Use of a remotely operated vehicle as a



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Appendix I- Overboard Equipment and ROV Configuration


  • DOE Phantom DH2+2 Remotely Controlled Vehicle (rated to 600 m)

  • Four forward/reverse 0.5 hp electrical thrusters

  • Lateral 0.25 hp thruster

  • Vertical 0.25 hp thruster

  • CCD high definition video camera w/ 180 tilt

    • >450 lines of resolution

    • F1.8 to F2.7 lens

    • 12:1 zoom

    • Sensitivity = 7 lux (without added lighting)

  • Flux-gate compass

  • Altimeter sensor

  • Depth sensor

  • Temperature sensor

  • Lights 2 250 Watt Deep Sea Lighting

  • Kongsberg simrad 650m digital “Mini Red” sonar head (P/N 971-20650000)

  • ORE 4330B transponder/responder

  • RDI ADCP/DVL

  • Five horizontal lasers

    • Class III Diode

    • 635 nm

    • 15 milliwatt

    • 300 m depth rating

    • 2 Fixed 60 cm apart, 1 wandering

    • 2 Camera mounted 10.5 cm apart

Appendix II- Onboard Equipment and Software





  • #1 and #2 14” Sony display monitors PVM-14N5A/14N5E/14N5U

  • DOE On Screen Display Unit

  • Panasonic SVHS recorder AG-7400

  • Panasonic AC adaptor AG 640

  • Kongsberg simrad sonar receiver unit

  • Garmin GPSmap 182

  • KVH Azimuth 1000 flux gate compass

  • Edgeport 8 multiport unit

  • ORE Trackpoint II Plus C/DM 4410D-01

  • ORE 4610 hydrophone (22-30kHz)

  • Hydrophone deck cable 4110B

  • ORE 4324C multibeacon charger

  • DOE PCU-78 hand control unit

  • ROV umbilicals

    • #1 ~ 600ft DOE (Type N 19)

    • #2 ~ 450ft DOE (Type N 19)

    • #3 ~ 2250ft DOER

  • Dell laptop Inspiron 5000 computer

  • Dell laptop Inspiron 8000 computer

    • Kongsberg Simrad MS 1000 scanning sonar processor software

  • Dell laptop Inspiron 3000 computer

    • Backup

Appendix III- Work Day Start Up Check list

1. Confirm that heading, depth, and altimeter readouts are displayed on monitors.

2. Confirm that information from the on-screen display are streaming to data files by simulating a dive and checking the raw data files.

3. Check DVCam (DSR25) preferences to be sure that time stamp is in real time (Set the clock to GMT, then set time code: Menu- time code- TC1-free run- time code: make preset; h:m:s).

4. Proceed with pre-dive checkouts

Appendix IV- Pre-deployment Checks

A. Vehicle checks




  1. Are the bridle and umbilical and rig (ties –ropes) secured on the ROV?

  2. Are all the plugs secure?

  3. Are there any tools or other equipment sitting on the ROV?

  4. Does the ROV have good vacuum seals?

  5. Turn power on – is there 240 volts?

  6. Are the video and still cameras working (zoom, tilt, strobe)?

  7. Are the lights working?

  8. Are the lasers working and calibrated?

  9. Are all four thrusters working?

  10. Is the transponder plug moved to the on position?

  11. Have the batteries for the strobes been changed?

B. Console Checks





  1. Has the heads up display been checked for new date, dive id, locations, drivers?

  2. Are new VHS and DVCam tapes in the recorders?

  3. Have the WinFrog .DAT and .LOG files been named for the next dive?

  4. Have the cameras dates and times been checked?

  5. Are the WinFrog I/O devices showing green for the Trackpoint,CSI, Leica, KVH, OSD, DVL?

Appendix V- Transect Checks

A. Start Transect Checks




  1. Activate WinFrog session (Fx button).

  2. Mark ‘Start Transect’ with F10 when habitat is first encountered.

  3. Start video and DVcam tapes recording (hold down rec. and push play).

  4. Enter into Access log: start time (GMT) start position (Lat. Long – Deg, min, dec secs), Start depth.

  5. Push text button to display console information for 5 seconds (also must be done every time a tape is switched).

  6. Periodically check depth of clump weight vs. depth and maintain contact with deck to adjust when necessary.

  7. Record all events with F10- especially when ROV is off transect (i.e. out of suitable habitat or driving complications) and back on transect.

B. End Transect Checks




  1. Mark ‘End Transect’ with F10.

  2. End WinFrog session (Stop button).

  3. Stop VHS and DVcam tapes.

  4. Turn off lasers.

  5. Enter into Access log: stop time (GMT), stop position (Lat. Long – Degrees, minutes, decimal secs), stop depth, number of abalone spotted, notes.

  6. Monitor clump weight depth as ROV is ascending.

  7. Alert pilot of number of turns in cable prior to surfacing.


Appendix VI- ROV Deployment

A. Personnel



  1. Minimum of 5 scientists and 2 crew members, comprised of the following:

S1- Reelperson, deck communications

S2- Reelperson/tether manager

S3- sling/wire tender

S4- ROV pilot

S5- Recorder, lab communications

C1- crane operator

C2- clump weight tender

B. Hydrophone deployment



  1. Loosen bolts securing hydrophone pole (S1 or S2).

  2. Hydrophone lowered to vertical position on starboard side using the main winch, and hydrophone mount stays (C2).

  3. Hydrophone stays (2 forward, 2 aft) secured (S1 and S2).

  4. Hydrophone checked for approximate 90º position (using wood block) and secured to side of boat with strap (C2 and S2 or S2).

  5. Hydrophone should be positioned using aft stays (C2), and secured using forward stays (S1 or S2).

C. Clump weight (C2 and S2)

    1. Clump weight (~300 lbs) deployed with CTD winch off port side 5m below the surface.

    2. Tighten clamps on clump weight cable and secure one line to the cable, one line to the tether, and clip cable and tether together.

    3. Lower clump weight until desired depth is reached (10m above the bottom, 15m in high relief areas), securing the cable to the tether every 5m.

    4. Last umbilical tag is secured to cable in a triangular fashion when clump is 10-15m off the bottom.

D. ROV
S1 assigns tasks to S2, S3, S4 and S5

      1. ROV deployed using main crane off port side. (Note: vessel should always be positioned so port side deployment of ROV is done on the windward side. This prevents the vessel from being blown down onto ROV or its umbilical).

      2. Alert bridge that ROV is in the water (C2).

      3. ROV will run out to the port side of vessel, between the bow and the clump weight to its working radius (~30-40m; S3).



      4. ROV umbilical attached to the clump weight cable (~ 5m above weight), and tether held taught.

      5. ROV and clump weight lowered simultaneously with depths of both ROV and weight called out to both the CTD winch operator and the ROV pilot.

      6. ROV pilot surveys the bottom while staff monitor sea floor depth (S3), ROV depth (S3), position of the vessel (S3), and the clump weight depth (C1, C2, S1, S2, S3, S4).

E. General notes

Launch should not be started until bridge has alerted deck and lab that screws are disengaged. Depending on conditions it may be necessary to position the boat at a given distance from the target site.


Appendix VII- ROV Recovery

S1- Reelperson, deck communications

S2- sling/wire tender

S3- ROV pilot

S4- Recorder, lab communications

C1- crane operator

C2- clump weight tender/bosun
S1 assigns personel to S2, S3 and S4
1. Lab alerts deck and bridge that recovery is desired (S4).


  1. ROV pilot (S3) tilts the cameras down and turns off the lasers and lights.

  2. Captain will position surface vessel for recovery, with wind on port side, and advise the lab when recovery can begin.

  3. ROV will run out to vessels port side to a length that will allow it to surface in a safe manner (S3).

  4. Clump weight will be raised simultaneously with ROV, ~5m at a time in order to allow ROV team to detach umbilical from the cable (S2, C1, and C2).

  5. Deck crew (S2) will alert pilot when ROV is visible from the surface so pilot can position his/herself on the deck for surface driving.

  6. Once the final tag has been detached, clump weight will be brought aboard (S2, C1, and C2).

  7. ROV will then be recovered using the main crane and a recovery hook and lanyard ((S1, S2, S3, C1, and C2).

  8. Once ROV has been recovered the hydrophone stays can be released and hydrophone will then be raised and secured (see Appendix V, section B).



Appendix VIII- post dive checks

A. Vehicle breakdown



  1. Secure vehicle with straps to the deck.

  2. Download digital camera pictures.

  3. Connect laptop to USB download whip on vehicle.

  4. Click download button on Nikon view camera screen three times.

  5. Once download complete click download button again until letters are black.

  6. Replace camera strobe batteries with fresh set.

  7. Power down.

  8. De-activate transponder by moving transponder plug to the off position.

  9. Clear thrusters of debris.

  10. Check seal integrity.

  11. Re-vacuum hull and motor canisters is necessary.

  12. Rinse vehicle with fresh water.

  13. If last dive of the day, do a complete system check (see Appendix III, section A).

B. Lab breakdown



    1. Turn off sonar.

    2. If last dive of the day, backup data files.

    3. Collect radios and recharge.



Appendix VIII- Setting up the WinFrog Program.

Prior to the first dive, the WinFrog settings must be entered and/or adjusted. If a previous WinFrog project has been saved, it is best to work from the saved project and make necessary edits. To begin a completely new session requires a large number of settings to be entered, although there is a project wizard to start the process (details listed below):


I. Starting using the Project Wizard
A. Start a new project: File-‘project configuration’-new project

1. Set ‘General Projection’ to appropriate time/date period (WG584 UTM for California)

2. Set ‘Specific Projection’ to appropriate lat/long zone (Zone 11 for Southern California)


    1. Step through remainder of the project wizard as is required for specific project



B. Set up graphics to be displayed

1. View- Graphics (1 for small ship window and 1 for large ship/ROV/map window); I/O Devices; Vehicle text (1 for vessel and 1 for ROV)


C. In I/O Devices window add all devices

1. specific for each set up, but for NMFS ROV use the following:

GPS- (NMEA GPS for Leica and CSI); double click to assign com and Baud rate

Gyro- KVH; double click to assign com and Baud rate

OSD- Generic; double click to assign com and Baud rate (4800)

Trackpoint- USBL; double click to assign com and Baud rate

ADCP- Speed log- RDI; double click to assign com and Baud rate
D. Edit I/O Devices

1. Right click to edit devices in the following order:

Time (dummy), depth (ROV depth), Altimeter (ROV), temperature (magnetometer signal), Roll (ROV), Pitch (ROV), and one extra dummy

2. Settings are automatically saved in C://Nav Dat/OSD_settings


E. Add Vehicles: Configure- Vehicles- add new vehicle

1. If the vessel is one that has not previously been entered, add the new vessel

2. Turn off any ships not used

3. Configure vehicle outline: outline-ship


F. Configure vehicle devices

1. Turn off Kalman filter

2. Uncheck Dead Recon
G. Add devices:

1. Enter all specifications for GPS, gyro, Trackpoint

2. Edit all devices: make CSI primary GPS and add offsets (measure from central reference point); make Leica secondary GPS and add offsets; check with ships heading and add offsets for Gyro heading if necessary; configure Trackpoint conducer 1 by adding offsets
H. Configure vehicle rings

1. Number of rings= 3; Separation= 10.0 m


I. Set up ROV (Crocus II) configurations

1. Make primary vehicle

2. Configure vehicle- Devices- add all speed log options, all OSD options, and

Trackpoint beacon

3. Edit devices: Speed log/RDI= primary; Speed log heading= secondary; ROV= check Altimeter and depth of ROV as no offsets; OSD= make primary; USBL Beacon= make primary, no offsets, and accuracy 7.0 m
J. Add offsets to Trackpoint

1. F2 (system)- F2 (offsets)- F1- enter X , Y , and Z offsets of hydrophone



II. Procedures once the WinFrog primary settings are established


A. Before each dive

1. Configure- Data Events- Setup- change to ‘Manual Start’- save with appropriate filename

2. File- Edit working files- choose Logs- enter appropriate filename

Appendix X- NOAA Corps and Scientist operation briefing



  • The lab places a cross on the WinFrog display at the point where the transect is to start.

The bridge is to advise the lab when the ship is ready - 15 minutes of drift time away from the transect start (10 minutes for ROV deployment, plus 5 minutes for the ROV to dive to operating depth).




  • One scientist, who is also the observer on the ROV console, sends and receives all lab communication between the bridge and the deck.




  • The bridge navigates the ship so the wind is on the port side for deployment.




  • The ideal speed of the boat over the ground for ROV transects is between 0.3-05 knots




  • If the end of the tether is reached, from the clump weight, then the ROV begins to be towed by the boat and control is lost.




  • The lab is to keep the WinFrog display on-line during deployment to assist the bridge in navigation and drift prediction. At all other times, unless necessary, the display should also be available to the helm for naviagtion.




  • Abort the ROV launch if ROV cannot dive to the bottom and stay with the ship at the same time (usually when the drift is greater than 1-knot).




  • The bridge is to advise the lab when the speed and direction of the ship needs to changed to maintain transect depth or ship safety.




  • The command “De-clutch” is to be used to stop propellers if the tether is in immediate danger of fouling the props.



Appendix XII- Mobilization logistics checklist

Shore





  • Check inventory with the MS Access asset database Re-supply inventory as needed







  • Book 24-foot stake bed truck for both loading and unloading (Be mindful of cultural events, for example the gay pride parade around the 1st of August, as stake bed truck availability becomes reduced)

  • Book SWFC vehicles (F150 pickup or similar) for loading and unloading.

  • Book a similar truck to unload.

  • Book 3 personnel to drive trucks for unloading.

  • Check availability of small forklift (SWFC) and large forklift (Camp Elliot) for loading and unloading.

  • Retrieve Hydrophone Pole and mounting bracket from Camp Elliot

  • TB checks for all ship board staff.

Boat


  • Confer with NOAA Corps to obtain support vessel specs

  • Power specifications for ROV a

  • DS4 requires 110 v/AC with a 30 amp breaker or

  • 220 v/AC with a 15 amp breaker for main transformer power

  • Peripheral equipment requires 110 v/AC of clean continual power 3-4 outlets




  • DS4 operations require one davit, or A-frame for clump weight deployment and one crane, or davit for vehicle deployment. Available deck space




  • Cable and wiring routings and distances

      • Clump weight weighs 300 lbs

      • Vehicle weighs ~ 320 LBS

      • Umbilical reel weighs 800+ lbs (w/cable)




  • Check availability of loading cranes and crane crew for vessel

  • Check available lab space. The abalone project needs approximately 3x8 desk space required for control modules

  • Seating for at least two (pilot, recorder)

  • Berths for all scientific crew



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