Consider using the ones provided with this documentation, or customize them or create your own to better meet your specific needs.

Video Recording

Videos are .MP4 format, named by date and time and are stored in the Home/gss_logs folder.

Project Completion

On-site, the system should be cleaned as best as possible and stowed for transport. Be careful when closing lids to avoid pinching any cables or damaging the video display components of the computer or the control panel.

Upon return to the home base, other tasks that should be considered before stowing the equipment include:

• Clean and inspect the equipment.
• Make any necessary repairs so system is ready to go next time.
• Complete any operations and maintenance logs.
• Produce and deliver the project reports.

Project Deliverables

Often, the completion of a project means delivering a product, such as images or videos of an inspection, or retrieval of an item. These can be delivered as isolated products or as part of a formal report. See the Images and Videos section of the Operations Guide for more information about still image and video post-processing and production.

Image and Video Editing and Production

You can record snapshots and video.

You can edit and produce video files or DVDs. The following sections provide more information on each of these steps.

The best quality output requires good input. Adjust the lights and focus to give the best starting image quality. More light does not always provide a better picture - back scatter from particles can obscure your intended objective. Light position can also make a big difference. Auxiliary lighting from the side can produce an image that looks like it was taken in air.

Video Snapshot Images

Snapshot Images are .JPG format, named by date and time and are stored in the Home/gss_logs folder.

Data Management

Images and videos captured during a mission are store in the Home/gss_logs,. These files should be moved to a project folder after each mission so that the imagery folder does not get overpopulated with mix of files from various projects. When viewing files, it can be hard to distinguish one underwater location from another. Preferably, these files should also be backed up to separate media.

Emergency Response to a Flooded Module

If you suspect that a module is experiencing a leak during operations, there are four critical steps to remember:

1. Turn off the power.

2. Retrieve the ROV.

3. Clean affected components of any corrosive elements.

4. Dry affected components.

Some modules cannot be opened. If a leak is detected, the only recourse is to replace the module.

Additional details are provided below, but it is important that you cut the power as soon as a leak is suspected and clean and dry the system as soon as possible. You should not attempt to "test" the equipment until you are sure it is completely dry. Turning the power on while the components are wet will likely cause more damage.

The following detailed procedures will not guarantee recovery from a flood incident, but they will provide the best chances of salvaging as much as possible

1. Turn off the power.

2. Retrieve the ROV if not already retrieved.

3. Open the module (if possible) and drain any water

4. Determine if any electronic components got wet.

5. Rinse wet components in distilled water as soon as possible. If you do not have distilled water, use fresh water as soon as possible and follow up with a rinse in distilled water as soon as possible after that.

6. Rinse the components with alcohol.

7. Place the components in a sealed container with a desiccant for at least 24 hours. Uncooked rice can be used as a desiccant.

8. Remove the components from the desiccant and examine them for signs of corrosion or other damage such as loose parts.

9. If no damage is observed, reassemble the circuits, without sealing the module.

10. Test the ROV functions.

11. Reassemble the module to the sealed state.

Emergency Response to a Snagged Tether/ROV

If the tether or ROV appears to be tangled or stuck, remember:

Do NOT Panic!

Do NOT Pull the Tether!

The first step is to assess the situation. Above all, you do not want to make the situation worse by trying to maneuver without knowing whether doing so will help or hurt.

If you can maneuver the ROV, try to turn around until you find the tether and follow it back to the point of the snag. You may need to turn left and right and with the camera looking up and down in order to find the tether.

If you are sure there are no knots in the tether, or it is not likely to get snagged tighter, you can try to pull the tether from the surface or by using the ROV to pull it away from the snag.

Tips and Possible Options

If you have a manipulator on the ROV, you may be able use it to assist with the untangling process. Even if you don't have a manipulator, you may be able to use a part of the ROV such as the skid to assist with manipulating the tether.

If you have a second ROV system available, you may be able use it to fully assess the situation and develop a plan or even assist with recovery.

If you can pilot the ROV to the surface, you can disconnect it and try to retrieve the loose tether. Make sure to turn off the power before disconnecting the ROV.

Thoughts on Being Prepared

Untangling a tangled or stuck tether is an important part of all ROV Pilot's training. If you have not been trained in these and other emergency procedures, you should consider participating in such training. Good pilots will also regularly practice untangling the tether and ROV along with other piloting exercises.

Emergency Response to a Cut Tether

If the tether is suspected of being nicked or cut, follow these steps:

1. Turn off the power.

2. If possible, retrieve the ROV.

3. If the tether is completely separated, mark the spot to facilitate a search for the ROV.

4. Remove the tether from the water as soon as possible to prevent water ingress.

5. Tether can often be spliced.

Tether Field Repair

Hot glue or Silicone / RTV glue can be used to repair a tether in the field. These items should be considered for inclusion in a field tool kit. Field repairs should be repaired using more permanent techniques at the first opportunity.

Emergency Response to a Loss of Function

If control of the ROV is lost, follow these steps:

1. Check the GFCI and LIM status.

2. Turn off the power.

3. Check all connections.

4. If possible, retrieve the ROV.

Loss of function often results from a hardware problem. Assuming the ROV can be recovered, remove the tether and connect the ROV directly to the control panel. This will isolate the problem to either the tether or some other component.

Emergency Response to Loss of Control

If you suspect that the ROV is not responding to control inputs as it should, there may be several causes:

• Broken or lost propeller
• Obstructed or jammed propeller
• Thruster failure
• Joystick failure

Operation of the vehicle while there is an obstruction or jammed propeller can cause damage to the thruster motor or system electronics. It is best to try to recover the vehicle by hand rather that to continue to operate it in this condition.

Deployment Platforms

VideoRay ROVs can be deployed from land, vessels, remotely or even some very unique situations. Power can be provided by a shore based system, a generator or a battery with an inverter.

Height above Water Surface

VideoRays can be deployed from a significant height above the water surface by lowering the vehicle by its tether.

Land

For land-based deployments using shore power the biggest issue is usually how close can you get to the water. When operating in tanks, beware of active inlets or discharges and avoid using the ROV or tether near these areas. Many tanks also have cathodic protection systems, which can become a snare and entrapment hazard to the ROV.

Vessels

When operative from vessels, it is important to be aware of potential risks to personnel or the equipment. Whenever possible, conduct ROV operations when the vessel is at anchor or adrift without the propulsion system engaged. When the vessel's propulsion system must be engaged during ROV deployment, tether management is critical to ensure the tether or the ROV do not come in contact with the vessel's propulsion systems. Water intakes and discharges can also be hazardous to the ROV and should be locked out or the ROV and tether kept a safe distance.

Remote Operations

VideoRays can be operated remotely using Internet technologies. See the section on Using Network Remote for more information.

Other

Other unique deployment platforms include:

• Air - from a helicopter

• Underwater - as a fly-out vehicle

• Under Ice

Tether Management

Tether management can have a significant affect on the ability to pilot the ROV and achieve the objectives of the mission.

Choosing the right tether and managing it can have a very significant impact on the outcome of an ROV dive.

Tether is available in neutral or negative buoyancy. Negative tether sinks but has larger conductors, which means longer lengths can be used without affecting the power available at the ROV. Neutral tether is neutral in fresh water (slightly buoyant in salt water), but has thinner conductors. Neutral tether is available in standard diameter and performance diameter (also called PPT), which is thinner. Thinner tether has less drag, but also has smaller conductors and less power transmission capacity. Selecting the right tether is a balancing act between performance and handling characteristics.

General Tether Use Recommendations

• Make sure tether connections are secure.

• Use the shortest amount of tether required to operate in the target area.

• Use Performance or Neutral tether at the ROV and if more tether is needed use Negative at the control panel.

• Do not use more than one section of Performance Tether.

• If possible, select a deployment site that aids in ROV piloting and tether management. Usually, this means up-current from the zone of operations and with a direct line of sight to avoid snags.

• Only deploy what is needed - too little will affect piloting - too much may result in snags, tangles or propeller cuts.

Tether Storage

Make sure the connectors are clean before mating, and clean the connectors after each use by soaking in fresh water. Do not let the tether connectors drag on the ground.

Tether should be stored on a TDS or coiled using an over/under or figure eight technique. Coiling the tether in one direction will result in twists that are hard to remove.

Special Situations

Certain environmental situations, such as temperature extremes, water contaminants and others may call for special handling and procedures. The following sections provide some suggestions for operating in these conditions.

Cold Weather Operations

The system may act sluggish in cold weather conditions. If you must operate in conditions with ambient temperatures below 32 F (0 C) Follow these steps to minimize the effects of cold on the system.

• Keep the system warm when not in use. Do not leave it exposed to the cold overnight if possible.

• Operate in sunlight and out of the wind.

• Provide some direct heat to the control panel, computer and monitor if possible. Chemical pocket hand warmers can be applied to try to keep these components warm.

Hot Weather Operations

The control panel can overheat in hot weather. If you must operate in conditions with ambient temperatures above 90 F (32 C) Follow these steps to minimize the effects of heat on the system.

• Do not run the ROV in air for extended periods.

• Operate the control panel in the shade and provide adequate ventilation and air circulation.

• Remove the computer from the control panel to provide better cooling to both components.

Equipment Disinfection for Use in Potable Water

VideoRays are used by many companies for inspections in potable water systems. Always check with regional and local authorities for specific regulations and compliance requirements regarding the use of ROVs in potable water systems.

Failure to follow regional or local requirements for disinfection and use of ROVs in potable water may introduce contaminants into the water system and be detrimental to the public. Only those who are trained and qualified should use ROVs in potable water systems.

At the time this document was compiled, the MSS thrusters use an oil and dye that have not been rated for use in potable water systems. The MSDS and other product information for the oil is available: Oil MSDS Oil Product Data Sheet. The MSDS for the dye is also available: Dye MSDS. Please check with VideoRay regarding the current specifications for thruster oil and use in potable water systems.

The following procedure to disinfect the ROV prior to entering a potable water tank is recommended by John Conrady of Conrady Consultant Services and is used with permission.

Use of this procedure for decontamination of the equipment requires that the equipment has not been used in any liquid other than potable water is in a clean state. Equipment that has previously been used in salt or contaminated water or other liquid cannot be used in potable water.

1. Create a 400 ppm chlorine solution by mixing of 1/2 ounce of bleach with 1 quart of water.

2. Both of the operator's hands and a cloth glove should be sprayed with the 400 ppm chlorine solution.

3. The ROV is removed from the case and the entire ROV exterior and the section of the tether which will be inserted into the potable water is sprayed with the 400 ppm chlorine solution while turning it to insure all surfaces are disinfected.

4. The operator's hands and the cloth glove are periodically resprayed with the disinfectant solution and the ROV is lowered into the potable water by using the tether with the tether being additionally disinfected by the person by sliding the tether/umbilical through the hand/glove which is resprayed with the disinfectant solution every few seconds until the desired length of disinfected tether is inserted into the potable water.

Use in Contaminated Water or Other Liquids

Operating in contaminated water or other liquids poses hazards and creates risks to the operator and equipment. Risks include those encountered during the operation as well as after the fact during decontamination, transport and storage. When possible it is best to avoid operating in contaminated water or other liquids.

The information provided here is solely to alert you to the possibility of these dangers and is not a comprehensive treatment of this topic. You should seek professional advice from experts for the conditions in which you plan to operate if you must operate in anything other than naturally fresh or salt water.

AS THE OWNER / OPERATOR OF VIDEORAY EQUIPMENT, IT IS YOUR RESPONSIBILITY TO:

• UNDERSTAND THE HAZARDS AND RISKS OF USING THIS EQUIPMENT IN CONTAMINATED WATER AND OTHER LIQUIDS.
• DETERMINE WHETHER THE WATER OR LIQUID IN WHICH YOU OPERATE IS CONTAMINATED IN ANY WAY.
• DECIDE WHETHER OR NOT TO USE THE SYSTEM IF SUCH CONDITIONS EXIST.
• TAKE ANY NECESSARY PRECAUTIONS BEFORE, DURING AND AFTER ANY SUCH OPERATIONS.

VIDEORAY IS NOT RESPONSIBLE FOR IDENTIFYING WATER CONDITIONS OR ANY EFFECTS OF OPERATING IN ANY ENVIRONMENT, WHETHER CONTAMINATED OR NOT.

Use of VideoRay equipment in contaminated water or other liquids is not recommended and damage to the equipment from operating in such conditions is not covered under warranty.

USE PPE (Personal Protective Equipment)

If you think there is the possibility of contaminants in the water or liquid in which you are operating, Personal Protective Equipment appropriate for such contaminants is strongly advised.

Bio-Hazards

Bio-hazards include both working in potable water and ensuring bio-hazards are not introduced into the water system by the ROV (see the section on Use in Potable Water), and working in bio-hazard contaminated water such as in or around water treatment plants or effluents.

Equipment Decontamination after Use in Bio-hazard Contaminated Water

Standard post-dive procedures call for soaking the ROV and tether in fresh water for at least 30 minutes. In situations where the equipment is used in water suspected to contain contaminants, you can review US EPA guidelines documents regarding contaminated water and divers and dive equipment.

While alcohol is noted as an acceptable decontaminant in the US EPA guidelines, it should not be used as a decontaminant for the ROV because it reacts adversely with the main domes and light domes.

Chemical Compatibility

Use of VideoRay equipment in liquids other than water should be checked against standard chemical compatibility charts, available from a variety of sources such as Cole-Parmer.

For situations where poor chemical compatibility ratings exist, it may be necessary to avoid use altogether, or replace parts after use. For more information about chemical compatibility, contact VideoRay.

Additionally, post dive procedures such as those in the US EPA guidelines documents regarding contaminated water and divers and dive equipment, or other more aggressive procedures may be employed to clean the equipment after use. You should also check the chemical make up of any cleaning agent to ensure that it does not react adversely with the equipment.

While alcohol is noted as an acceptable decontaminant in the US EPA guidelines, it should not be used as a decontaminant for the ROV because it reacts adversely with the main domes and light domes.

Volatile Environments

VideoRay is not classified as "Intrinsically Safe" or "Explosion Proof" and should not be used in environments requiring such a classification.

Piloting Tools

VideoRay MSS control software provides several tools to assist the operator when piloting the ROV. These include:

• Auto Modes
  • Auto Heading
  • Auto Depth
  • Auto Altitude
  • Auto Pitch
• Station Keeping
• Course Following
  • Incremental
  • Go to...
  • Waypoint Routes

Auto Flight and Course Following Checklist

Auto flight and course following modes rely on vehicle sensors to control vehicle motion. It is important that the the vehicle sensors be calibrated or configured correctly and operating properly. The following checklist can be used to ensure the system is configured and prepared for auto flight.

1. Open the Diagnostics Panel
   1. Set Desired Units of Measure
   2. Configure Text Overlay
   3. Set Initial Thruster Gain
2. Return to the Flight Operations Panel
   1. Zero Depth
      • Verify Depth
3. If Using a DVL
   1. Set DVL Range
      • Verify Depth
4. If Operating Using Geolocation
   1. Load Map
   2. Set Declination
      • Verify Heading
   3. Fuse GPS
      • Verify Location
      • Turn off Fuse GPS

Fuse GPS should only be used when Station Keeping and Waypoint Following is Off. If either is on when Fuse GPS is selected, the ROV may make a rapid and unexpected excursion.

Auto Modes

Auto Modes on the Mission Specialist operate differently than on the Pro 4. On the Pro 4, auto modes are engaged when the inputs (heading or depth) are in their neutral position. When the operator applies input, auto mode temporarily disengages and reengages when the input is returned to neutral.

When in auto flight mode on the Mission Specialist, joystick inputs control set points. When the input is neutral, the set point remains constant. Inputs are used to control the set point. Auto modes are much more fly-by-wire.

If you are familiar with auto modes of the Pro 4, caution should be observed to monitor the set point.

Auto Heading

Auto Heading can be used to maintain an existing Heading, or turn the ROV to a specified Heading. Auto Heading is designed to be as seamless as possible so that you can pilot without having to constantly engage and disengage it when alternating between holding a course and changing directions.

How Auto Heading Works

When Auto Heading is engaged, the ROV will automatically respond to changes in heading (measured by the compass) by applying horizontal thrust to maintain the current heading.

Using Auto Heading to Hold a Heading

To engage Auto Heading, click on the Auto Heading button. This will engage Auto Heading at the current heading. You will also notice a heading value in square brackets in the text overlay and a green heading indictor in the compass. These indicate the target heading. To turn to a new heading, either turn the ROV using the joystick until the target indicator reaches the desired heading, or type in the heading next to the Auto Heading button and click the Apply button.

Additional Notes

When Auto Heading is On, the horizontal thrusters may spin on their own. Keep fingers, hair and objects away from the horizontal thrusters when Auto Heading is On.

Auto Depth

Auto Depth can be used to maintain an existing depth, or surface or dive to a specified depth. Auto Depth is designed to be as seamless as possible so that you can pilot without having to constantly engage and disengage it when alternating between hovering and changing depths.

How Auto Depth Works

When Auto Depth is engaged, the ROV will automatically respond to changes in depth (measured by the pressure sensor) by applying vertical thrust to maintain the current depth (pressure).

Using Auto Depth to Hover

To engage Auto Depth, click on the Auto Depth button. This will engage Auto Depth at the current depth. You will also notice a depth value in square brackets in the text overlay and a green depth indictor in the depth display. These indicate the target depth. To move to a new depth, rotate the depth control knob using the joystick until the target indicator reaches the desired depth, or type in the desired depth next to the Auto Depth button and click the Apply button.

Additional Notes

When Auto Depth is On, the vertical thruster may spin on its own. Keep fingers, hair and objects away from the vertical thruster when Auto Depth is On.

Station Keeping

Station Keeping requires a DVL.

Station Keeping will maintain the current location of the vehicle. If auto heading and/or auto pitch is on, the orientation will be maintained as well.

Auto modes will only maintain a specific parameter and if there are currents or the tether is pulled, the location may change.

Course Following

Course following modes require a DVL.

While auto modes maintain specific parameters, course following allows operators to direct the motion of the vehicle by means other than the joystick. This includes moving the vehicle in incremental amounts, going to specific locations, or setting up a course to follow.

Incremental Motion

Incremental motion controls can be used to move the vehicle a specified amount through various degrees of freedom, including forward or back, laterally left or right, changing heading or up and down. The motions can be controlled independently and the increments can be set to desired values.

Go to...

Go to modes include, go to a position (selected by clicking on the screen), go to a marker (whose location set by mouse or key-in), or go to waypoints (whose location is set by mouse or key-in).

Waypoint Route

Waypoint Routes can be defined and the vehicle will follow the course defined by the waypoints. Waypoints can be selected by mouse or entered by coordinates. Course controls include setting a tolerance for establishing whether a waypoint is achieved or not, head towards waypoint or crab, speed between waypoints and whether depth should be considered a criteria for achieving a waypoint or not (the system will try to achieve the waypoint depth, but this feature allows the course to continue if the depth is not achieved). There are also override controls that can be used during the waypoint route following to change the order or speed of the course.

Power Management

Power utilization in Mission Specialist systems is demand based. If vertical thrusters demand more power for lifting operations, the system responds up to its capacity based on the topside power supply output from the Operator Control Console and the tether's capacity to deliver that power to the ROV. This design feature allows VideoRay to maximize the performance of the vehicle for specific tasks. This also means that the system can, at times, demand more power than can be delivered, which could result in a system brown out. The system is protected, so a brown out is not harmful to the components, but it can cause the system to reset.

Power utilization depends on several factors, including: rapid manual or autonomous control inputs, the intensity of the lights, the attached accessories power demand, the amount and type of tether being used, water currents, etc.

There are two design options when dealing with this situation. The first is to reduce the allowed power consumption of all of the components combined to never exceed the capacity of the topside and longest tether possible. While this would prevent brown outs completely, the system could never take advantage of the fact that when lifting, horizontal thrust may not be required, or when working with short tethers, more power can be delivered to the ROV than when operating with longer tethers. The second is to allow each component to demand as much power as it can up to its maximum design capability. This can result in a total power demand that exceeds what is available, but maximizes selected performance when required. VideoRay has chosen to implement this second option.

Power Management Implementation

VideoRay is working to improve the power management software of the system to automatically adjust the power utilization and prevent brown outs.

Until the automated power management tuning is implemented, users may need to adjust the power management settings manually to optimize the performance of the ROV for the equipment configuration and operating conditions.

In the interim, the Greensea control software includes a manual power setting. This setting can be found in the Power tab under the video display. The default value is 65% as seen in the upper right of the image below. You can change the power setting to increase the power utilization or reduce the incidence of brown out by sliding the slider. To increase the power utilization, move the slider to the right towards 100. To decrease the power utilization, move the slider to the left towards 0.00.

Depending on the operating conditions, increasing the power management setting may help provide more thrust.

Increasing the power management setting may result in experiencing more brown outs, and in some situations, the power management setting may need to be decreased from the default to prevent brown outs.

When fully automated power management is available, the need to use the manual slider will be reduced to special situations.

Piloting Tactics

Piloting a VideoRay is generally easy in clear, calm water and can be learned quickly. Real world operations are generally more challenging and demanding. Pilots should be comfortable in clear calm water before attempting more challenging conditions. Unless you work in a controlled environment, such as tanks, you are likely to encounter low visibility, current, deep conditions, or even all three. Each of these takes special techniques or accessories.

The following suggestions will help you advance your piloting skills.

• Use a light touch on the controls. The VideoRay is very agile and if you apply too much control input, you will tend to over steer or over shoot your objectives. This will often require reverse control input to compensate, which is inefficient.

• You should learn to operate the ROV by watching it on the surface and by watching only the video display. Expert pilots will often navigate on the surface to the desired area of operations before descending, but once the ROV is underwater, they may not be able to see it from the surface and must rely on the video from the ROV.

• Start out by practicing simple maneuvers like going in a straight line and making 90 degree turns.

• Also work on simple vertical maneuvers by following a line or piling. Tilt your camera down when diving and tilt it up when surfacing to see where you are going.

• Notice that when the ROV is on the surface and the camera is tilted up, you should be able to see above the waterline. This capability can be used to reference navigate using surface landmarks, like the sun, buildings, trees or vessels.

• While you can operate the VideoRay by yourself, it is a good idea to have another person help manage the tether - if you have too little tether in the water, you will have a hard time piloting the ROV, and too much tether can lead to tangles.

Piloting in Low Visibility

When piloting in low visibility, there are several techniques that can be used to help you navigate to your objective or find and observe your target.

• Rather than navigate underwater to the target, navigate on the surface to a point above the target and try to drop down on the target. If you can operate above the target in a vessel, you can drop a weighted line and follow the line to the bottom.

• Do not always assume more light will help - you may find that you can pick up shadows of objects from ambient light alone.

Depending on the objectives, depth and distance, low visibility may require an accessory like sonar and/or a position tracking system.

Piloting in Swift Current

Working in current presents challenges that you may not be able to overcome if the current is too strong, but there are several strategies that you can apply depending upon the situation. Current can be consistent throughout depth, or there may be wind driven current on the surface, and tidal or other currents below. This will of course complicate the situation, but there are techniques to try before giving up.

• Use the minimum amount of tether possible and use performance or negative tether to minimize the effects of drag.

• If you are working deep or along the bottom, add a weight to the tether several meters behind the ROV. Make sure to distribute the stress of the weight connection along a section of tether rather than tying the weight to one point.

• To turn around while facing downstream, you must get the tension off of the tether. If you do not, then attempts to turn around to go upstream will probably result in overturning and facing back downstream again. To turn around, first apply reverse thrust to relieve the tension, and then turn.

• If you can position yourself upstream, you can try to weather vane the ROV and let it float downstream while you move side to side if necessary. By moving your tether deployment location, you may be able to cover the areas needed.

Piloting in Deep Water

Working in deep water presents its own set of challenges.

• For long tether runs, use negative tether because it can transmit more power and has minimal drag. A short section of performance or neutral tether should still be used at the ROV unless the tether can always be held above the ROV.

• Add a weight to the tether several meters behind the ROV. Make sure to distribute the stress of the weight connection along a section of tether rather than tying the weight to one point. Remember, you will need to retrieve the weight, and this can be difficult if the tether is long.

• To speed descent, grasp a disposable weight in the manipulator. When you reach your operating depth release the weight in order to be able to pilot the ROV better.

• Use the vertical thruster to pitch the nose downward, and then use the horizontal thrusters to add more power to dive or surface.

Piloting in Confined Spaces

When piloting in confined spaces, the gravest concerns are getting stuck or getting the tether snagged on an obstruction.

The best techniques are:

• Ballast the ROV as close to neutral as possible

• Proceed slowly and plan ahead before entering tight spaces

• Observe the entire immediate surroundings, including up and down, for any obstacles that might entrap the ROV or snag the tether

• Have someone feed tether as close to the entry point as possible

• Move slowly and deliberately to avoid stirring up silt

If the ROV or tether does get stuck, assess the situation as best as possible in order to avoid making the situation worse. See the section on Emergency Response to a Snagged Tether/ROV for additional tips.

Basic Equipment Care

Do not abuse the VideoRay and be careful not to damage the system's components through normal use. For example, avoid letting the tether connectors come in contact with the ground where rough surfaces or dirt can damage the contacts.

Cleaning

Use care when cleaning the pressure sensor to avoid damaging the sensor. Do not insert anything into the pressure sensor cavity, and do not apply high pressure spray to the sensor.

Storage and Transport

Always pack the system securely to make sure it is not damaged in transport.

Periodic Maintenance

The following tables provide information for periodic inspection and maintenance. All users should follow these guidelines, however, some repair / replacement procedures require advanced training.

Procedures with a skill level of "Advanced Training Required" require knowledge and skill levels beyond what is presented in this user manual. VideoRay offers training courses for operators and technicians to address these needs. Contact VideoRay for more information.