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Pro 4
Operator's Manual, 2.00.00 |
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Pro 4
Operator's Manual, 2.00.00 |
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Pro 4
Operator's Manual, 2.00.00 |
Copyright NoticeThis material is copyright protected. No material may be reproduced or transmitted in any form or by any means for any purpose without expressed written consent of VideoRay LLC. Copyright © 2022, VideoRay LLC - The Global Leader in Micro-ROV Technology |
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Pro 4
Operator's Manual, 2.00.00 |
Language Support
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Pro 4
Operator's Manual, 2.00.00 |
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Pro 4
Operator's Manual, 2.00.00 |
About this DocumentThe VideoRay Pro 4 has sophisticated features, but is easy to use and maintain once you learn its capabilities and the proper operating techniques. This documentation will guide you through your first dive and provide additional details to help you learn all aspects of its operation.
Document OrganizationThis documentation is organized into several guides.
Document NavigationYou can navigate through the documentation to specific topics using the menu, or step through sequentially using the Next and Previous arrowhead buttons. The Next button will step you from the current topic to the next topic at the same level unless the current topic has a sub-topic. If the current topic has a sub-topic, the Next button will step you into the first sub-topic. The Previous button works similarly, but in reverse sequence. Your current location within the document is shown as a "breadcrumb" trail at the top of each page under the document title. You can click on any level of the breadcrumb hierarchy to go that location. You can also use the following keyboard shortcuts:
Links are shown in brown font. Finding InformationThis document includes a Table of Contents, Glossary / Index and Google search on each page. You must be connected to the Internet in order to be able to use the Google search, and you can select whether to search VideoRay's online document library only (the default) or the Internet. Document ConventionsSeveral symbols are used throughout this documentation to add emphasis and to assist in relocating important information. The following table describes these symbols and their uses.
Document Customization - My_Notes
Beyond this DocumentThere is no substitute for experience and/or training, especially with respect to the real purpose for which you plan to use this equipment. We encourage you to explore options beyond the scope of these materials to expand your knowledge and skills necessary to support your applications. In addition to this documentation, VideoRay offers training and technical support and hosts a general user discussion forum and user image gallery. We also realize that collectively, users of our products spend considerably more time operating our systems than we do ourselves. Users also encounter more diverse operating environments across an extremely broad range of applications. We highly value this vast experience base, and invite and encourage you to share your experiences and suggestions with us. Please feel free to contact us by any of the methods listed below. Quality CommitmentVideoRay strives to design, manufacture, deliver and support the highest quality products and services, including this documentation. We have made every effort to ensure that this documentation is accurate and provides you with the most up-to-date information. If you find any errors in this documentation or have suggestions for improvements, each page contains a "Help us improve this document" feedback link in the left margin (you must be connected to the Internet to use this link).
DisclaimerThis document is deemed accurate at the time of its writing, however it is not a legal contract and the information contained herein should not be construed to represent any form of commitment. This document as well as the associated products and services are subject to change without notice. Alternate FormatsSingle HTML Page Format Portable / Printable Format HTML File Set |
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Pro 4
Operator's Manual, 2.00.00 |
Customize this Documentation - My_NotesMy_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_NotesMy_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.
Viewing My_NotesWhen 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_NotesTo update a My_Note, simply edit and re-save the My_Note file. Removing My_NotesMy_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;
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Pro 4
Operator's Manual, 2.00.00 |
How to Get HelpHelp for your Pro 4 is available through several channels. All Hours Self-Service / Crowd-Source Tools
Global Support
Regional Support
Training
Operational Strategies and Tactics SupportIf you need help understanding how to apply your system to a specific project, contact VideoRay or you local VideoRay dealer. We can provide guidance or help you find a certified consultant. |
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Pro 4
Operator's Manual, 2.00.00 |
Before Contacting SupportPlease make sure to consider the following information before contacting VideoRay's Technical Support to report a problem. The following information should available:
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:
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Pro 4
Operator's Manual, 2.00.00 |
Pro 4 OverviewVideoRay is pleased to present the latest model in its top-of-the line professional series Micro-ROVs - the VideoRay Pro 4. Like the Pro 3, the Pro 4 was designed for performance and maintainability, but has entirely new internal electronics, including camera, LED lights, processor, and added sensors. With powerful brushless motors, the Pro 4 further extends VideoRay's position as the fastest and most powerful tether pulling vehicle. Additional improvements include deeper depth rating, hydrodynamic streamlining, and optimized ballast adjustment. Topside control is based on industry standard computers, with new software that integrates several functions while dynamically reconfiguring for ease of use. The Pro 4 submersible builds on VideoRay's strengths with more than twice the vertical thrust of the Pro 3, and 50% greater horizontal thrust. A depth rating of 300 meters (1000 feet) is standard. Improvements in the electronics allow for both greater total tether length up to 600 meters (2000 feet) and much better power transmission over longer tethers. Existing VideoRay tethers can be used with the Pro 4 - and different tether types can still be combined to meet different operational requirements. New sensors, including 3 axes compass and accelerometers and MEMS gyro improve navigational capabilities. The primary video camera features ultra low light and Wide Dynamic Range imaging capability, with a wide range of user controllable parameters for demanding imaging situations. Coupled with the very high intensity LED lighting, the images and video that can be captured are far clearer, particularly in difficult lighting conditions. An optional external camera can be rotated 360 degrees to provide lateral views as needed. The topside control configuration replaces inflexible and limited switches and knobs with context-sensitive controls that go beyond simply controlling the submersible to controlling navigation, sonar, image and video capture, and other sensors and accessories in addition to the submersible. This "systems approach" significantly reduces operator workload and distraction caused by separate systems for sonar, navigation, video capture, and vehicle control. The Pro 4 is part of an industry-wide initiative led by VideoRay (the largest volume ROV manufacturer in the world) to go beyond separate "point" technology solutions to a "systems" approach to solving underwater tasks. The Pro 4 series ROVs are packaged in configurations such as the PS (Port Security Configuration) and CD (Commercial Dive Configuration) designed to solve a specific or series of underwater tasks, with VideoRay providing comprehensive solutions across the many technologies involved. Users will be able to concentrate on their underwater missions, not which technology works together and how are the pieces fit together. Additionally, VideoRay recognizes that technology is only as good as the people who use it. Successful organizations focus on training and systematic procedures for operations and maintenance. The VideoRay Pro 4 package includes features that help owners and operators develop, implement and execute ROV operations and maintenance programs more efficiently and effectively. These features include customizable documentation, online interactive operating checklists and knowledge and skill assessment tools. Companies with one system or an entire fleet can leverage these capabilities to ensure that their investment in VideoRay equipment continues to return value throughout its life. |
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Pro 4
Operator's Manual, 2.00.00 |
Quick Start InstructionsThese Quick Start Instructions are streamlined to cover just the essentials of operating your Pro 4 system. They are provided to get you started as quickly as possible, while keeping you and the equipment safe. They cover the equipment set up and basic operation, but are not intended to result in a comprehensive base of knowledge or set of operational and piloting skills. The remaining sections of this documentation should be referenced for a complete understanding of the features, capabilities, operating procedures and maintenance requirements of your Pro 4 system.
Topics in this Section |
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Pro 4
Operator's Manual, 2.00.00 |
Safety First
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. |
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Pro 4
Operator's Manual, 2.00.00 |
Introduction to the System ComponentsUnpack the system and familiarize yourself with the components.
Additional ItemsAdditional 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. |
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Pro 4
Operator's Manual, 2.00.00 |
Pre-Dive Preparations
The pre-dive preparations consist of five parts:
VideoRay Cockpit includes an online interactive Pre-Dive checklist. See the Pre-Dive Checklist section of the VideoRay Cockpit Guide Conduct a Visual InspectionAssuming 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. Refer to the Diagnostics and Repair section of the Maintenance Guide and take appropriate corrective action, or contact VideoRay for assistance before commencing the dive.
Make the ConnectionsIt is best to start making connections at the ROV and working your way to connecting the system to the power source.
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.
Power On Tests
The VideoRay Pro 4 includes three circuit safety components.
Testing the Circuit Safety ComponentsConnect the power cord to a suitable power source. Current Operator Control Consoles, including IP65 and StandardThe GFCI can be found inline in the power cord.
The Circuit Breaker can be found under the circular VideoRay logo plate on the right side of the Operator Control Console. The circuit breaker is set to On and should not need to be reset unless it has tripped. To access the circuit breaker, remove the plate. Legacy Operator Control ConsoleThe GFCI / Circuit Breaker are integrated in a combined switch can be found on the right side of the Operator Control Console.
Power On and LIM TestsSet 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. Test the LIM. The LIM Test and Reset switches can be found on the right side of the Operator Control Console. The GFCI and Power switches must both be set to On in order to perform this test.)
Starting the VideoRay Cockpit Control SoftwareMake sure the system is connected to a working power source and the GFCI / Circuit Breaker and Power switches are turned on.
See the Software Guide for more information about the VideoRay control software. Testing the System's FunctionsThe 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.
Test the thrusters
Test the lights
Test the camera functions
Good AdviceThe time to catch small problems before they become big problems is during the pre-dive inspection.
View example cartridge seals |
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Pro 4
Operator's Manual, 2.00.00 |
Dive OperationsAfter 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 Check and AdjustmentTo 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. To open the skid pods, turn the ROV upside down. Press on the buttons on the sides of the pod, and lift up on the pod shell. 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 DiveOnce 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.
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.
Practice Makes PerfectDeveloping the skills to operate your Pro 4 like an expert may take some time. Practicing on a regular basis is highly recommended. |
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Pro 4
Operator's Manual, 2.00.00 |
Post-Dive OperationsAt the conclusion of your dive, retrieve the VideoRay and power down the system by closing VideoRay Cockpit, shutting down the computer and turning off the 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. VideoRay Cockpit includes an online interactive Post Dive checklist. See the Post Dive Checklist section of the VideoRay Cockpit Guide
DebriefingCongratulations! 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 and Maintenance Manual. 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.
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. |
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Pro 4
Operator's Manual, 2.00.00 |
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Pro 4
Operator's Manual, 2.00.00 |
FAQ (Frequently Asked Questions)New users typically have some basic questions about the ?Pro 4. Before getting to the details, this section is provided to address the questions asked most frequently, without having to scan through the manual to find the answers. If you have questions about a problem with a ?Pro 4, see the Diagnostics and Repair section of the Maintenance Guide for more information.
More Questions?Additional questions and answers are available online at www.rovfaq.com, which is also linked at the bottom of each page. The online FAQ is updated regularly. |
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Pro 4
Operator's Manual, 2.00.00 |
Equipment GuideUnderstanding the features and capabilities of the Pro 4 equipment is essential to get the most value out of using the system. The sections within this Equipment Guide provide details about each of the components. Topics in this Section |
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Pro 4
Operator's Manual, 2.00.00 |
System Voltage AdvisoryAC InputInput 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 PowerHistorically, 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.
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 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. |
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Pro 4
Operator's Manual, 2.00.00 |
ROV
The Pro 4 ROV (Remotely Operated Vehicle) is depth rated to 300 meters (1000 feet). Thrusters provide mobility and are controlled from the surface using the hand controller. The ROV carries cameras, lights and other sensors to the underwater locations being searched, explored or inspected. The primary ROV components are illustrated below. Note that the yellow float block and clear vertical thrust splitter have been removed from the top of the ROV.
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Pro 4
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ROV ConnectionsThe ROV includes the following connections:
Accessory PortThe ROV accessory port provides power, access to the ROV communications bus and the APIC (Auxiliary Pair of Independent Conductors) to the surface. Most accessories, with the exception of the manipulator and cutter, use a stackable pass through connector that allows multiple accessories to be connected to the accessory port in parallel.
Accessory Port Specifications
Set Up HelpSee the Pre-dive Preparations section of the Quick Start Guide and Connections Summary for information on how to connect the ROV to the rest of the system. |
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Pro 4
Operator's Manual, 2.00.00 |
Buoyancy and Depth ControlThe weight of the vehicle in water is offset by the air inside the hull and the float block on the top of the ROV. Ballast weights can be added or removed to achieve the desired buoyancy. Buoyancy can be affected by fresh or salt water and the buoyancy of any accessories that might be mounted on the ROV. The depth of the Pro 4 is controlled by a vertical thruster. For the thruster to operate efficiently, the buoyancy of the ROV should be near neutral. This can be accomplished by adding or removing ballast weights that are stored in the skid pods on the bottom of the ROV. The skid pods are hinged at the rear and can be opened by unhooking the O-ring at the front. Turn the ROV over on its top to add or remove ballast. The ballast weights can be positioned within the skid pods to trim the ROV level, or pitched slightly up or down. The procedures to adjust the buoyancy are described in the Dive Operations section of the Quick Start Instructions. Product EvolutionThe ballast weight system has been revised. The current system uses push buttons to open the skid pods and stainless steel weights with a square cross section. Earlier versions used brass weights with a round cross section, and the pods were held closed by O-ring bands.
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Pro 4
Operator's Manual, 2.00.00 |
PropulsionROV Propulsion is provided by two horizontal thrusters and one vertical thruster that are controlled from the surface using the joystick and depth control knob on the hand controller. Each thruster motor turns a propeller to create the desired thrust. Each thruster shaft is sealed with a cartridge seal to prevent water intrusion. These cartridge seals are filled with oil and will wear out over time. Worn cartridge seals need to be replaced. Inspection consists checking the amount of oil, and for any signs of contamination or other signs of wear. When the oil level is less than half of the volume of the cartridge seal, the seal should be replaced.
In additional to manual piloting, the VideoRay Cockpit control software provides two pilot assist modes, Auto Depth and Auto Heading. Auto Depth and Auto Heading are described in the Operations Guide. The horizontal thrusters use counter rotating propellers to avoid torque induced roll while thrusting and for better performance. Additionally, VideoRay Cockpit includes variable control sensitivity and power management to further tune the performance of the thrusters.
Additional ReferencesSee the Hand Controller section of the Equipment Guide for information on how to control the thrusters. See the Piloting section of the Operations Guide for tips on how to pilot the ROV. See the Control Sensitivity and Engine Room sections of the VideoRay Cockpit Guide information on tuning the control sensitivity and power management. |
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Pro 4
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Main CameraThe ROV includes a main camera in the front of the main hull, which can be tilted and focused from the surface using the hand controller. Panning the camera is accomplished by turning the ROV. The camera has numerous features including the following highlights:
The complete list of camera features and how to control them are described in the Camera Menu section of the VideoRay Cockpit Guide The video circuit in the ROV is switchable between the main camera and a video conductor pair on the ROV accessory port. This allows external cameras to be used as well, but only one camera can be viewed at a time when using this method.
Additional ReferencesSee the Hand Controller section of the Equipment Guide for information on how to control the camera. |
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Pro 4
Operator's Manual, 2.00.00 |
Main LightsThe ROV uses two forward facing variable LED light modules that can be controlled from the surface using the hand controller. The lights produce 3,600 lumens. The beam pattern is optimized to minimize glare in the main camera dome and provide maximum vertical coverage. Additional ReferencesSee the Hand Controller section of the Equipment Guide for information on how to control the lights. |
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Pro 4
Operator's Manual, 2.00.00 |
SensorsIn addition to the camera, the ROV includes several other sensors that provide feedback to the pilot about the ROV and the environment it is in. ROV sensors include:
The information provided by these sensors is conveyed to the pilot via instruments in VideoRay Cockpit, and some items including the depth, compass heading and temperature can be overlaid on the video.
 Do not put anything in the pressure sensor cavity or spray a strong stream of water into the pressure sensor cavity. Doing so may damage the pressure sensor.
Additional ReferencesSee the Depth, Compass and Attitude and Temperature instruments and Text Overlay sections of the VideoRay Cockpit Guide for more information. |
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Pro 4
Operator's Manual, 2.00.00 |
ROV_DimensionsThe drawing below is for standard Pro 4. VideoRay offers special modifications for penetrations through smaller openings. Contact VideoRay for more information. |
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Pro 4
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Operator Control ConsoleThe Operator Control Console provides power, communications and a video interface between the surface and the ROV through the tether. The computer, which runs VideoRay Cockpit software to control the ROV, is housed in the Operator Control Console along with a second display monitor .
Operator Control Console Power SpecificationsThe VideoRay Pro 4 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 800 Watts continuous minimum. The system includes a GFCI (Ground Fault Circuit Interrupter) / Circuit Breaker to protect the operator. There are two universal IEC power outlets on the back of the Operator Control Console. These outlets are protected by the GFCI. The GFCI must be on to use these outlets, but the Operator Control Console power switch does not need to be on. The power in the tether is 74 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 ArmFor systems equipped with a second monitor, 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.
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Pro 4
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Safety CircuitsThe Operator Control Console includes three safety circuit components.
GFCI (Ground Fault Circuit Interrupter)The GFCI protects the operator from shock from the AC circuit of the power source, and protects the equipment from a current overload. For current and IP65 Operator Control Consoles, the switch 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.
For legacy Operator Control Consoles, the GFCI switch is integrated with the Circuit Breaker and both switches must be turned on for the Operator Control Console to operate. The GFCI / Circuit Breaker can be found in the right front of the Operator Control Console.
If the GFCI detects a differential current between the supply and ground poles of the power source, it will trip, or open the circuit. If the circuit breaker detects a current greater than it's rating, it will trip. The test button can be used to simulate these conditions and pressing and holding the test button should cause the switches to open, or turn off. If the GFCI continues to trip, the system should be inspected for a fault before being used. 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. When the LIM detects the resistance between the power conducts falls below the safe threshold, the yellow LIM Alarm LED will turn on, and the ROV power circuit will be disabled. The LIM can be reset by pressing and holding the Reset button. The yellow LIM Alarm light should turn off. To test the LIM, press and hold the Test button. If the LIM continues to trip, the system should be inspected for a fault before being used.
LIM BypassIn some situations, the LIM may trip, but the system may in fact be safe to use. A common situation that may cause the LIM to trip is using an old tether that has some current leak at its connectors. The LIM is sensitive enough to detect this leak. If it is determined that the cause of the LIM tripping does not represent a potential hazard to the operator or people in the surrounding area, the LIM can be bypassed to continue operations. The LIM can be bypassed by engaging the LIM Bypass switch to the Bypass setting. The LIM Bypass switch is a locking switch and the stem of the switch must be pulled out to switch it. When the LIM is set in Bypass mode, the RED LIM Bypass LED will turn on indicating the system may be unsafe to operate.
Circuit BreakerThe Circuit Breaker protects the equipment and source from a current overload. On current Operator Control Consoles, the circuit breaker can be found under the VideoRay logo plate on the right front of the Operator Control Console. In order to access the circuit breaker, you need to remove the two screws that hold the plate.
On legacy Operator Control Consoles, the circuit breaker is integrated with the GFCI switch. 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. |
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Pro 4
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Switches and ConnectionsIP65 GFCIThe IP65 Control Panel uses a power cord inline GFCI. Plug the male plug of the inline GFCI into a power source and plug the Control Panel into the female socket of the Inline GFCI.
Control Panel Top
The IP65 control panel cables are twist locking connectors.
The control panel includes the following switches:
The control panel includes the following connections:
AUX Port Specifications
Connector Type - DB-9 Male.
Set Up HelpSee the Pre-dive Preparations section of the Quick Start Guide and Connections Summary for information on how to connect the ROV to the rest of the system. |
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Pro 4
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Switches and ConnectionsControl Panel Top
Control Panel Rear
The control panel includes the following switches:
The control panel includes the following connections:
AUX Port Specifications
Connector Type - DB-9 Male.
Set Up HelpSee the Pre-dive Preparations section of the Quick Start Guide and Connections Summary for information on how to connect the ROV to the rest of the system. |
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Pro 4
Operator's Manual, 2.00.00 |
ComputerThe computer provides the hardware and operating system platform for VideoRay ROV control software and image and video editing and production.
The computer is mounted to the Operator Control Console by a clamp. To remove the computer from the Operator Control Console, loosen the yellow knob behind the computer until the computer can be pushed back enough to lift the front of the computer from the front clamp. Reverse the process to install the computer.
The computer includes the following connections :
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Pro 4
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Amrel IP65 Series ComputersThe Amrel IP65 series computers have been set up with a "VideoRay" user account and there is no password assigned. The mount that holds the computer to the control panel is designed to tilt to provide optimal viewing of the second monitor if one is available and to allow easier access to the side ports. To tilt the computer, lift it straight up and then pull it towards the operator. As it comes towards the operator, the back will start to drop. Continue pulling until the back rests on the control panel. The Amrel uses specialized IP65 rated computer connections. These are shown in the following image:
The LAN, VGA and USB connectors are push on, and pull off. For removal, you must pull from the narrow barrel (with the white dot) on the connector to release the connector. The power connector uses a twist lock connection. |
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Pro 4
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Dell 4000 Series ComputersThe Dell 4000 series computers have been set up with a "VideoRay" user account and there is no password assigned. The mount that holds the computer to the control panel is designed to tilt to provide optimal viewing of the second monitor if one is available and to allow easier access to the side ports. To tilt the computer, lift it straight up and then pull it towards the operator. As it comes towards the operator, the back will start to drop. Continue pulling until the back rests on the control panel.
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Panasonic ToughbookFor Windows XP systems, the computer system has been set up to use the "Administrator" account and there is no password assigned. For Windows 7 systems, the computer system has been set up to use the "VideoRay" account and there is no password assigned.
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Pro 4
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MonitorThe monitor provides a second display screen for the computer. The monitor has its own power switch, but is designed to automatically turn on when the control panel is turned on.
For better outdoor viewing in daylight, the Pro 4 includes a sun shade that mounts on the control panel case.
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IP65 MonitorThe IP65 monitor is fully protected from dust and water ingress due to water spray. It can be used in dusty conditions and in rain or sea spray.
The monitor includes the following buttons and their functions:
The monitor includes the following cable connections:
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Standard MonitorThe standard monitor comes in two versions with different brightness, including a standard brightness and Hi-Bright version. The Hi-Bright version is recommended for daylight viewing. The monitor supports several input sources, but the only input connections accessible are the VGA In, and on some systems the Analog Video In. The input source selection is controlled by the monitor menu. The monitor menu also controls the picture quality including brightness and contrast and other picture settings. The monitor includes the following switches:
The monitor includes the following connections:
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Hand ControllerThe hand controller is used to operate the VideoRay and its features. Several types of hand controllers are supported, including the following styles:
The hand controller functions are described in more detail in the following pages of this guide. Hand Controller SupportAny Microsoft® Windows® compatible game controller can be used with the Pro 4, but each controller requires a configuration file to map the joystick, buttons and knobs to the ROV functions. VideoRay Cockpit currently includes two hand controller configuration files, the VideoRay industrial hand controller, and the Logitech®. These controllers are auto detected on start-up. Other controller configuration files are available online from VideoRay for these and/or other controllers. Customer controller configuration files can also be created by users. See the Hand Controller Customization section of the Customization Guide for more information. Microsoft is a registered trademark of Microsoft. Windows is a registered trademark of Microsoft. |
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HelpThe Help button opens this documentation on the computer. Button Location and Label
UsePress the Help button to open this documentation on the computer. |
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JoystickJoystick |
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Depth ControlDepth Control |
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Camera SelectThe Camera Select button toggles the video source from the main camera to the external camera and back again. Button Location and Label
UsePress the Camera Select button to switch from the main camera to the external camera. Press the Camera Select button again to switch back from the external camera to the main camera.
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Camera TiltCamera Tilt |
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Camera FocusCamera Focus |
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LightsLights |
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SnapshotSnapshot |
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Video RecordThe Video Record button toggles the video record feature for the active camera. Button Location and Label
UsePress 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 word "Active" is displayed in the video window title bar and a red circle flashes in the upper left corner of the video window. This circle is not recorded. The number of video recordings captured during a session is also displayed in the Video Window title bar. For more information, see the Video Window section of the VideoRay Cockpit Guide. Video Recordings are saved as Windows® .WMV (Windows Media Video) formatted files in the "My Documents\VideoRay\Imagery\" folder. They are automatically named by date and time. For more information, see the Video Recording section of the Operations Guide
Additional NotesSee the Camera Select section of the VideoRay Cockpit Guide for information about selecting the camera to make active. |
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Manipulator/CutterManipulator/Cutter |
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IP65 Controller
Hand Controller Connection
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VideoRay Industrial ControllerHand Controller Connection
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Gamepad Style Controller Hand Controller Connection
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Tether
Tether connects the ROV to the surface and provides power, communications, video and an APIC (Auxiliary Pair of Independent Conductors) for accessory use. The tether consists of conductors, a Kevlar® strength member, flotation (for Neutral and Performance tethers) and an outer jacket. It is available three types: Negative, Neutral and Performance (often called PPT), and can be purchased in standard and custom lengths. Neutral and Performance are neutrally buoyant in fresh water because they have a specially designed foam jacket. While larger conductors provide the best power transmission capacity, they lead to thicker tethers, which results in higher drag. Negative tether has the largest conductors (best power transmission capacity), followed by Neutral, and then Performance. Negative and Performance tether have the smallest diameter (least drag), while Neutral tether has the largest diameter. The tether connectors are wet mateable and can be connected while they are wet. One of the pins in the connector is offset. To connect the tether to the ROV, control panel or another tether, align the offset pin of the connectors and press the two connectors together until the base surface of each connector are touching each other. Then, connect the tether locking sleeves by screwing them together to secure the connection.Multiple tethers can be connected in series like conventional power extension cords. See the Tether Management section of the Operations Guide for recommended tether configurations.
Smart TetherKCF Technologies manufactures the Smart Tether, which can be used to track and record the location of the ROV. See the Smart Tether Guide for more information |
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Tether SpecificationsTether 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
Tether BuoyancyPerformance 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 StrengthAll tether types include Kevlar that is rated at 450 kg (1,000 pounds), the connectors are rated 80 kg (175 pounds). These values are breaking strength. The tether should not be subjected to a working strength greater than one half of the breaking strength. The ROV and tether are equipped with a strain relief cable and connectors, which are rated at 136 kilograms (300 pounds). The strain relief cable should be used to avoid separation of the tether connectors and loss of the ROV.
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 the Pro 4 is about 460 meters (1,500 feet). 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 |
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TDS (Tether Deployment System)The TDS (Tether Deployment System) is an optional device consists of a tether reel within a case. This system allows the tether to be managed neatly, and helps avoid tether tangles.
The TDS comes in two sizes: standard and extended capacity. The extra capacity TDS can store more tether. The reel handle is removable and can be stored in the case.
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Connections SummaryConnections Summary - see the descriptions below the figure for each numbered connection.
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AccessoriesNumerous accessories can be used with the Pro 4 to extend its capabilities and range of performance. These accessories allow the Pro 4 to support a wider variety of mission profiles. This section provides an overview of what accessory equipment is available. For up-to-date information, including new accessories and updates, visit http://www.videoray.com. For information about installing and using accessories, including operational recommendations, please see the guides provided with each accessory. Accessory Types
Accessory Categories
Accessory Sources
Accessory UseAccessories are supported via an accessory port on ROV that includes power and an interface to the APIC (Auxiliary Pair of Independent Conductors). The tether includes an APIC for dedicated communications to the topside, where the conductors can be accessed at the AUX connector on the control panel. The ROV communications bus is also exposed on the accessory port of the ROV allowing a direct interface between VideoRay Cockpit software and the accessory. Multiple accessories can be connected in parallel by the use of a stackable connector. The manipulator and cutter do not use a stackable connector, but can be used with other accessories by plugging in their connector as the last one in sequence.
The specifications for the ROV accessory port can be found in the Accessory Port section of the Equipment Guide The specifications for the control panel AUX port can be found in the AUX Port section of the Equipment Guide For additional information about supporting custom accessories, see the Accessories section of the Customization Guide. |
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Included AccessoriesSeveral topside accessories are included with all Pro 4 system configurations. Sun ShadeThe 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 KitA 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, O-rings and other items. Additional Sensors and ToolingSome Pro 4 configurations include additional accessories. For a list of what accessories are available and which ones are included with each configuration, visit VideoRay's website or contact VideoRay directly. |
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Mission Support AccessoriesIn addition to the equipment that is included with each Pro 4 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
Tactical Operations Support
 In general, VideoRay does not supply these items, and users must procure them on their own.
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Accessory Integration OverviewThe Pro 4 architecture supports several methods for mounting and using accessories, and the accessories can be divided into categories based on whether they are used on the topside or the ROV and their requirements for power and/or communications. VideoRay tether includes an APIC (Auxiliary Pair of Independent Conductors) that can be used to communicate with accessories. The Pro 4 ROV has a 9 pin accessory port that includes access to the APIC as well as to power, and the ROV communications and video buses. The Control panel likewise has an AUX port for topside access to the APIC.
Most accessories that require communications with the topside, rely on the APIC. The signal travels from the accessory, through the ROV's accessory port to the tether and then to the AUX port on the control panel. There is usually a topside interface that connects to the AUX port and converts the raw signal from the APIC (typically RS-485 or Ethernet over twisted pair using DSL modems) to RS-232 or USB so that it can be interfaced to the topside computer for processing. In the Pro 4, several popular accessories can have their interface built into the control panel. These include BlueView and Tritech as well as any device that uses RS-485. In these cases, there is an additional switch on the control panel that can direct the APIC directly to the AUX port (for raw output), or through the built-in interface. The built-in interface is connected to the computer through either an Ethernet or USB connection (depending upon the type of interface). If the device uses USB, the standard USB connection between the control panel and the computer can be used so another USB connection or cable is not required. Even with systems that contain built-in interfaces, the AUX port allows any device to be connected, including Pro 3 versions of accessories. This maintains forward compatibility of existing accessories and backwards compatibility of the Pro 4. In addition to using the APIC for accessories, the Pro 4 can communicate with low bandwidth devices over the ROV's RS-485 communications bus. This allows multiple accessories that require communications with the topside to be used simultaneously, and tighter integration of the software. For example, the Videoray radiation sensor used to require the APIC and a separate software program. With the Pro 4, the radiation sensor can use the ROV's communications bus and a VideoRay Cockpit instrument to display the data. This means that the Pro 4 can carry the radiation sensor and another accessory, such as sonar, simultaneously, and the radiation sensors data can be overlaid on the video or trigger events, such as alarms, in VideoRay Cockpit. Topside AccessoriesTopside accessories include those that support operations and logistics and those that integrate with the control panel
ROV Mounted AccessoriesROV mounted accessories include intervention tools like the manipulator and cutter and additional sensors like sonar and water quality sensors. Examples of the types of integration and a few sample devices are listed below:
The Smart Tether is a unique example of integration. It is currently the only device that uses power directly from the Tether. It also uses the ROV communications bus for transmitting data. Accessory Equipment SupportMost submerged accessories are mounted to the ROV on the existing VideoRay Pro 4 skid, or they may have their own skid designed to replace the standard skid. The electrical and data requirements of submerged accessories are supported via an accessory port on ROV that includes power and an interface to the APIC (Auxiliary Pair of Independent Conductors). The tether includes an APIC for dedicated communications to the topside, where the conductors can be accessed at the AUX connector on the control panel. The ROV communications bus is also exposed on the accessory port of the ROV allowing a direct interface between VideoRay Cockpit software and the accessory. Additional Notes
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VideoRay Cockpit GuideProgram Start-up ProcedureVideoRay Cockpit can be started using the desktop icon, or by selecting it from the Start->All Programs->VideoRay menu. Interface OverviewVideoRay Cockpit is the Pro 4's control software. It communicates your control inputs to the ROV, and provides feedback from the ROV's video and sensor systems. VideoRay Cockpit consists of a Video Window
Topics in this Section |
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Video WindowThe video window consists of four parts: 
The video window can be a set to maintain a fixed size or be resizable. If the window is set to fixed size, the video window is set to 640(H) X 480(V) pixels and only the standard Close button is available. The window location can be moved, but the size and aspect ratio cannot be changed. If the window is set to allow resizing, the standard window controls for resizing by dragging the sides or corners are available, and the Minimize, Maximize (full screen) and Close buttons are available. See Video Capture and Display Advanced Settings section for information on how to change the video window from a fixed size to resizable. Video Window Title BarThe video window title bar displays the number of snapshots and video recordings captured during the current session. When video is being recording the word "Active" and the current video file size is also displayed. These numbers are not retained when you close VideoRay Cockpit. If there are no snapshots or recordings, no information is displayed. Video Display AreaThe video display area displays the video from the active camera, which can also include the text overlay. When video is being recorded, a flashing red dot is displayed in the upper right. When audio is being recorded (not muted), the word "Audio" appears under the flashing red dot. The flashing red dot and the word "Audio" are for information only and are not recorded. Video Text OverlayThe video text overlay controls enable the display of the date, time, ROV sensor data, user defined text and digital on-screen graphic (logo) to be overlaid on the video image. Data from attached accessories or other sensors can also be imported and displayed on the video as overlay text. See the Data Import section for more information about importing data from accessories. Audio Recording and MutingRecorded audio can be used to add narration to the video in real time. Whenever video is being recorded, audio is also being recorded to the same file. The audio can be muted to eliminate background noise or unwanted conversations. The Audio Mute button can be found in the lower right corner of the video window. Microphone selection can be made using the Video Settings section of the System Settings tab of the User Settings. Microphone volume adjustments can be made using the standard Microsoft Windows audio settings and properties. |
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Video Text OverlayVideoRay Cockpit allows text to be overlaid over the video image. This text will be recorded along with the video in snapshots and video recordings. The text overlay information includes:
In addition to text, VideoRay Cockpit supports a digital on-screen graphic, or logo, in the lower right corner of the video display. See the section on Digital On-Screen Graphic for more information. Text Overlay LocationsThe positions of these text overlay items are as indicated in the image below. User defined text is optional and only the first line of user defined text is shown - additional lines will display below this line. The Heading is preceded by the letter "H," and the Depth is preceded by the letter "D." The depth and temperature units are based on the System of Measure selection in the System Settings tab of the User Settings window. Data Import text is also optional. See the Data Import tab of the User Settings for information on how to configure Data Import.
Controlling the Text OverlayEach line of user defined text can be entered in the text key-in area To enter user defined text, enter the desired text and press the enter key. To delete user defined text character by character, use the Delete key or Backspace key. To delete all of the user defined text for the active line, press the Escape key. To delete the all of the user defined text for all lines, press the Shift + Escape keys.
The text overlay can be toggled on of off by pressing the Text Overlay toggle button
Windows is a registered trademark of Microsoft. Additional NotesUser Defined text is not stored from one session to the next.
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Digital On-Screen Graphic (Logo)VideoRay Cockpit supports a digital on-screen graphic or logo in the lower right hand corner of the video display. The logo is displayed when the video text overlay is active. Default Digital On-Screen Graphic - VideoRay LogoBy default, the VideoRay logo is used, but this can be changed to any desired graphic image.
The default VideoRay logo is named: videoOverlay.png, and is stored in: C:\Program Files\VideoRay\vrCockpit\ or C:\Program Files (x86)\VideoRay\vrCockpit\ for 64 bit operating system. Changing the Digital On-Screen GraphicTo replace the logo with one of your own choice, create a .png image with the following properties:
Once you have created your image, rename videoOverlay.png to videoOverlay.bak in the appropriate folder per above. Then, copy your image to the same folder and make sure it is named: videoOverlay.png. The image will automatically be adjusted to 40% transparency when it is displayed.
Removing the Digital On-Screen GraphicIn order to remove the logo so that it does not display, you need to replace it with an image that is all green (RGB 0, 255, 0). This image will be transparent. Once you have created an all green image, rename videoOverlay.png to videoOverlay.bak in the appropriate folder per above. Then, copy your image to the same folder and make sure it is named: videoOverlay.png. |
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InstrumentsIn addition to controlling the Pro 4 and displaying video, VideoRay Cockpit provides numerous feedback and control instruments. These instruments float on the desktop and can be moved, resized, turned on or off or made transparent. You can also restore their sizes and positions to their default locations. VideoRay Cockpit Display with Instruments Highlighted
Moving InstrumentsTo move an instrument, click on a background area of the instrument with the left mouse button and drag it to the desired location. Some instruments have indicators, buttons or key-in fields. Do not click on these items when trying to move an instrument. Resizing InstrumentsTo resize an instrument, hover the mouse over the instrument, and then move the cursor toward a border. When the cursor reaches the border, the border will highlight. Click on the highlighted boarder with the left mouse button and drag it to the desired size. You can resize the instrument by clicking anywhere on the highlighted border. You do not need to drag the border from a corner. Locking Instruments Sizes and LocationsThe sizes and locations of instruments can be locked so that they cannot be resized or moved. See the Lock Instruments Sizes and Location section for more information. Toggling Instruments between Opaque and Transparent IndividuallyTo make an instrument transparent, double click on it with the right mouse button. To restore an instrument to opaque, double click on it again with the right mouse button. Closing InstrumentsTo close an instrument, hover the mouse over the instrument, and then move the cursor toward a border. When the cursor reaches the border, the border will highlight and an "X" will appear in the upper right. Click on the "X" to close the instrument. See the section below and the User Settings and Instrument Display sections for more information about how to close and reopen instruments. Additional Control MethodsIn addition to the operations above that work directly on individual elements, there are other methods to control instruments individually or as a group. User SettingsThe Instruments tab within User Settings allows you to turn instruments on or off individually. The Instruments tab also has a button to restore all of the instruments to their default sizes and locations. See the User Settings Section of the VideoRay Cockpit Guide. Control Bar ToolsThe Control Bar has three tools that allow you to close all instruments, make them all transparent, or make them all opaque. See the Instrument Display Control Section of the VideoRay Cockpit Guide. Instruments Display Control HierarchySome settings methods take precedence over other settings methods.
Factory Default Sizes and LocationsInstruments sizes and locations can be reset to the original factory setting. See the User Settings section for more information. |
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ROV Health IndicatorThe ROV Health Indicator provides status information for several key operational parameters, including the power management system, power, communications, internal humidity and internal temperature. Display
UseThe status indicators are green if the status is okay, but change to red if a problem is detected.
If a problem is detected, corrective action should be taken. See the Diagnostics and Repair section of the Maintenance Guide for more information. The size and display of the ROV Health Indicator can be adjusted. See the Instruments section of this guide for more information. |
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Control SensitivityThe Control Sensitivity Instrument allows you to adjust how responsive the ROV is to joystick and depth control inputs. The control sensitivity is determined by the values of control gains, which range from 0 to 100. The control input applied by the operator is multiplied by the gain before being sent to the ROV as a command to drive the thrusters. A gain setting of 100 and maximum control input will result in the thrusters operating at full available power. If the gain is reduced, the same maximum control input will result in correspondingly less thruster power. Lower gain settings allow the operator to have more precise control over the vehicle at the expense not having the maximum power available. For example, new users may find it easier to pilot the ROV using lower gain settings until they get used to the handling characteristics of the vehicle. A gain setting of 0 will result in no thrust for any level of control input, and a boost mode allowing numbers of up to 110 is available - see the boost mode below.
Display
UseYou can independently control the sensitivity of the following control parameters:
There are two ways to set the sensitivity, visually or numerically. In addition you can save three favorite settings for easy recall. Adjusting the Sensitivity VisuallyTo adjust the control sensitivity visually, click on the graph button in the lower right hand corner of the control sensitivity instrument. The left hand side of the instrument will display a vertical bar on the left for Vertical Up and Down gains, and a polar grid area on the right for the Surge and Yaw gains. The green shaded region in both areas gives a visual indication of the gain settings. Left click and drag the vertical bar to set the Vertical gain symmetrically for up and down. Right click and drag to set the up and down gain independently. The top of the bar is for Vertical Up thrust and the bottom for Vertical Down thrust. Likewise, left click and drag in the polar region to set the Surge gain (indicated by the top and bottom values) and Yaw gain (indicated by the left and right values). When you left click and drag, the gains are adjusted symmetrically as indicated by the circular green shaded area. Right click and drag in the polar region to adjust the Surge independent of the Yaw. The top and bottom of the polar area are for Surge and the left and right are for Yaw. You can also move the slider above the graph area to decrease or increase all of the gain settings uniformly. Moving the slider to the left decreases the gains and moving it to the right increases the gains. For the surge and Yaw, when clicking and dragging with the left button, the gains are set to the radius of the circle at the point of release. When clicking and dragging with the right button, the gains are set to the major and minor axes radii of an ellipse. The point of release defines a bounding rectangle of the ellipse. Adjusting the Sensitivity NumericallyTo adjust the control sensitivity numerically, click on the number (#) button in the lower right hand corner of the control sensitivity instrument. The left hand side of the instrument will list the control parameters and display input fields for the gains. You can enter a number from 1 to 100 in each of the input fields. Adjusting the Sensitivity Using the SliderYou can also move the slider at the top to decrease or increase all of the numbers uniformly. Moving the slider to the left decreases the gains and moving it to the right increases gains. Saving Favorite Settings for RecallThe Control Sensitivity Instrument also has three buttons for quickly setting the gains to preset or saved values. By default, "Start-Up" is set to 90 for forward and back, 60 for left and right and 100 for up and down. "Fine" sets the all of the gains to 50, and "Turbo" sets all of the gains to 100. Click on a button to activate the gain settings associated with it. The border of the button will turn blue to indicate its settings are active. If you make manual changes to the gains, the border will turn yellow to indicate the active gains no longer match its stored settings. You can change the saved values for any of the buttons. To save new values for a button, manually adjust the gain settings to the desired values. Click and hold on the desired button until the border around the button turns blue. The current settings will be associated with that button and can be recalled at any time by clicking on the button. Repeat this process to associate new gain settings with any button at any time. Start-up SensitivityWhen VideoRay Cockpit starts, it uses the settings assigned to the "Start-Up" button. If you want the control sensitivity to have specific settings on start-up, save the values to the "Start-Up" button. Boost ModeAt the right end of the slider is a blue zone, representing boost mode. Boost mode can be used to get more straight line power, but is not recommended where precision handling is required. Boost mode allows you to set the gain numbers as high as 110. The boost mode was developed primarily to account for joystick calibration issues where full displacement of the joystick does not result in full output being recognized by VideoRay Cockpit.
Sizing the Control Sensitivity InstrumentThe size and display of the Control Sensitivity can be adjusted. See the Instruments section of this guide for more information. Advanced SettingsFor maximum power availability when needed, the gains should be set to the boost mode. In addition to the ability to adjust the sensitivity of the thrusters to user inputs, the Pro 4 has advanced thruster and power management capabilities. See the Systems Tuning section of the Engine Room. |
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Compass and Attitude IndicatorThe Compass Instrument displays a variety of information, including the heading of the ROV, the Auto Heading status, an artificial horizon to indicate the attitude of the ROV, and the horizontal thruster settings. The Compass Instrument is also used to engage and set Auto Heading. Display
UseThe central portion of the Compass displays the heading of the ROV. The heading in degrees clockwise from North is listed at the center of the dial. The compass uses a "heading up" display so that the heading of the ROV is always displayed under the reference indicator at the top center of the compass dial. For example, if the ROV is heading SE, the South indicating arrow will be displayed to the right of the heading indicator, as shown above. Turning the ROV to the right towards South will cause the compass dial to rotate counter-clockwise so that South will move towards the indicator. The small number above the heading is the Variation entered in the User Settings and represents the local magnetic declination. The declination is set by the user - see the section below about Compass Declination. The Auto Heading control/indicator is around the perimeter of the Compass. Auto Heading can be used to make the ROV maintain its current heading, or turn to a user specified heading. See the Auto Heading section of the Operations Guide for details on using Auto Heading. The blue and green ring around the Compass/Auto Heading is the Attitude Indicator, which acts like an artificial horizon. It indicates the pitch and roll of the ROV. The horizon is represented by the horizontal interface line between the top blue section (sky) and the bottom green section (earth). When the ROV pitches down to a nose low attitude, the amount of green increases and the interface line moves up within the circle. The reverse is true when the ROV pitches up. When the ROV rolls to the starboard (right), the interface line rotates to the left indicating that the starboard side is closer to the sea floor. The reverse is true when the ROV rolls to the port (left). The outer bands on the left and right of the Compass are the horizontal thrusters settings indicators. The left side displays the port thruster setting, and the right side displays the starboard thruster setting. When there is no thrust applied, these indicators become transparent. When thrust is applied a green shaded section appears within the bands. The length of the green shading from the horizontal centerline indicates the amount of user input applied for that thruster. Forward thrust is indicated by a green shading above the horizontal centerline. Reverse thrust is indicated by a green shading below the horizontal centerline. Compass Declination and CalibrationThe compass declination can be set to match the local magnetic declination. See the Compass section under User Settings for more information. The compass is calibrated at the factory. For most operations, the compass should not need to be calibrated. If you are doing precise survey work or using VideoRay CoPilot's autonomous piloting products, you may need to calibrate the compass. See the Compass Calibration section under Engine Room for more information. NotesThe size and display of the Compass can be adjusted. See the Instruments section of this guide for more information.
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Ribbon CompassThe Ribbon Compass Instrument displays the heading of the ROV in a compact horizontal scrolling format and provides reference indicators that mark the field of view for the standard camera. Display
UseThe Compass displays the heading of the ROV. The heading in degrees clockwise from North is listed at the center of the instrument. The compass uses a "heading up" display so that the heading of the ROV is always displayed above the heading reference indicator at the bottom center of the compass instrument. For example, if the ROV is heading SE, the South indicating arrow will be displayed to the right of the heading indicator, as shown above. Turning the ROV to the right towards South will cause the ribbon compass background to slide to the left so that South will move towards the indicator. The camera field of view indicators can be used to estimate the bearing offset from the current heading to any object in the camera's view. Compass Declination and CalibrationThe compass declination can be set to match the local magnetic declination. See the Compass section under User Settings for more information. The compass is calibrated at the factory. For most operations, the compass should not need to be calibrated. If you are doing precise survey work or using VideoRay CoPilot's autonomous piloting products, you may need to calibrate the compass. See the Compass Calibration section under Engine Room for more information. NotesThe size and display of the Compass can be adjusted. See the Instruments section of this guide for more information. |
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Depth GaugeThe Depth Gauge displays the depth of the ROV and the Auto Depth status. The Depth Gauge is also used to engage and set Auto Depth. Display
UseThe depth of the ROV is indicated as a number in the flag, which moves along the scale proportionally to the depth. As the ROV moves deeper, the flag moves down the scale. As the ROV moves towards the surface, the flag moves up the scale. The vertical thruster setting indicator is on the right side of the Depth Gauge. When there is no thrust applied, this indicator becomes transparent. When thrust is applied, a green shaded section appears within the indicator. The length of the green shading from the horizontal centerline indicates the amount of user input applied for the vertical thruster. Vertical up thrust (to move the vehicle towards the surface) is indicated by a green shading above the horizontal centerline. Vertical down thrust is indicated by a green shading below the horizontal centerline. The Auto Depth control/indicator is to the left of the Depth flag. Auto Depth can be used to make the ROV hover at the current depth or surface or dive to a user specified depth. See the Auto Depth section of the Operations Guide for details on using Auto Depth. The size and display of the Depth Gauge can be adjusted. See the Instruments section of this guide for more information.
Depth UnitsThe Depth units can be set to meters or feet in the User Settings dialog box. You can also adjust the low and high values of the range as well as the grid spacing. |
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(Pseudo) Altimeter GaugeThe Altimeter Gauge displays the altitude of the ROV and the Auto Altitude status. The Altimeter Gauge is also used to engage and set Auto Altitude. Pseudo AltimeterNormally, an altimeter (optional accessory) is required to use the Altitude Gauge, but in some situations an altimeter is not required. If the bottom is flat and the depth is known, such as in a tank, the pressure sensor / Depth Gauge (and a little math) can be used to determine the altitude. See below and the Depth Gauge section of the User Settings for information about using the Pseudo Altimeter. Display
UseThe altitude of the ROV is indicated as a number in the flag, which moves along the scale proportionally to the altitude. As the ROV moves higher, the flag moves up the scale. As the ROV moves towards the bottom, the flag moves down the scale. The vertical thruster setting indicator is on the right side of the Altimeter Gauge. When there is no thrust applied, this indicator becomes transparent. When thrust is applied, a green shaded section appears within the indicator. The length of the green shading from the horizontal centerline indicates the amount of user input applied for the vertical thruster. Vertical up thrust (to move the vehicle towards the surface) is indicated by a green shading above the horizontal centerline. Vertical down thrust is indicated by a green shading below the horizontal centerline. The Auto Altitude control/indicator is below the Auto Depth control/indicator. Auto Altitude can be used to make the ROV hover at the current altitude or surface or dive to a user specified altitude. See the Auto Altitude section of the Operations Guide for details on using Auto Altitude. The size and display of the Altitude Gauge can be adjusted. See the Instruments section of this guide for more information.
Altimeter UnitsThe Altimeter units can be set to meters or feet in the User Settings dialog box. You can also adjust the low and high values of the range as well as the bottom depth and grid spacing. |
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Camera and Lights IndicatorThe Camera and Lights Indicator displays information about the ROV's camera and the lights. The Camera and Lights Indicator Instrument is also used to select the active camera when an external camera is in use, and activate the camera menu system for the front camera. Display
UseThe Camera and Lights Indicator provides feedback on the camera tilt position, camera focus and intensity of the lights. The Camera Tilt angle relative to the horizontal centerline of the ROV is indicated by the light blue pointer and curved scale, and the tilt angle is also displayed as a number. The tilt indicator pointer rotates about the central circle to represent the tilt position of the camera. The tilt angle is displayed as positive number when the camera tilted about the horizontal, and negative when the camera is tilted below the horizontal. The Camera Focus position is indicated by the white line, and the focus position is also displayed as a number. When the focus changes from near to far, the focus line moves from the center of the tilt indicator to the outside end of the tilt indicator. The focus position number ranges from 0 for full near focus to 100 for full far focus. The scale is not a linear indication of the focus distance. It is a measure of the focus motor position. The Camera Switch button can be used to select whether the front or external camera is active. Click the Camera Switch button to switch from the front camera to the external camera. Click the Camera Select button again to switch back from the external camera to the front camera. The title of the Camera Indicator changes to reflect which camera is active The Camera Menu button can be used to activate the camera menu to make adjustments to the camera settings. See the Camera Menu section of this guide for more information. The Camera Tilt Indicator button can be used to activate the camera tilt and focus indicator after using the camera menu. The Lights Indicator provides feedback on the intensity of the lights as a bar scale and a number. As the lights intensity increases more bars light up. The range of the lights indicator number is from 0% for Off to 100% for full On. The size and display of the Camera and Lights Indicator can be adjusted. See the Instruments section of this guide for more information.
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Camera Menu Operation and Default SettingsThe VideoRay Pro 4 camera includes sophisticated features that can be used to enhance the image quality in various lighting conditions. These features are controlled through the camera menu system. The camera menu can be accessed by clicking on the Menu button on the VideoRay Cockpit camera instrument. This will display the menu as text overlaid on the video window. Each menu item represents a sub-menu where settings can be adjusted.
Camera Menu NavigationAfter clicking on the Menu button, the camera menu displays in the video window and the camera instrument displays menu navigation buttons. Click on the up and down arrow buttons to navigate from one sub-menu to the next. Once the desired sub-menu is highlighted, activate the sub-menu by clicking on the left or right arrow buttons. You can also use the keyboard arrow keys to navigate the menu.
Within a sub-menu, use the up and down buttons or keys to navigate from one feature to the next. Features can be changed by using the left or right buttons or keys. To exit a sub-menu, navigate to the Return sub-menu item and activate it using the left or right buttons or keys. To exit the main menu, navigate to the Exit menu item and activate it using the left or right buttons or keys. Menu and Menu Button Synchronization
Camera Menu Defaults
Additional NotesQuick Tip to Restore DefaultsTo quickly restore the camera to the recommended VideoRay Pro 4 camera menu default settings, first, restore the factory default settings, and then change the Lens Type to "ELC" and the Level to "6" in the Lens sub-menu, and change the DSS setting to "1X" in the Exposure sub-menu and change the WB Mode to "PUSH" in the White Balance sub-menu. Menu Button FocusIf the camera menu is active and you click on some other window element, such as the instrument transparency feature, the camera menu will lose focus. To restore focus to the camera menu, click on the camera instrument. |
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Camera Menu Default SettingsThe default settings for the VideoRay Pro 4 are listed below. In the Setting column, an underlined value means the setting must be used, "N/A" means the setting is not available for use with the Pro 4, and "User" means the user can select their preference for this setting. In some cases, user settings are only available in certain modes. For example, in the White Balance sub-menu, RED CONT is not available unless the White Balance Mode is set to USER.
Additional NotesSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. To quickly restore the camera to the recommended VideoRay Pro 4 camera menu default settings, first, restore the factory default settings, and then change the Lens Type to "ELC" and the Level to "6" in the Lens sub-menu, and change the DSS setting to "1X" in the Exposure sub-menu and change the WB Mode to "PUSH" in the White Balance sub-menu. |
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Camera Sub-menu: LENS
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: EXPOSURE
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: WHITE BALANCE
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: WDR (Wide Dynamic Range)
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: DAY & NIGHT
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: IMAGE
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: SPECIAL
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera->SPECIAL Sub-menu: CAM TITLE
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera->SPECIAL Sub-menu: COMM ADJ
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera->SPECIAL Sub-menu: PRIVACY
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
Camera->SPECIAL->PRIVACY Sub-menu: POSITION
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera->SPECIAL Sub-menu: MOTION DET
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera->SPECIAL Sub-menu: DISPLAY
Default SettingsSettings in bold are available for use with the VideoRay Pro 4. VideoRay defaults are underlined. |
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Camera Sub-menu: FACTORY DEFAULTThe Factory Default menu item restores the camera settings to the initial values as configured at the factory. This menu item does not have any settings and does not open a sub-menu.
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Camera Sub-menu: EXITThe Exit menu item closes the camera menu. This menu item does not have any settings and does not open a sub-menu. |
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Water Temperature IndicatorThe Temperature Indicator displays the water temperature. Display
UseThe Temperature indicator displays the current water temperature, as well as the minimum, average and maximum temperatures encountered during the current session. If you stop VideoRay Cockpit, the minimum, average and maximum values are reset. The minimum, average and maximum temperature values can be reset. Click on the region within the outline around the display of these values to reset the values. The size and display of the Temperature Indicator can be adjusted. See the Instruments section of this guide for more information.
Temperature UnitsThe temperature units can be set to degrees Celsius or degrees Fahrenheit in the User Settings dialog box. |
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Turns IndicatorThe Turns Indicator displays the direction and number of times the ROV has consecutively turned through 360 degrees. It also indicates which direction the pilot should turn in order to "unwind" the tether. Display
UseThe Turns Indicator can help the ROV pilot manage the ROV and tether by indicating the number and direction of horizontal turns. This information can help prevent tether tangles and provide a quick reference for the direction the ROV is facing without having to interpret the compass heading. The Turns Indicator has three display elements and a Reset button. The display elements are: the Turns Display, Left and Right "Unwind" Directional Indicators, and Turns Count. Turns DisplayThe Turns Display arrow shows the direction the ROV is heading relative to the ROV heading and a user selected starting reference direction (see the Reset button below for information about setting the reference direction). The Turns Display also provides an indication of the tether status by showing how many coils have been created by the turns. The number below the display shows the degrees through which the ROV has turned consecutively from the reference direction. The background of the Turns Display will turn from green to red if more than three complete consecutive turns in one direction have been executed. Unwind Directional IndicatorsIf the ROV has turned from the user selected reference, the Left or Right Unwind Directional Indicator will highlight showing which way the ROV needs to be turned in order to return to the reference direction. Turns CountThe Turns Count displays the number of complete consecutive turns. Reset ButtonWhen the system powers up, the heading of the ROV is used as the reference direction of the turns arrow. The Reset button allows the user to set the starting reference direction to any other direction. To set the reference direction, point the ROV to the desired heading, and click on the Reset button. This will align the turns arrow with the current heading of the ROV and set the turns to zero. Reference OrientationNormally, North is indicated as straight up on the turns indicator arrow. This can be adjusted so that the arrow can be used to indicate the relative direction of the ROV with respect to the operator. For example, if the ROV is pointing straight ahead (relative to the operator), the arrow can be adjusted so that is it straight up. When the ROV turns 90 degrees to the right, the arrow will be pointing to the right. See the sections on the Turns Indicator settings and Relative Heading for more information.
The size and display of the Turns Indicator can be adjusted. See the Instruments section of this guide for more information. |
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Accessory InstrumentsAccessory Instruments provide seamless integration of accessories with VideoRay Cockpit. Accessory instruments include:
For information on using these accessories, see the corresponding sections for each accessory in the Equipment Guide and the Accessories Guide. |
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Manipulator / Cutter Status IndicatorThe Manipulator / Cutter Status Indicator provides feedback on whether the manipulator (or the cutter) is opening, closing or stationary.
Display
UseWhen the manipulator or cutter is opening or closing, the display is animated to indicate the action.
The size and display of the Manipulator / Cutter Status Indicator can be adjusted. See the Instruments section of this guide for more information.
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Rotating Manipulator/Cutter InstrumentThe software interface includes a Rotating Manipulator instrument that provides feedback on the manipulator status. The instrument displays information about the action of the effector (jaw or cutter), rotation, and power consumption.
When opening, the instrument displays an indication that the effector (jaw or cutter) is opening.
When closing, the instrument displays an indication that the effector (jaw or cutter) is closing.
When Rotating clockwise (as determined by the hand controller motion and when viewed from the ROV's camera), the instrument displays an indication that the effector (jaw or cutter) is Rotating in an clockwise direction.
When Rotating counter-clockwise (as determined by the hand controller motion and when viewed from the ROV's camera), the instrument displays an indication that the effector (jaw or cutter) is Rotating in a counter-clockwise direction.
The bar indicator in the upper right displays the power consumption while the manipulator is being activated.
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VideoRay External CameraThe External Camera provides an additional viewpoint from the ROV. It can be directed 360 degrees horizontally, or aimed up or down. Display
UseThe VideoRay External Camera is activated by the Switch button in the upper right hand corner of the Camera instrument. When the external camera is active, the tilt and focus indicators and menu button are disabled.
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LYYN Visibility Enhancement ControlsThe LYYN Visibility Enhancement Controls provide a convenient method to adjust the LYYN settings directly from VideoRay Cockpit. Display
UseThe LYYN Visibility Enhancement includes functions to turn on or off, change the amount, change the area covered. To turn the LYYN On or Off, click on the power button in the upper right hand corner. To increase or decrease the intensity of the enhancement (also called "Lyynification"), click on the + or - buttons respectively, or click on the indicator bar to set the Lyynification value directly. To change the Lyynification window area size, click on the Lyynification size button (the concentric boxes in the lower right hand corner). To invert the Lyynification from inside to outside the window area, click on the Lyynification invert button. (the filled and open boxes in the lower right hand corner). The size and display of the LYYN Instrument can be adjusted. See the Instruments section of this guide for more information.
Additional Notes
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ROV GPS InstrumentThe ROV GPS instrument provides ROV location, status and filter settings for the ROV GPS.
Display
UseThe ROV GPS instrument will display the current location and status of the ROV GPS. It also has the ability to set filter criteria that control whether the GPS information is passed from VideoRay Cockpit to other applications. PositionThe Latitude and Longitude of the GPS fix is displayed in the top center of the instrument. Status
The number of satellites being observed is indicated by blue indicator lights. FiltersFilters allow for better operational performance by eliminating GPS fixes that are based on poor data and have a greater degree of uncertainty. These filters can suppress apparent jumps in the reported location due to such erroneous data. Each filter is defined by a slider that represents a cutoff threshold. The cutoff threshold is set by moving the slider left or right on a scale. The value of the cutoff threshold is displayed as a tool tip when the mouse is hovered over the slider. The value of the data being received is displayed as a bar on a scale. If the value is good, the bar is green. If the value does not meet the cutoff threshold, the bar is red. Filter Settings
Toggle Filter - Toggle filter allows the filter to be turned on or off. If the filter is On, only those signals that meet all filter criteria are passed. If the filter is Off, GPS information is always passed.
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VideoRay Laser Scaling DeviceThe Laser Scaling Device Instrument allows you to turn the laser On or Off and provides feedback on the laser state. Display
UseClick on the laser indicator to turn the laser on or off. When the laser is turned on, the indicator glows red. To reset the laser scaling device, click on the Device Reset button.
The size and display of the Laser Scaling Device instrument can be adjusted. See the Instruments section of this guide for more information.
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VideoRay Radiation SensorThe Radiation Instrument provides a graphics display of the radiation level and has an alarm capability. Display
UseThe radiation sensor displays the current CPM (counts per minute) and graphs the data over time. Time Base UnitThe time base unit controls how frequently the data points are recorded and displayed. AlarmThe alarm represents a CPM (counts per minute) threshold value. A CPM reading higher than the alarm value will trigger an audio alarm until the CPM drops below the alarm threshold. The alarm can be silenced by clicking on the mute button. Graph ZoomThe Zoom In and Zoom Out buttons allow the scale of the graph to be changed. |
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PAM (Protocol Adapter Multiplexer)Several PAM instruments are provided with each providing different functionality. Generic PAMThe Generic PAM instrument provides full control of the PAM. In this use, custom integration with a variety of devices can be created.
Power Control PAMThe Power Control PAM instrument is a switching instrument that allows the operator to turn accessories on or off.
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Control BarThe Control Bar can be used to control various settings, launch integrated applications, access this user documentation and close VideoRay Cockpit. Display
UseThe control bar is displayed at the bottom of the primary monitor. It contains a series of buttons. Moving from right to left, the buttons are as follows:
Each of these controls will be described in the following sections. The version number of the software is displayed in the lower left of the control bar. Only the primary version number is displayed. Hover your mouse over the version number for the full version and build number. |
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Close VideoRay Cockpit
The Close button can be used to close, or stop, VideoRay Cockpit. You can also click on the traditional Windows® Close button in the upper right hand corner of the video window to stop VideoRay Cockpit.
Windows is a registered trademark of Microsoft. |
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Open the VideoRay Cockpit Help File
The Help button opens this documentation in a browser window.
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Open the Service Bay
The Service Bay provides access to diagnostic and routine maintenance information. It also includes interactive Pre-Dive and Post Dive checklists that can be logged to a file.
On the left hand side of the Service Bay window are buttons to activate the interactive Pre-Dive and Post Dive checklists and the scheduled maintenance utility. See the next sections for more information. The main section of the Service Bay window provide system status of the computer and software. Below this window are buttons to save and print this information. A third button displays the log file from the last time VideoRay Cockpit was run. The information in the report and log can help diagnose VideoRay Cockpit problems or computer problems that might affect the ability to run VideoRay Cockpit. A fourth button opens the VideoRay Cockpit configuration folder. The button on the far left opens the Communications Status window. Open the VideoRay Cockpit Configuration Folder
Show the Error Log
Each time VideoRay Cockpit is run, it writes a log file. The information in this file can be used for diagnostics purposes if the program execution is interrupted for any reason. Print the Diagnostics Report
The diagnostics report can be printed for review by other parties. Save the Diagnostics Report
The diagnostics report can be saved for logging or transmission via email for technical support purposes. View the Diagnostics Console
The diagnostics console displays program activity in real time. See Diagnostics Console for more information. View the Communications Status
The communications status of the ROV and other devices can be displayed in real time. See Communications Status for more information. |
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Pre-Dive ChecklistThe Pre-Dive checklist provides a consistent structure to follow and conduct the pre-dive operations. The results can be logged and can include the name of the person conducting the pre-dive procedures. Each item of the checklist can be marked as pass, fail or N/A, which could mean the step does not apply or was not conducted. Notes can be added to each step. Completed Pre-Dive checklists are stored in the VideoRay\Checklists\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP). The Pre-Dive checklist can be customized. See the Checklist Customization section of the Customization Guide for more information about customizing the Pre-Dive checklist. |
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Post Dive ChecklistThe Post Dive checklist provides a consistent structure to follow and conduct the post dive operations. The results can be logged and can include the name of the person conducting the post dive procedures. Each item of the checklist can be marked as pass, fail or N/A, which could mean the step does not apply or was not conducted. Notes can be added to each step. Completed Post Dive checklists are stored in the VideoRay\Checklists\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP). The Post Dive checklist can be customized. See the Checklist Customization section of the Customization Guide for more information about customizing the Post Dive Checklist. |
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Scheduled MaintenanceThe Scheduled Maintenance Checklist provides a consistent structure to follow when performing scheduled maintenance. The maintenance performed can be logged and can include the name of the person conducting the maintenance procedures. Each item of the checklist can be marked as pass, fail or N/A, which could mean the step does not apply or was not conducted. Notes can be added to each step. Completed Scheduled Maintenance checklists are stored in the VideoRay\Checklists\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP). The Scheduled Maintenance checklist can be customized. See the Checklist Customization section of the Customization Guide for more information about customizing the Scheduled Maintenance checklist. |
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Diagnostics ConsoleThe Diagnostics Console button opens the Diagnostics Console. 
Diagnostics Console Button 
Diagnostics Console The Diagnostics Console displays program activity and can be used to help diagnose problems. |
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Communications StatusThe Communications Status button opens the Communications Status window. 
Communications Status Button 
Communications Status Window Some accessory devices use communications protocols that allow VideoRay Cockpit to assess their status as well. If any of these devices are attached, the Communications Status window will display a pane for each attached device. |
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Engine Room
The Engine Room button opens the engine room window. The engine room provides diagnostics information, firmware management and advanced systems tuning.
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Status InformationThe left hand side of the Engine Room window provides status information including thruster status, raw compass and pressure readings and power supply status. There is also a display of the firmware version, internal humidity, system run time and communications timing.
Hovering your mouse over the Board ID will display a pop-up window with more details.
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Engine Room Controls
Various control buttons are included in the Engine Room. From right to left, these include: Unlocking the Systems Tuning ParametersTo modify the systems tuning parameters (described in more detail in the next section), you must first unlock the systems tuning panel. Unlock the systems tuning panel by clicking on the Lock toggle. This will turn the locked icon into the unlocked icon and activate the systems tuning panel. You can then modify the settings.
Restoring the Factory Default Systems Tuning ParametersTo restore the factory default values for the systems tuning parameters, click on the Restore to Factory Defaults button.
Store the Settings for Future Sessions
To store the systems tuning parameters on the ROV for future sessions, click on the Store Settings on the ROV button. When you are finished modifying the systems tuning parameters, click on the Lock toggle to lock the Systems Tuning panel and avoid inadvertently changing a setting. Calibrate the Compass
For more information, see the section about Compass Calibration.
Reset the ROV
To reset the ROV, click on the Reset ROV button. Resetting the ROV is like rebooting a computer. This button allows the ROV be reset without having to power down the system or unplug and replug the tether. In general, the ROV should not need to be reset, but this feature may help with some diagnostics procedures. Launch VideoRay UpdateThe remaining button in this section is used to update the firmware in the ROV.
See the Software Updates section of this guide for more information about VideoRay Update. |
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Systems TuningThe Systems Tuning section of the Engine Room allows you to fine tune the performance of the ROV.
The systems tuning parameters are stored on the ROV. When you start VideoRay Cockpit, these settings are read from the ROV and the fields in the systems tuning windows are updated with these values. If no ROV is attached, the factory default settings are used. The systems tuning parameters can be changed. When you change a value, it becomes active, but it does not overwrite the values stored on the ROV. If you turn off the ROV without storing the new values on it, the old values will remain on the ROV and will be reloaded the next time you start VideoRay Cockpit with that ROV attached. In order for your changes to the systems tuning parameters be saved for future sessions, you need to store the settings on the ROV.
Modifying the Systems Tuning ParametersTo modify the systems tuning parameters, you must first unlock the systems tuning panel. Unlock the systems tuning panel by clicking on the Lock toggle. This will turn the locked icon into the unlocked icon and activate the systems tuning panel. You can then modify the settings.
Restoring the Factory Default Systems Tuning ParametersTo restore the factory default values for the systems tuning parameters, click on the Restore to Factory Defaults button.
Store the Settings for Future Sessions
To store the systems tuning parameters on the ROV for future sessions, click on the Store Settings on the ROV button. When you are finished modifying the systems tuning parameters, click on the Lock toggle to lock the Systems Tuning panel and avoid inadvertently changing a setting. |
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Compass Calibration
The compass is calibrated at the factory. For most operations, the compass should not need to be calibrated. If you are doing precise survey work or using VideoRay CoPilot's autonomous piloting products, you may need to calibrate the compass.
Compass Calibration Button Basic ProceduresThe specific procedures will depend upon the compass installed in the Pro 4 ROV. In general these are the steps that must be performed:
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Compass Calibration - Vector NavTo calibrate the Vector Nav compass, follow these steps:
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Access Images and Videos
The Access Images and Videos button opens the folder that contains VideoRay data including digitally recorded images and videos. Recorded images and videos are stored in the VideoRay\Imagery\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP).
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Open the User Settings
The User Settings button opens the User Settings window. Within the User Settings, users can control the instruments display, systems settings, data import and export, and network remote connections.
Topics in this Section |
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Instruments SettingsThe Instruments Settings tab allows you to control the display and other properties of the instruments.
Topics in this Section
Alternate MethodsThere are other methods to control the display of instruments. They can be controlled individually or through the Control Bar. See the Instruments and the Control Bar sections of the VideoRay Cockpit Guide for more information. |
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Instruments Display
Turning Instruments On and OffThe top section of the Instruments Settings tab allows you to turn On or Off the display of instruments individually. Check the box next to the instrument to turn its display On. Uncheck the box next to the instrument to turn its display Off.
Saving Instruments SettingsThe sizes, locations and On / Off state of instruments can be saved. Instruments settings are stored by name, so you can have multiple saved sets and switch according to job type or user preference.
Load Instruments SettingsUse the Load Instruments Settings button to select a saved instruments set. Click on the Load Instruments Settings button and browse to select the desired saved instruments set and restore it. See the Save Instruments Settings next for information about to save an instruments set. Save Instruments SettingsWhen the instruments are arranged as desired, click on the Save Instrument Settings button to store the arrangement. Enter a file name and click on the Save button. Restore Instruments Settings to Factory Default ValuesThe Restore Instruments Settings to Factory Default Values button restores all instruments to their default size and location. |
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Depth Gauge Settings
The Depth Gauge tab of the Instrument Settings tab allows you to adjust the depth gauge scale and altimeter settings. You can set the minimum depth, the maximum depth and the grid spacing displayed on the depth gauge. These properties can be set by entering values or by clicking with the left mouse button and dragging the sliders. You can drag the grid slider to adjust the grid spacing. You can drag the top green bar to set the minimum depth, you can drag the bottom green bar to set the maximum depth, or you can drag the blue bar to change both ends of the range simultaneously
Restoring Factory DefaultsThe factory default settings for instruments can be restored by clicking on the Restore Factory Defaults button in the upper right hand corner of the Instruments Settings window. |
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Turns Indicator SettingsThe base orientation of the Turns Indicator can be adjusted.
Setting the Turns Indicator Base OrientationTo adjust the base orientation of the Turns Indicator arrow use either of the following methods:
Clearing the Turns Indicator Base OrientationTo clear the base orientation of the Turns Indicator arrow, either key in 0 in the Based Heading field, or click on the clear Base Heading button. Additional InformationSee the sections on the Turns Indicator instrument and Relative Heading for more information about using the Turns Indicator settings. |
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System SettingsThe System Settings tab allows you to adjust various system parameters.
The Systems Settings tab allows you to adjust system parameters in the following areas. |
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Data Directory
Users can specify the location of the the root folder for VideoRay data. This includes the imagery folder for images and videos. Setting the Data Location
To specify the data location, click on the browse folder button and select the desired folder. Restoring the Data location to the factory default location.
To restore the data location to the factory default value, click on the Restore Factory Default button. File Name FormatThe file name format for images and videos can be modified using ISO 8601 standards for date and time representation. For more information, contact VideoRay Technical Support. |
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Depth Sensor
The Pro 4 depth gauge is calibrated at the factory and in general does not need calibration. The Pro 4 will automatically zero the depth on start up as long as the pressure is below an internally defined threshold. This will allow the system to take into account differences in barometric pressures from one project to the next. The system will not zero the depth on start up if the pressure is above the threshold. This will allow you to turn the system off and then back on while the ROV is submerged without affecting the depth reading. Depth CalibrationIf you want to manually zero the depth, you can do so by clicking on the "Use current pressure" button. On the right hand side, you can adjust the calibration to account for the density of the fluid in which you are operating the ROV. There are quick preset buttons for Fresh or Salt Water, and there is a pull down list with more quick preset fluid types. You can also enter the density directly if it is known.
In the upper right hand corner of the Depth Sensor section, there is a button to access the Depth Sensor Advanced Settings. |
Advanced Depth Settings
The Advanced Depth Settings allows users to create custom pressure to depth conversion properties. |
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Compass
The ROV compass system is designed to display headings relative to Magnetic North. You can enter a local compass variation to account for magnetic declination. The declination is considered positive when the Magnetic North is East of True North. The value you enter is numerically added to the heading from the ROV. For example, if you are in an area with a declination of 15 degrees West, the ROV heading will read +15 degrees when the ROV is facing True North (assuming no variation has been entered). You should therefore enter -15 for the variation, which would result in a correct True North reading of 0 when the ROV is pointed True North.
Finding Declination
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System of Measure
You can select the units used for display, choosing between either Metric or American. Click on the radio button preceding the desired system of units. Converting Units
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Help System
By default, the Help system is designed to open when VideoRay Cockpit is started. If you do not want the Help system to open when you start VideoRay Cockpit, uncheck the "Show instructions on startup" checkbox. You can always access the Help system from Help button on the Control Bar. |
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Video Capture and Display
The Video Capture and Display settings allow you to select the video format and adjust advanced video settings.
Video File Format for RecordingThe video file format can be one of the following:
* - MP4 recording requires a separate video codec that can be purchased separately. Audio SettingsThis section also includes audio microphone selection and microphone input level meter. |
Video Capture Settings
The camera has a sophisticated menu system to adjust various settings to achieve the optimal quality image under a variety of conditions. Likewise, the video capture system has similar settings to adjust how the image is converted from analog to digital. You can adjust the Brightness, Contrast, Hue, Saturation and Sharpness of the image. The Default button can be used to restore the factory default settings.  The camera menu will affect the image display on both the analog Video Out and computer. The Video Capture and Display settings only affect the digital image displayed and recorded on the computer.
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Advanced Video SettingsThe advanced video settings allow additional control of the video window, display and file encoding.
Allow Resize - If unchecked, the video window is set to 640 (H) X 480 (V) pixels. If checked, the video window size can be adjusted by dragging a side or corner of the window.
Maintain Aspect Ratio - If unchecked, the video display's aspect ratio can be stretched. If checked, the video display aspect ratio will be 4 (H) X 3 (V). Depending on the video window's aspect ratio, the sides or top and bottom may be filled with a background color to preserve the aspect ratio of the video display.
Deinterlace - if unchecked, the video will not be Deinterlaced. If checked, the video will be Deinterlaced. Deinterlacing softens edges of the video, but requires additional processing.
Video Encoder - When the video file format is set to AVI, optional video codecs can be selected for video processing. When an optional video codec is selected, the Gears button allows codec settings to be adjusted.
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Data ImportData Import can be used to read data from sensors or other applications and display the information on the VideoRay Cockpit video as overlay text.
Data Import reads data from a COM port. Either a physical COM port or virtual COM port can be used. Virtual COM ports can be used to allow two programs on the same machine to talk to each other. An example might be to have the KCF Smart Tether send the ROV position data to VideoRay Cockpit, so that the position of the ROV can be recorded as overlay text on the video image. See the Application Integration section for more information about virtual COM ports. Support is provided for NMEA* formatted text data. NMEA data is automatically parsed to find Position (typically from GPS) or Distance (typically from a tether payout sheave). UseTo use Data Import, you must select the port from which you want to import data and then configure the port. Ports are selected by clicking on the drop down arrow on the right hand side.
Once the port has been selected, you must configure the following items:
After configuring the port, the background will be green if the port is open and receiving data, red if the port cannot be opened, and brown if the port is operating properly, but no data is being received. Examples
When a port is set up, the setup background will turn green when communications have been established and data is being received. If communications have been established with the selected COM port, but no data is being received, then background will turn light brown. If no communications have been established with the selected COM port, the background will turn red. * - For more information about NMEA and NMEA data standards, see http://www.nmea.org. |
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Data ExportData Export can be used to send VideoRay Cockpit and ROV data to other applications.
Data Export sends data as NMEA* formatted text strings and supports four different types of output strings:
Data Export sends data to a COM port. Either a physical COM port or virtual COM port can be used. Virtual COM ports can be used to allow two programs on the same machine to talk to each other. An example might be to have VideoRay Cockpit send the ROV Depth to a program that could log and/or graph the depth profile of the mission. See the Application Integration section for more information about virtual COM ports. To use Data Export, you must configure the data type, Baud rate and frequency of output (Maximum Rate) and then select the port to which you want to export data.
Data Export FormatThe prototypical format conforms to NMEA standards and can be expressed in general terms as:
Example OutputDepth - $VRDPT,d.d,o.o*cs
Heading - $VRHDG,h.h,d.d,a,v.v,b*cs
Water Temperature - $VRMTW,x.x,u*cs
ROV Attitude - $PVRND,mm/dd/yyyy,hh:mm:ss.s,d.d,h.h,p.p.r.r*cs
* - For more information about NMEA and NMEA data standards, see http://www.nmea.org or http://www.tronico.fi/OH6NT/docs/NMEA0183.pdf. |
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Network Remote ConfigurationThe Network Remote tab allows you to specify the network settings for remote operations.
See the Using Network Remote Operations section of the Operations Guide and Remote Connect for more information. Configurationif "Allow this system to act as a server" is checked, a distant client system can connect to this system and operate an ROV that is connected to this system. If you want to connect to a server as a client, you must enter the server's IP address in the "Connect to:" fields.
The ports must be set as follows: The Negotiation port should be the same on the client and server, the Input port on the client should match the Output port on the server, and the Output port on the client should match the Input port on the server. |
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Launch Companion ApplicationsSeveral optional companion applications can be launched from the control bar. Currently, the applications that are integrated include VideoRay CoPilot, BlueView ProViewer, KCF Smart Tether, Tritech SeaNet and Tritech Micron.
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Instruments DisplayThe Control Bar includes several buttons that can be used to modify the behavior of the instruments and their display.
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Lock/Unlock Instruments Sizes and Locations
The sizes and locations of instruments can be locked so that you don't accidentally resize or move them. If the Lock Instruments Sizes and Locations button shows the lock icon, the instruments sizes and locations will be locked. If the Lock Instruments Sizes and Locations button shows the unlock icon, the instruments can be resized and moved. The lock or unlock state applies to all instruments, but does not affect the visibility settings of the instruments. See the Instruments section for more information about resizing and moving instruments. |
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Set Instruments Display Opaque
There are three buttons on the control bar to manage the display properties of instruments. You can turn off all instruments, make them all transparent, or make them all opaque. These buttons work on all instruments as a group rather than individually. All Instruments Opaque - Turns the display of all instruments opaque. Alternate MethodsThere are other methods to control the display of instruments. They can be controlled individually or through User Settings. See the Instruments and the User Settings sections of the VideoRay Cockpit Guide for more information. |
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Set Instruments Display Transparent
There are three buttons on the control bar to manage the display properties of instruments. You can turn off all instruments, make them all transparent, or make them all opaque. These buttons work on all instruments as a group rather than individually. All Instruments Transparent - Turns the display of all instruments transparent. Alternate MethodsThere are other methods to control the display of instruments. They can be controlled individually or through User Settings. See the Instruments and the User Settings sections of the VideoRay Cockpit Guide for more information. |
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Set Instruments Display Off
There are three buttons on the control bar to manage the display properties of instruments. You can turn off all instruments, make them all transparent, or make them all opaque. These buttons work on all instruments as a group rather than individually. All Instruments Off - Turns off the display of all instruments. Alternate MethodsThere are other methods to control the display of instruments. They can be controlled individually or through User Settings. See the Instruments and the User Settings sections of the VideoRay Cockpit Guide for more information. |
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Remote Connect
The Remote Connect button on the control bar can be used to connect a local computer to a remote VideoRay system. See the Network Remote Configuration section for information about configuring network settings, and Using Network Remote section in the Operations Guide for more information.
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VideoRay Cockpit Software ManagementManaging VideoRay Cockpit software is not as complex as it sounds. Management topics include: |
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VideoRay Cockpit Software Installation
VideoRay installation software components are stored on the computer in the C:\VideoRay\Installs\ folder, and the latest versions are available online at: https://download.videoray.com/ or through their respective vendors' websites. The VideoRay Pro 4 Control Panel requires the installation of a serial communications hardware driver and a video capture hardware driver on the computer. These hardware drivers can be found on the local machine or online in the above referenced areas. In addition, the VideoRay Cockpit application requires the following prerequisite software: .Net Framework 4, DirectX and SlimDX. There are two versions of the installation package. One package includes the full installation has the prerequisites included, and one does not. If the software is being installed on a computer for the first time, the package with the prerequisites must be used. If VideoRay Cockpit has been installed previously, the package without the prerequisites can usually be used. In some cases there may be updates to the prerequisite requirements, and they will need to be updated.
First Time InstallationIf the computer has never had VideoRay Cockpit installed, the hardware drivers and the full installation package are required. The drivers and application installation packages should be copied to the computer on which VideoRay Cockpit is to be installed. Once copied, unzip each package and run the setup program. Follow the prompts to complete the installation of the topside software. Once the topside software is installed, the firmware and systems tuning parameters on the ROV will need to be updated. Continue the installation process by following steps 5 - 7 in the Software Updates section of this guide. |
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VideoRay Cockpit Software UpdatesSoftware updates provide new features and capabilities. Updates are available using the Downloads link at the top of any page of this documentation. The VideoRay Cockpit software consists of two parts, a topside control program that includes the user interface, and ROV firmware that communicates with the topside and manages the ROV systems and sensors. The topside software update process is similar to most other conventional software applications. There are special procedures to update the ROV firmware. The ROV firmware update process is described below. In addition, systems tuning parameters are stored on the ROV. When updating VideoRay Cockpit, the ROV should be updated with any new default systems tuning parameters that might be included with the update. If there are new systems tuning parameters included with the update, and you do not store these on the ROV, then ROV will continue to use the old settings and its performance may not be optimal. The systems tuning parameters are different from the firmware and the procedures to store them on the ROV are also describe below. Software Update ProcessThe basic steps for the update process are as follows:
1. Check for UpdatesTo check for updates, verify the current version number. The version number can be found in the left hand corner of the VideoRay Cockpit Control Bar below the VideoRay logo. Use the Download link at the top of the page to access VideoRay's download center and ascertain if newer software is available. Update packages will be named Setup_vrCockpit_ryyyymmdd.zip or FULL_Setup_vrCockpit_ryyyymmdd.zip (if prerequisites are required), where the yyyymmdd is the release date. 2. Download the UpdateIf newer software is available, download the update package and save it in C:\VideoRay\Installs\videoray\. C:\VideoRay\Installs\ has been set up to store all installation packages on the local machine in case a product needs to be reinstalled. 3. Unzip the UpdateUnzip the update package. Windows includes an unzip facility, or you can use one of the many zip/unzip utilities available. 4. Install the Topside SoftwareThe installation program will be named setup.exe. Run the installation program. This will update the software on the topside computer. Follow the steps below to update the ROV firmware and systems tuning parameters. 5. Update the FirmwareTo update the firmware, connect the ROV directly to the control panel, and make sure that no accessories are connected to the ROV's accessory port. Turn on the power and run VideoRay Cockpit. When VideoRay Cockpit is running and connected to the ROV, click on the Engine Room button on the Control Bar to open the Engine Room. From within the Engine Room, click on the VideoRay Update button.
This will start the VideoRay Update software. The software should automatically locate the most up-to-date version of the firmware, and its version number will be displayed in the VideoRay Update Window.
Click on the Reset button to install the firmware, or if you wish to install another version of the firmware, click on the Open button and navigate to find the desired version. Once the desired version is selected, click on the Reset button to install the firmware.
6. Load the Factory Default Systems Tuning ParametersWith VideoRay Cockpit running, click on the Engine Room button. Unlock the systems tuning parameters by clicking on the lock toggle. Click on the Restore Factory Defaults button.
7. Store the Systems Tuning Parameters on the ROVClick on the Store Settings on the ROV button. See the Systems Tuning section of the Engine Room for more information about systems tuning parameters.
Alternate MethodUpdating the firmware can also be accomplished by running VideoRay Update as a stand-alone program using the Start->All Programs->Videoray->VideoRay Update program icon or desktop icon. |
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VideoRay Folder Structure
Windows 7 - Default User Name: VideoRay
Windows XP - Default User Name: Administrator
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VideoRay Cockpit Application IntegrationVideoRay Cockpit supports unprecedented application integration through new software and hardware interfaces. Virtual COM PortsFor data communications with other applications, VideoRay Cockpit software includes a virtual COM port driver. As an example of how this technology works, VideoRay Cockpit is integrated with the KCF Smart Tether. Both programs need to access their respective hardware, but the KCF Smart Tether nodes and the ROV share a common communications bus. This presents a problem because only one software application at a time can access the physical port to which the bus is attached. In order to solve this problem, VideoRay Cockpit handles the communications with both hardware systems and passes information it receives from the tether nodes to a virtual COM port. The KCF Smart Tether opens a companion virtual COM Port where it receives this data. As you may have noticed, virtual COM ports are defined in pairs. Typically one application writes to a port, and the other application reads from the companion port. The virtual COM port driver supports multiple port pairs. A second example is the Desert Star AquaMap Shiphull. Traditionally, this system used the APIC (Auxiliary Pair of Independent Conductors) in the tether, and the software "talked" directly to the mobile station mounted on the ROV. This meant that other devices that require the APIC could not be used simultaneously with ShipHull. In the Pro 4, the mobile station can be connected to the ROV communications bus rather than the APIC (see below for hardware configuration details), and VideoRay cockpit can pass the data from the mobile station to the Shiphull software using a pair of virtual COM ports. Using this arrangement, ShipHull can now be used simultaneously with accessories such as sonar or other devices that require a dedicated communications channel. Other possible uses of virtual COM ports include having VideoRay Cockpit make the heading, depth, temperature and/or other parameters available for another software application to read in real time. Default Virtual COM Port Assignments
Additional port pairs or assignments may be defined in the future. In each case in the table above, VideoRay Cockpit is configured to communicate with the lower (odd) numbered port and the other software application configured to communicate with the higher (even) numbered port. PAM - a New Hardware InterfaceUp until now, the only accessory that could be controlled by VideoRay was the manipulator. Other accessories needed to use the APIC and have a topside software application to control the accessory or read data from it. In order to expand the possibilities, VideoRay created a PAM (Protocol Adapter and Multiplexer) module. The PAM module is a hardware interface that supports power, servo motor controllers and serial communications. The PAM will allow devices like the radiation sensor, which required the APIC and its own software application, to be connected to a PAM, and communicate directly with VideoRay Cockpit. Besides freeing up the APIC for another device, this arrangement allows VideoRay Cockpit to offer a radiation sensor instrument. The instrument can be configurable with control over and the display and alarms, and even turning the sensor on or off. In addition, and perhaps more importantly, with VideoRay Cockpit managing the data from the radiation sensor, it can be displayed in the video text overlay and/or recorded as part of a comprehensive collection of synchronized video and sensor data. SDK (Software Developer's Kit)Accessory developers, programmers and "Do-it-your-selfers" will be able to exploit the capabilities of the virtual COM ports and PAM easily through the VideoRay Cockpit SDK. See the SDK section of the Customization Guide for more information. Additional information about the SDK can also be found online at: https://download.videoray.com/developer/ |
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Operations GuideThis Operations Guide is provided to go beyond the Equipment and ROV control software guides to describe not just how the Pro 4 works, but how to work with the Pro 4. There are numerous topics and tips that are outside of the scope of conventional system documentation that focuses only on the hardware and software. You will find recommendations and best practices, but you are also encouraged to use your best judgment and apply all of the information in this documentation and your experiences to your specific applications. In addition to this guide, there are other sources of information about ROV operations that you might consider. These include training, support and user forums. There are links to these resources at the bottom of each page. The Community Link at the bottom of the page provides access to http://www.rovinfo.com, which is a great resource to meet other VideoRay and ROV operators and exchange information and tips with them.
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Acceptable UseThe ROV system was designed to be operated in accordance with the instructions in this manual. Make sure to use a power supply that meets the stated requirements and is in safe operating condition. Do not exceed the depth rating. Uses of the ROV system other than for its intended design purposes and environments should not be attempted. If you have any questions about use of the ROV in specific situation or conditions, contact VideoRay. |
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Environmental and Chemical CompatibilityThe VideoRay Pro 4 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.
TemperatureThe 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:
USE OF VIDEORAY PRODUCTS IN OTHER SOLUTIONS OR ENVIRONMENTS IS ENTIRELY AT THE DISCRETION OF THE CUSTOMER / OPERATOR AND THE CUSTOMER / OPERATOR ASSUMES ALL LIABILITIES FOR SUCH USE. |
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ROV Materials ListThe following is a list of materials used in the exterior portions of the vehicle and tether:
Users may check this list against chemical compatibility charts available from several sources. This information is provided for convenience. Providing this information does not explicitly or implicitly extend the warranty to cover the use of VideoRay products in solutions that are not specifically listed in the Environmental Compatibility section. VideoRay is not responsible for errors or omissions in any of the presented information.VideoRay can provide engineering services for a fee to determine chemical compatibility. Contact VideoRay for more information. |
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Project ManagementWhile the differences between conducting a recreational dive, an inspection of an offshore well riser, and a drowning victim recovery are quite dramatic, each of these dive missions usually consist of the following phases:
Of course, how critical a successful outcome is deemed and how much lead time and how many resources are available will dictate how much effort can or will be afforded to each phase. The essential knowledge and skills required for a consistent ability to "get the job done" go well beyond just being able to set up and pilot an ROV. In this section, the following topics will be discussed to help broaden your understanding of the scope of practical ROV applications. |
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Mission PlanningOnce 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.
Additional Notes
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General LogisticsIn 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:
VideoRay Power RequirementsThe VideoRay Pro 4 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 800 Watts. TransportationLand 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 RequirementsOften, 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
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On-site OperationsOn-site operations can be hectic and demanding. The following information can help maintain order and productivity. Site Selection and System Set UpThe following recommendations should be considered when selecting a site and setting up the equipment:
The ROV Team, Their Roles and ResponsibilitiesWhile 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
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Video RecordingVideo recordings can be captured using the record button on the hand controller. Pressing the button starts the recording. Pressing the button a second time stops the recording. When recording is active, the video window title bar will display the word "Active" and a red circle will flash in the upper left hand corner of the video. If the microphone is not muted the word "AUDIO" will flash as well. The red circle and word "AUDIO" will not be recorded. The video window title bar will also display the size of the recording and number of recordings captured during the current session.
Video recordings are saved in Windows .WMV (Windows Media Video) format and stored in the VideoRay\Imagery\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP). |
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Project CompletionOn-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:
Project DeliverablesOften, 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. |
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Image and Video Editing and ProductionYou can record snapshots and video. The count of snapshots and videos is displayed in the video window's title bar at the top. These numbers are for the current session and reset each time you start VideoRay Cockpit. 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. The camera supports several special lighting modes like Wide Dynamic Range, Back Light Compensation and Digital Slow Shutter. See the Camera Menu in the VideoRay Cockpit Guide for more information. |
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Video Snapshot ImagesVideo snapshots can be captured using the snapshot button on the hand controller. The video window title bar will display the number of snapshots captured during the current session.
Video snapshots are saved in .JPG format and stored in the VideoRay\Imagery\ folder, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP). |
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Data ManagementImages and videos captured during a mission are store in the C:\Users\VideoRay\My Documents\VideoRay\Imagery\, (C:\Documents and Settings\Administrator\My Documents\VideoRay\Imagery\ for Windows XP). 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. |
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Emergency Situations
During the course of operations, it is possible that an emergency situation may arise. The following rules of thumb apply to all emergency situations:
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Emergency Response to a Flooded ROVIf you suspect that the ROV is experiencing a leak during operations, there are four critical steps to remember:
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
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Emergency Response to a Snagged Tether/ROVIf 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 OptionsIf 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 PreparedUntangling 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. |
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Emergency Response to a Cut TetherIf the tether is suspected of being nicked or cut, follow these steps:
Tether Field RepairHot 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. |
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Emergency Response to a Loss of FunctionIf control of the ROV is lost, follow these steps:
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. See the Diagnostics section of the Maintenance Manual for more information. |
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Emergency Response to Loss of ControlIf you suspect that the ROV is not responding to control inputs as it should, there may be several causes:
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Universal PracticesSeveral practices are common to almost all ROV operations. This section provides some guidelines for the practices. |
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Deployment PlatformsVideoRay 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 SurfaceVideoRays can be deployed from a significant height above the water surface by lowering the vehicle by its tether. LandFor 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. VesselsWhen 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 OperationsVideoRays can be operated remotely using Internet technologies. See the section on Using Network Remote for more information. OtherOther unique deployment platforms include:
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Tether ManagementTether management can have a significant affect on the ability to pilot the ROV and achieve the objectives of the mission. Tether Management includes selecting the appropriate type of tether and managing the deployment and retrieval of it during operations.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
Typical Tether ConfigurationsTypical tether configurations are provided in the tables below. When using more than one tether type, tethers should be connected in the order shown from left to right from the control panel to the ROV. Maximum recommended length for a specific configuration is indicated in the "Maximum" column. It may be possible to use more tether under certain conditions, but these are general guidelines for optimal performance. In challenging conditions of swift current, minimal tether lengths are recommended, and using weights or other operating techniques may be required.
Meters
Feet
Tether StorageMake 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. |
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Special SituationsCertain 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. |
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Cold Weather OperationsThe 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.
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Hot Weather OperationsThe 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.
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Equipment Disinfection for Use in Potable WaterVideoRays 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.
At the time this document was compiled, the cartridge seal oil has been selected for its compatibility with potable water use. The MSDS and other information can be found on the supplier's website at: http://www.clearcoproducts.com/pure_silicone_350cst.html. Please check with VideoRay regarding the current specifications for cartridge seal 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.
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Use 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.
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-HazardsBio-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 WaterStandard 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.
Chemical CompatibilityUse 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.
Volatile Environments
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PilotingPiloting a VideoRay ROV requires a combination of understanding the system's operating principles, features and capabilities, situational awareness (which is much more challenging when you cannot see the vehicle), personal skills and experience. The VideoRay Pro 4 has several pilot assist tools that provide auto control of the vehicles functions and other sensors that help with situational awareness. Several optional accessories can provide even further situational awareness, such as sonars and position tracking systems. Autonomous operation is also possible through advanced navigation control software. The following sections provide information about built in pilot-assist tools and piloting tactics for specific situations. |
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Piloting ToolsVideoRay Cockpit control software provides several tools to assist the operator when piloting the ROV. These include:
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Auto Modes |
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Auto HeadingAuto 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 WorksWhen 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. If the Auto Heading Indicator is moved to a new heading, the ROV will automatically respond by applying horizontal thrust until the heading of the ROV matches the heading indicated by the Auto Heading Indicator.
Using Auto Heading to Hold a HeadingTo hold the current Heading, center the joystick and click and drag the Auto Heading Indicator on the Compass to the current heading. The Auto Heading Indicator should change from gray to green and the text from "Auto Off" to "Auto On." The ROV will hold the current heading. You can apply forward or backward thrust to move in the direction of the heading. To turn to a new heading while Auto Heading is engaged, displace the joystick laterally to apply thrust in the desired direction. You do not need to disengage Auto Heading, and when you center the joystick, Auto Heading will take over and maintain the new heading.
Using Auto Heading to Automatically Turn to a HeadingTo rotate the ROV to a specified heading, center the joystick and click and drag the Auto Heading Indicator to the desired heading. The Auto Heading Indicator should change from black to green and the text from "Auto Off" to "Auto On." The ROV will turn to the heading. Note that the heading to which you want to turn is displayed in the Auto Heading Indicator at the top of the compass. You can override the Auto Heading to pilot the ROV manually by used the joystick. When you center the joystick, Auto Heading will take over and turn the ROV to the specified heading. Using Auto Heading to Turn to a Specified Heading
Disengaging Auto HeadingWhile the joystick is displaced laterally from its center position, Auto Heading will temporarily suspend itself until the joystick is centered again. The Auto Heading indicator will change from green to gray and display the word "Manual" to indicate that the heading is being controlled manually. To disengage Auto Heading completely, click on the Auto Heading Indicator. The Auto Heading Indicator turns from green to gray when Auto Heading is disengaged.
Additional Notes
When Auto Heading is Off and the joystick is centered, there will be no horizontal thrust. When Auto Heading is On and the joystick is centered, the system will apply thrust as necessary to maintain a constant heading.
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Relative HeadingRelative heading uses the Turns Indicator instrument to represent the directional orientation of the ROV relative to an arbitrary reference direction. For example, the pilot can adjust the turns indicator so that when the ROV is facing away from the pilot, the turns indicator arrow will point straight up. When the ROV turns to the right, the arrow will spin to the right by the same amount. Set upTo set up the turns indicator for relative heading use, follow these steps:
UseThe Turns Indicator arrow will now be aligned with the ROV's direction relative to the pilot or selected land mark. The Base Heading value will be displayed at the top of the Turns Indicator dial and a small blue mark indicating the magnetic heading of 0 will be displayed just inside the perimeter of the dial. |
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Auto DepthAuto 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 WorksWhen 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). If the Auto Depth Indicator is moved to a new depth, the ROV will automatically respond by applying vertical thrust until the depth of the ROV matches the new depth indicated by the Auto Depth Indicator.
Using Auto Depth to HoverTo hover at the current depth, center the depth control knob and click and drag the Auto Depth Indicator on the depth gauge to the current depth. The Auto Depth Indicator should change from black to green and the text from "Auto Off" to "Auto On." The ROV will hover at the current depth. To move to a new depth while Auto Depth is engaged, rotate the Depth control knob to apply thrust in the desired direction. You do not need to disengage Auto Depth, and when you center the Depth control knob, Auto Depth will take over and maintain the new depth.
Using Auto Depth to Automatically Surface or Dive to a Specified DepthTo surface or dive the ROV to a specified depth, center the depth control knob and click and drag the Auto Depth Indicator to the desired depth. The Auto Depth Indicator should change from black to green and the text from "Auto Off" to "Auto On." The ROV will surface or dive to the specified depth. You can override the Auto Depth manually by using the Depth Control knob to pilot the ROV. When you re-center the knob, Auto Depth will take over and maintain the new current depth. Using Auto Depth to Dive to a Specified DepthTo dive to a specified depth, drag the Auto Depth Control / Indicator flag to the desired depth.
Disengaging Auto DepthWhile the depth control knob is rotated from its centered position, Auto Depth will temporarily suspend itself until the depth control knob is centered again. The Auto Depth indicator will change from green to black and display the word "Manual" to indicate that the depth is being controlled manually. To disengage Auto Depth completely, click on the Auto Depth Indicator. It will turn from green to black when the Auto Depth is disengaged.
Additional Notes
When Auto Depth is Off and the depth control knob is centered, there will be no vertical thrust. When Auto Depth is On and the depth control knob is centered, the system will apply thrust as necessary to maintain a constant depth.
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Piloting TacticsPiloting 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.
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Piloting in Low VisibilityWhen 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.
Depending on the objectives, depth and distance, low visibility may require an accessory like the LYYN visibility enhancement system, sonar and/or a position tracking system. |
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Piloting in Swift CurrentWorking 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.
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Piloting in Deep WaterWorking in deep water presents its own set of challenges.
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Piloting in Confined SpacesWhen piloting in confined spaces, the gravest concerns are getting stuck or getting the tether snagged on an obstruction. The best techniques are:
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. |
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Using Network Remote |
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Periodic Maintenance |
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Connector Care and HandlingConnectors should be handled with care and inspected and cleaned regularly. Always follow any specific instructions provided by the manufacturer for connector care. The following general guidelines are provided to help extend the life of the connectors.
Specific Instructions from the Manufacturer for IE55 Connectors (used on the BluePrint Sonar, Manipulators, USBL)
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Customization GuideThe Pro 4 has unprecedented customization capabilities based on using a conventional laptop computer as the core of the system's topside architecture. Many new features will be available through software updates. Future software versions are already on the drawing board to include user customizations to the interface and functionality. Examples include variations on the cockpit instruments and piloting modes that will automate piloting maneuvers like dive and surface modes that pitch the ROV to take advantage of the powerful horizontal thrusters for vertical movement. Software UpdatesSoftware updates can be reviewed and downloaded using the Downloads button at the top of every page (Internet connection required). See the Software Updates section of the VideoRay Cockpit Guide for more information. Topics in the Section |
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Customize this Documentation - My_NotesMy_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_NotesMy_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.
Viewing My_NotesWhen 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_NotesTo update a My_Note, simply edit and re-save the My_Note file. Removing My_NotesMy_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;
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Custom Desktop BackgroundsVideoRay offers a selection of computer desktop backgrounds. Desktop backgrounds can be selected from the C:\VideoRay\Backgrounds folder. The background choice can help ease eye strain under different lighting conditions. |
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Custom ChecklistsThe predefined checklists can be customized by editing the definition files. The definition files are stored in the VideoRay\CheckLists\ folder, which can be found in the computer account user's application data folder (Users\username\AppData\Local\ for Windows 7, or Documents and Settings\username\Local Settings\Application Data\ for Windows XP). Checklist definitions are store as simple text files. The file format is one checklist item per line.
The file names of the predefined checklist are:
Creating New ChecklistsNew checklists can also be created and all checklists can be processed using the included stand-alone checklist application without having to run VideoRay Cockpit. This allows you to create your own operational or equipment checklists. To create a new checklist, create a text file with the desired checklist items. For example, a sample remote operations equipment checklist file might have the following contents: Generator The above lines should be stored as a text file with the .clf extension, such as remote_equip.clf. The file can be stored in any location. To activate the checklist, double click on it. The results will be stored in the same location as the standard checklists VideoRay\Checklists\, which can be found in the computer account user's documents folder (Documents\ for Windows 7, or My Documents\ for Windows XP). |
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Hand Controller MappingAny Microsoft® Windows® compatible game controller can be used with the VideoRay Pro 4. The hand controller button assignments can be modified to accommodate different controllers and personal preferences. VideoRay Cockpit currently supports two hand controllers, the VideoRay standard industrial hand controller, and the Logitech® Cordless RumblePadTM 2. VideoRay Cockpit will recognize either of these controllers and use the default button mapping. The button assignment to function mapping is handled through XML configuration files. Currently there is no graphical interface to modify these files, but the near term software development plan does include adding this capability. If you want to change the button assignments, the XML configuration files need to be edited by hand. This is not something VideoRay encourages users to do until the graphical interface is complete, but if you have a need to modify the hand controller button mapping in the meantime, please contact VideoRay for assistance. Microsoft is a registered trademark of Microsoft. Windows is a registered trademark of Microsoft. |
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Custom AccessoriesCustom accessories can be added to VideoRay Pro 4 ROV. Accessories can take advantage of the following capabilities:
For more information, see the Equipment Guide. When adding custom accessories, the following issues should be considered:
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SDK (Software Developer's Kit)The VideoRay SDK (Software Development Kit) allows for the modification and enhancement of the VideoRay Pro 4. The SDK is divided into two major categories: the Host SDK and the Embedded SDK. The Host SDK, written in C# and consisting of several .DLL's allows for the creation of applications running on a host computer to control the ROV. The Host SDK also provides facilities for enhancing and extending VideoRay Cockpit, the standard control software, through the use of a plug-in architecture. The recommended development environment is Microsoft Visual Studio/C#, however the SDK can be used from any .NET language. The Embedded SDK, written in GNU C, can be used to develop firmware to run on directly VideoRay hardware. Currently two hardware platforms are supported, the Pro 4 and the PAM (Protocol Adapter and Multiplexer) module. All higher level protocols (communications, memory maps, bootloader, etc.) are fully and openly documented. Auto-generated documentation is provided for both the Host SDK and the Embedded SDK. Additional information about the SDK is available from VideoRay online at: https://download.videoray.com/developer/. |
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Override ModeOverride mode provides a software interface for applications to send control commands to the ROV through VideoRay Cockpit instead of having to write low level code. |
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Upgrader's Guide to the VideoRay Pro 4This section contains information about the latest version of the Pro 4 and VideoRay Cockpit software. It is divided into a section about the latest hardware and software changes in this release, and information for users of VideoRay Pro 3 who are upgrading to the VideoRay Pro 4 for the first time. Topics in this Section |
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What's NewVersion 1.11.0.x
Version 1.8.42.x
Version 1.8.3.x
Version 1.7.x.x
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Pro 3 Upgrader's Guide to the Pro 4The VideoRay Pro 4 is a comprehensive technological overhaul of the Pro 3 system. While the basic form factor and size of the ROV's hull have remain unchanged, practically all of the other components have been updated. These updates provide advanced features and capabilities over the Pro 3 and are described in more detail in the next sections of this guide.
Topics in this Section |
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Pro 4 ArchitectureThe VideoRay Pro 4 represents a significant evolutionary, if not revolutionary, step in the development and capabilities of submersible Remotely Operated Vehicles (ROVs). Built upon a solid platform that was developed in the mid-1980s and which can now be found in service in more ROVs around the world more than any other system, the Pro 4 capitalizes on the features that have withstood the tests of time and adds the latest technological breakthroughs. Pro 3 BackgroundThe system architecture of the VideoRay Pro 3 consists of a proprietary controller (with hand controls, CPU board and power supply) on the top-side, the ROV (which also incorporates an onboard CPU) and an umbilical that connects the two. The CPUs are dated and the communications protocol between the topside and ROV relies upon CAN bus technology that became popular in the automotive industry in the early 1980s. While these systems continue to provide reliable operation, further extensibility and integration with new systems are limited. An RS-232 interface in the Pro 3's top-side CPU board allows an external computer to communicate control inputs, which in turn are relayed from the topside CPU to the ROV. This enables the ability to use COTS hand controllers, and add a few graphic features to the interface, but provides little more in terms of added features and functionality, and certainly doesn't exploit any of the true potential of today's modern CPU performance.
Pro 3 Functional Schematic Pro 4 Control and CommunicationsIn the Pro 4, this architecture has been overhauled and optimized. The new architecture is built around a new state-of-the-art high performance ROV CPU board and a more robust and extensible communications bus. The topside proprietary CPU board and dedicated user interface is eliminated, being replaced by a traditional high performance commercially available rugged computer and COTS or custom controllers.
Pro 4 Functional Schematic This new arrangement affords direct communications from the topside computer to the ROV CPU. In practical terms, this means that the intensive processing requirements for sophisticated features like auto depth and dive control modes can be managed locally within the ROV instead of having to communicate with the topside. Additionally, by having the topside PC communicate directly with the ROV instead of just simulating operator inputs as it does in the Pro 3, the full power of today's most advanced dual and quad core processors can be exploited. High-level programming applications will augment or completely replace the current PC Pilot software and enable the creation of unprecedented control and integration opportunities. Examples include autonomous and semi-autonomous behaviors and integration with accessory devices. One specific example might be the use of a sonar application to take over piloting the ROV to guide it directly to the location of a target signature selected by the operator (or even selected automatically through image processing and recognition analysis). Without getting too far off track, other applications might include having the ROV automatically deploy packages or take samples when it crosses programmed depth thresholds, or follow search patterns automatically. Within the Pro 3, both the topside and ROV CPUs rely on EEPROM chips to store their control software. There is no easy way to update these in the field. For the Pro 4, VideoRay will develop and deliver a Software Developers Kit (SDK). The SDK will include high-level routines that can be used as building blocks for rapid prototyping and development of new applications. The SDK will also include a module to upgrade the embedded code in the ROV. Users will be able to keep their Pro 4 up-to-date with the latest versions of control code and add new features as they become available. The VideoRay Pro 4 will not only be the best ROV platform today, but well into the future. Pro 4 Communications and Accessory SupportIn the Pro 3, a single accessory that requires a data path to the surface will monopolize the APIC (Auxiliary Pair of Independent Conductors) in the tether. This limits the number of devices that can be operated simultaneously and there is typically no coordination of the accessory data with the ROV operating parameters. While the APIC remains available in the Pro 4, additional capabilities are created by using a more universal and robust RS-485 communications protocol. This RS-485 subsystem replaces the CAN Bus used in the Pro 3. It is also made available externally on the ROV accessory port, which enables addressable multiplexing of the ROV and accessory devices. Comparison of VideoRay Pro 3 versus VideoRay Pro 4 Accessory Port
The external RS-485 connection makes possible unprecedented multiplexing and inter-communications of the ROV, accessories and/or sensor devices. Examples of the immediate possibilities include:
Extended future possibilities include:
The first integrated accessory, available for immediate delivery with the Pro 4, is the KCF Technologies Smart Tether, which uses the same RS-485 communications bus. The ROV's Compass/NAV node (see below for more information) also serves as the ROV node for the Smart Tether further illustrating the tight integration made possible by adopting the RS-485 protocol. Additional benefits of using the RS-485 protocol over the CAN bus are that the maximum tether length has been extended from about 360 meters (1,200 feet) to more than 600 meters (2,000 feet), and the ability to integrate new accessories is virtually limitless. Pro 4 Modular ComponentsVideoRay ROV architecture is moving in the direction of increased reliance on software to support long term implementation of features, and hardware modularity to support the diverse nature of the capability requirements based on the variety of user applications. This plan begins with the Pro 4, and will continue through future evolutions. SummaryThe Pro 4 has taken the highly acclaimed and extremely reliable Pro 3 GTO to new levels of performance by overhauling and updating many of the key components while maintaining the basic structure and form factor of VideoRay ROVs. The new system architecture also allows a continuous stream of improvements from VideoRay and as new accessories and features are added and as the SDK is put to use by accessory vendors and research institutions. |
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Pro 4
Operator's Manual, 2.00.00 |
Pro 4 Features and Capabilities UpdatesThe Pro 4 has been extensively updated to include many enhanced features and extended capabilities.Pro 4 User InterfaceThe Pro 4 includes a custom hand controller that is built using the same industrial controls found in the Pro 3 controller. This controller is delivered with a default configuration, but can be customized to accommodate any user's preferences. Additionally, any COTS or custom controller that works with a PC can be used with the Pro 4, including wearable and immersive devices such as gloves and head mounted display/controllers. Video can be displayed on two monitors, the built-in monitor and the PC display. Alternately, the video can be displayed on one screen while the other displays an accessory output such as a sonar or position tracking chart. The Pro 4 video can be recorded digitally (on the included PC), or using standard analog devices (user supplied), or both. Digital recording of still images and/or video is built into the control panel and can be executed with the push of a button on the controller. Digital recording is in industry standard formats and ready for non-linear editing, on-line sharing, or DVD authoring. The included PC can be configured to run accessory applications such as sonars, position tracking systems, VideoRay's radiation detector and other sensors. Sensor feedback is provided onscreen and includes the camera tilt and focus positions, lights setting, and information from other onboard sensors, including temperature, humidity, power and communications status. Pro 4 Power and Thruster TechnologyThe Pro 4 power supply has been upgraded from 48 Volts DC to 75 V DC, but still maintains the same low power consumption of the Pro 3 due to more efficient power circuitry. To support this increase safely, the Pro 4 incorporates a Line Insulation Monitor (LIM) protection circuit. Like a GFCI, the LIM detects minor changes that indicate a fault and safely powers down the system if a fault is detected. The voltage specifications at the accessory port have changed. The main bus is now 24 Volts DC, but it is isolated from the tether ROV power circuit and better regulated so that it is less susceptible to voltage variations under thruster load. The 12 Volt DC available on the accessory port is now capable of supporting loads up to 30 Watts instead of the 6 Watts available in the Pro 3. The VideoRay Pro 4 now includes custom designed and highly efficient brushless thrusters that deliver unparalleled performance and reliability. In order to provide the optimal blend of power and control, the VideoRay Pro 4's thrusters incorporate the following features:
Pro 4 CameraThe VideoRay Pro 4 is equipped with 2 high resolution color cameras. The main camera is located in the forward pressure hull and the second camera can be positioned on top of or underneath the ROV. The forward camera tilts 180 degrees while the second camera tilts 180 degrees and pans 360 degrees providing full hemispherical coverage. Both cameras are equipped with wide dynamic range and backlight compensation to deliver the highest quality images even in difficult lighting situations. The cameras are optimized for underwater use and offer ultra low-light sensitivity (0.0001 lux). There are more than 20 user controllable settings that can be managed from the surface including automatic or manual switching between color and black and white modes, an automatic shutter and digital zoom capabilities. Camera tilt and focus are now controlled using servo motors, which allow faster operation, precise positioning and feedback as to their current position. Position information for tilt and focus is displayed in the user interface. Pro 4 LightsThe new highly efficient and high intensity LED lighting provides 3,600 lumens at a color temperature of 6500K. This intensity and color temperature provides significantly improved penetration at depth. The intensity can be boosted to 5,700 lumens and LEDs with different color temperatures will be available in the future. The forward light reflectors have been engineered to distribute the light evenly throughout the camera tilt range, such that at 45 degrees vertically, the Pro 4 projects more light than other ROVs do straight ahead at the same distance. Like the Pro 3, the lights are positioned outside the main hull to provide the greatest separation from the camera and to make servicing easier (although the service rating of the LED lights makes servicing virtually unnecessary). This separation is extremely important in minimizing backscatter due to suspended particles in the path from the lights to the camera target, and results in higher quality images. The setting of the intensity of the lights is displayed in the user interface. Pro 4 Compass and NavigationThe Pro 4's navigation system includes a 3 axis compass, accelerometer, and MEMS Rate GYRO. These devices are mounted on a single board and are the same as one of the nodes in the KCF Technologies Smart Tether. You do not need to calibrate the compass. The heading of the ROV is displayed in the compass and its attitude (pitch and roll) in the attitude indicator. Pro 4 Depth GaugeThe Pro 4's depth gauge is much more sensitive and has about 10 times the resolution of the Pro 3's depth gauge. You do not need to calibrate the depth gauge. Auto-Pilot ModesAuto heading is now included in addition to auto depth, and both features now support the traditional "set and forget" mode and a new "go to" mode. Pro 4 Additional SensorsTemperature and humidity sensors have been added to the internal components of the Pro 4 ROV. Pro 4 Float BlockThe Pro 4 Float Block has been redesigned to be more hydrodynamic, more durable and provide variable floatation to match the accessory payload. Pro 4 Skid and Ballast SystemThe Pro 4 Skid and Ballast System have been redesigned to be stronger, more hydrodynamic and allow the ballast to be adjusted without requiring any tools. The system consists of a central accessory mounting adapter plate and two ballast weight pods. The weight pods are hinged and hold the ballast weights in slots that allow the pitch trim to be fine tuned. Pro 4 Depth RatingThe Pro 4 depth rating has been increased to 305 meters (1000 feet) by using a stiffer hull, but the overall weight of the Pro 4 has been reduced when compared to the Pro 3 GTO. |
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Pro 4
Operator's Manual, 2.00.00 |
Compatibility Issues between the Pro 3 and Pro 4There are several compatibility issues between the Pro 4 and prior versions. Control PanelThe control panel has been changed significantly from the Pro 3 to the Pro 4. The Pro 4 uses 74 Volts DC in the tether, while the Pro 3 uses 48 Volts DC, and the communications protocol was changed. Tether
Accessory PortThe accessory port has been changed from the Pro 3 to the Pro 4. The table below lists the changes.
Lights
Manipulator
CalibrationThe Pro 4's depth gauge and compass do not need to be calibrated. Run TimeThe run time of the Pro 3 is stored in the control panel. The run time of the Pro 4 is stored in the ROV. This provides a more accurate representation of the amount of hours of use of the ROV. TetherVideoRay tether can be used with any model. The maximum tether length of the Pro 4 has been increased from about 365 meters (1,200 feet) for the Pro 3 to about 600 meters (2,000 feet). |
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Pro 4
Operator's Manual, 2.00.00 |
Region Specific InformationThe following sections contain information that only applies in specific regional locations. See your region for information that may pertain to you. |
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Pro 4
Operator's Manual, 2.00.00 |
European Union (EU)The following sections are specific to the European Union. |
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Pro 4
Operator's Manual, 2.00.00 |
The Waste Electrical and Electronic Equipment Regulations (WEEE) 2013In accordance with the requirements of the Waste Electrical and Electronic Equipment Regulations 2013, all non fixed electrical and electronic equipment must be disposed of correctly at the end of its useful life through an authorised waste company, and there is an associated requirement to obtain the correct paperwork as per Duty of Care legislation. Please ensure that you treat this equipment as WEEE when you come to dispose of it. |
