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VideoRay PRO 5 Operator's Manual

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Mission Specialist Pro 5 Operator's Manual

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  • Page 1 Mission Specialist Pro 5 Operator's Manual...

  • Page 2: Copyright Notice

    This 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...

  • Page 3: Language Support

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Language Support Arabic Table of Contents Internet connection required, results not guaranteed Chinese Table of Contents Internet connection required, results not guaranteed Deutsch Table of Contents Internet-Verbindung erforderlich, ergebnisse nicht garantiert English Table of Contents...
  • Page 4 ROV Accessories Specifications Tether Specifications System Voltage Advisory Equipment Guide ROV Submersible ROV Nomenclature Pro 5 Frame Pro 5 Exploded Views Pro 5 Sonar Tilt Mount Pro 5 Buoyancy Pro 5 Ballast Power/Communications Module AHRS Module Thruster Module Camera Module Light Module...
  • Page 5 Switches and Connections Computer HD Monitor Hand Controller VideoRay Industrial Controller Forward / Reverse Control Yaw Control Depth Control Lights Intensity Camera Tilt Up Camera Tilt Down Camera Focus In Camera Focus Out Snapshot Video Record Cycle Display Mode Manipulator Open...
  • Page 6 Command: vr_debug_putty Command: vr_create_virtport Operations Guide Acceptable Use System Voltage Advisory Environmental Compatibility ROV Materials List ROV Project Management Mission Planning General Logistics On-site Operations Video / Sensor Recording Project Completion Image and Video Production Still Images Data Management Emergency Situations Flooded ROV / Component Snagged Tether / ROV Cut Tether...
  • Page 7 Tether O-Rings Electronics Components Hull Materials Configuration / Calibration Compass Calibration Diagnostics Module Replacement Power Module Communications Module AHRS Module Thruster Module Camera Module LED Light Module MS Operator's Manuals...

  • Page 8: About This Document

    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 Conventions Several symbols are used throughout this documentation to add emphasis and to assist in relocating important information.
  • Page 9 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.
  • Page 10 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).
  • Page 11 When you reload the page, your My_Note will appear - there is nothing else to install or configure. A sample My_Note file has been included to display the My_Note below. You can use this file as a model for creating your own My_Notes. Updating My_Notes To update a My_Note, simply edit and re-save the My_Note file.

  • Page 12: How To Get Help

    Training Overview Operational Strategies and Tactics Support If 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. Before Contacting Support Please make sure to consider the following information before contacting VideoRay's Technical Support to report a problem.
  • Page 13 Anything new or unusually about the system or operations Once you have collected the recommended information, visit the "How to Get Help" page for contact information. In addition, please review VideoRay's Support website for additional information about: Principles of Customer Interactions Customer Care Philosophy...
  • Page 14 Mission Specialist Pro 5 Overview VideoRay Mission Specialist systems are the world's first ROV to deliver custom purpose-built vehicles using a standard production packaging process. Mission Specialist ROVs are literally built around the payload using core modules instead of figuring out how to adapt an existing vehicle platform in order to mount the payload.
  • Page 15 Mission Specialist Pro 5 Operator's Manual, 1.00.00 Mission Specialist Vehicle Configurations Mission Specialist vehicle configurations include: Defender Operator's Manual Pro 5 Operator's Manual Vehicles are shown approximately to scale.

  • Page 16: Quick Start Instructions

    The remaining sections of this documentation should be referenced for a complete understanding of the features, capabilities, operating procedures and maintenance requirements of your Mission Specialist Pro 5 system. Topics in this Section...
  • Page 17 Have proper safety equipment, such as PFDs (Personal Flotation Devices), on hand and make sure you know how to use them before you need them. Keep fingers, hair, loose clothing and other objects away from VideoRay's propellers and other pinch points.

  • Page 18: Additional Items

    Hand Controller The hand controller is used to pilot the VideoRay and operate other features like the lights, camera controls and manipulator. The hand controller is pre-programmed, but can be customized to meet specific user or operational needs.

  • Page 19: Make The Connections

    Conduct a Visual Inspection Assuming this is your first time using the VideoRay, everything should be in proper working order and ready to go, but it is good practice to perform a pre-dive inspection before every dive, even your first. If any problems are noticed, they should be addressed before continuing.
  • Page 20 Top View Side View Some of the cables have been connected at the factory. See the appropriate sections of the Equipment Guide for detailed information about each of the connections. You will typically need to connect only the ROV, tether, strain relief hand controller, and power cord. 1.
  • Page 21 3. Press the GFCI Reset button to restore power and continue the pre-dive steps. When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord. Power On and LIM Tests Set the Power switch to the On position.
  • Page 22 1. Turn on the Operator Control Console and wait for the system to complete the boot up process. 2. To start the MSS EOD Workspace control software, double click on the Pro 5 icon on the desktop.

  • Page 23: Good Advice

    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.

  • Page 24: Practice Makes Perfect

    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.
  • Page 25 Equipment Guide. If you still have difficulty or questions, contact VideoRay. Your success is our success, and we are here to help you get the most out of your VideoRay. VideoRay contact information is available on the About this Documentation page.
  • Page 26 After each entry, there is a list of pages where the entry can be found in this manual. Accelerometer - A device used to measure acceleration - used to determine pitch and roll of the ROV Accessory - An optional device that can be used with the VideoRay system to augment its features and capabilities...
  • Page 27 Buoyancy - The tendency to float, sink or remain at a constant depth Tether Specifications, Pro 5 Buoyancy, Tether Specifications, Tether Management Camera - The camera provides a video image from the ROV Camera Module, Submersible, Camera Module, Camera Tilt...
  • Page 28 Heading, Auto Depth, Auto Altitude, Piloting Tactics, Swift Current, Power Module, Communications Module, AHRS Module, Camera Module Customization - The ability to change the operation or behavior of the system to make it more suitable for specific applications Accessories Cutter - An optional ROV mounted device for cutting objects Accessories Data Export - Allows data from the ROV to be exported to external applications Data Import - Allows data from external applications or sensors to be displayed on the video as overlay...
  • Page 29 Loss of ROV Function(s) GPS - (Geographic Positioning System) Device that provides location ROV Materials List, Piloting Tools Hand Controller - Input device to control the ROV's operation Hand Controller, VideoRay Industrial Controller, VideoRay IP65 Controller, Connections Summary, Rotating Manipulator,...
  • Page 30 Manipulator Open, Manipulator Close, Manipulator Rotate, Manipulator Open, Manipulator Close, Manipulator Rotate, Accessories, Rotating Manipulator, VideoRay Interface Overview, Snagged Tether / ROV, Deep Water, Communications Module Meter - Unit of measure of length or distance Power Module, Communications Module, AHRS...
  • Page 31 On-site Operations, Tether Management, Thruster Module Record - Command to initiate video capture to a storage media Submersible, Snapshot, Video Record, Snapshot, Video Record, VideoRay Interface Overview, Folder Structure, On-site Operations, Video / Sensor Recording, Image and Video Production, Still...
  • Page 32 Roll - The left or right leaning attitude or motion of the ROV Customize this Document, Thruster Module, Module Configuration ROV - See Remotely Operated Vehicle Safety First, Post-Dive Operations, ROV System Specifications, ROV Modules Specifications, Accessories Specifications, Tether Specifications, System Voltage Advisory, Submersible,...
  • Page 33 Power/Communications Module, Thruster Module, Light Module, Connections, Forward / Reverse Control, Control, Depth Control, Forward / Reverse Control, Control, Depth Control, VideoRay Interface Overview, Module Configuration, Updating Firmware, Command: vr_enum, Command: vr_setid, Command: vr_debug_putty, Potable Water, Piloting Tools, Auto Heading,...
  • Page 34 Summary, Command: vr_refresh, Command: vr_enum, Command: vr_setid, Command: vr_debug_putty Video - In VideoRay context, the image from the ROV's camera or the ability to record this image Tether Specifications, Submersible, Camera Module, Operator Control Console, Switches and Connections, Computer, Snapshot,...
  • Page 35 Mission Specialist Pro 5 Operator's Manual, 1.00.00 FAQ (Frequently Asked Questions) New users typically have some basic questions about the MSS ROV Systems. 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.

  • Page 36: More Questions

    The buoyancy and trim can be adjusted by adding or removing the ballast weights. See the Pre-Dive Preparations section of the Quick Start Instructions for more information. Can you record pictures and video from the MSS ROV Systems? Pictures and videos can be recorded in digital format on the computer. See the Images and Videos section in the Operations Guide...

  • Page 37: Power Module Specifications

    Operator's Manual, 1.00.00 Requirements The VideoRay Mission Specialist Defender requires an external power source capable of producing 100 - 240 V DC; 50, 60 Hz output with a minimum steady-state capacity of 3,000 Watts. The Defender ROV weighs approximately 34 kg (75 pounds) in its case. The ability to lift at least that much weight is required to transport and deploy the ROV.
  • Page 38 Mechanical Dimensions: 18 cm x 13 cm x 4 cm (7.1 inches x 5.1 inches x 1.6 inches) Weight in Air: 1.14 kg (2.5 pounds) Weight in Water: 0.55 kg (1.2 pounds) Connections 8-Pin Male Connector (Tether) 9-Pin Female Connector (Communications) 5-Pin Female Connectors (Thrusters and LEDs) 2X...
  • Page 39 Current Monitoring Voltage Monitoring M5 Communications Module features and specifications are subject to change without notice. AHRS Module Specifications Depth Rating 2,000 meters (6,500 feet) Mechanical Dimensions: 17.8 cm x 7 cm x 5.4 cm (7.0 inches x 2.75 inches x 2.12 inches) not including cable Weight in Air: 0.55 kg (1.2 pounds) Weight in Water: 0.21 kg (0.46 pounds) Connections...
  • Page 40 Dimensions: 13.2 cm x 12.2 cm x 11.8 cm (5.19 inches x 4.80 inches x 4.64 inches) not including cable Weight in Air: 0.65 kg (1.4 pounds) Weight in Water: 0.33 kg (0.73 pounds) Connections 5-Pin Male / Female Connector (Stackable) Power Input 48 VDC at 750-Watt Max input...
  • Page 41 Communications Ethernet RS485 Sensor Feedback Internal Pressure/Vacuum Integrity Internal Humidity Internal Temperature Tilt Position Protocols Video: Ethernet Camera Control: Ethernet Servo Control: RS485 Visibility Internal Tilt: 85 Degrees Horizontal Field of View: 80 Degrees Features Optical BK7 Glass Dome Autofocus Whitebalance Control 16x Digital Zoom 13.19 Megapixel Still Capture...
  • Page 42 M5 LED Light Module features and specifications are subject to change without notice. Specifications for the ROV Accessories Specifications for the VideoRay Mission Specialist Defender accessories can be found on the respective information pages of each accessory. See the Optional Accessories section for more information.
  • Page 43 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 Function Negative Neutral Performance...
  • Page 44 The maximum usable tether length is limited by the ability of the tether to transmit power and data signals. The maximum usable tether length of MSS systems is about 550 meters (1,800 feet). MSS systems can use fiber tether to extend the range. See the Tether Management section of the Operations Guide for more information.
  • Page 45 System components should not be connected to voltage sources higher than their rating. VideoRay Negative, Neutral and PPT tethers are rated to 600 V DC and are safe to use on any system through the Mission Specialist 400 V DC.

  • Page 46: Equipment Guide

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Equipment Guide Understanding the features and capabilities of the MSS 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.
  • Page 47 Hand Controller Tether...
  • Page 48 Mission Specialist Pro 5 Operator's Manual, 1.00.00 The Mission Specialist ROV consists of modular components (thrusters, lights, cameras, sensors) and a custom frame. Each Mission Specialist vehicle is designed to meet the requirements of a specific underwater mission. The frame and sensor payload can be optimized to deliver the vehicle to its intended destination and accomplish the tasks, whether that be recording video, taking measurements of various parameters, or navigation and remote sensing such as sonar or laser imaging.
  • Page 49 ROV Orientation and Directions Reference Bow - The front of the ROV. Stern - The rear of the ROV Port - The left side of the ROV when facing forward. Starboard - The right side of the ROV when facing forward. Fore - Towards the front or The forward direction.
  • Page 50 Roll - Port UP or Port Down relative to Starboard, port up (clockwise, viewed from the rear) is positive. Pro 5 Frame The Pro 5 Frame is similar to the VideoRay Pro 4 using 2 horizontal thrusters x 1 vertical thruster. It is designed to carry a complement of accessories including sonar and manipulator. Other accessories would require a payload mounting platform for each accessory.

  • Page 51: Adjusting The Tilt

    The sonar mounting plate on the Pro 5 can be tilted up 5 degrees or down 15 degrees to improve viewing angles while looking at ship's hulls or searching the bottom. Adjusting the Tilt To position the sonar for horizontal use (the default tilt), the mounting plate hole 2 should be aligned with frame hole A, and the mounting plate hole 4 should be aligned with frame hole B.
  • Page 52 To position the sonar for 5 degree updward use (for viewing ship's hulls or the underside of docks), the mounting plate hole 1 should be aligned with frame hole A, and the mounting plate hole 4 should be aligned with frame hole B. Pro 5 Buoyancy Pro 5 Ballast Power / Communications Module The Power Module receives power from the topside and converts it to power levels required by the various modules, sensors and accessories.
  • Page 53 8 Pin Male Tether Connector Function Interlock (GND) Interlock (Sense) Tether V+ M100 EOP+ Tether V- M100 EOP-...
  • Page 54 RS-485 A RS 485 B 5 Pin Female High Power (Thruster, Lights) Connector (2) Pin Function Wire AWG Color 48 V DC + 20 Green 48 V DC - 20 Black RS-485 A 24 Gray RS-485 B 24 White Power is rated at 750 Watts per port for 1,500 Watts total. Power Module Arrangement The communications module is the "brains"...
  • Page 55 AHRSD 7448 Rotating Manipulator 7449 115200 Defaults: Group ID - 193; Node ID - 2; IP address - 192.168.1.64; RS-485 accessible AHRS Module AHRS - Attitude and Heading Reference System The AHRS is also sometimes referred to as an Inertial Measurement Unit, or IMU. It provides feedback on the vehicle's orientation.
  • Page 56 The Pro 5 vehicle AHRSD is mounted in the top center of the ROV frame. AHRSD Group Node Application TCP/IP TCP/IP Port Notes Location Address Number Port 7444 IMU, Port 7445 Top Center 192.168.1.65 2 (7446) Depth Thruster Module Mission Specialist vehicles use a modular thruster configuration that allows vehicle designs to be optimized for water conditions and payload delivery requirements.
  • Page 57 RS-485 A 24 Gray RS-485 B 24 White Thruster Arrangement The Pro 5 vehicle is a Defender frame that uses a vectored horizontal thruster arrangement, and three vertical thrusters. The thrusters are configured as shown below: Thruster Group Node Motor...

  • Page 58: Camera Module

    Camera Module The camera module provides a live video feed from the vehicle to the surface. Cable Pinout Pin Function ETH_RXP + ETH_RXP - 24 V DC + ETH_TXP + ETH_TXP - RS-485 A RS-485 B 12 V DC + Camera Arrangement High Definition Camera...
  • Page 59 Camera Location Group ID Node ID TCP/IP Address Notes Forward Center 192.168.1.11 LED Light Module The LED Light Module provides variable levels of illumination and beam pattern control. Cable Pinout The LED Light connector uses a male / female stackable connector allowing the LED lights and thrusters to be connected in series.

  • Page 60: Rov Connections

    Light Location Group ID Node ID Application ID Notes Forward Top Port Forward Top Starboard 131 ROV Connections The Mission Specialist ROV system uses 3 types of connectors for power and communications between the control panel, vehicle modules and accessories. 8 Pin Tether Connector Function Interlock (GND)
  • Page 61 24 V DC + ETH_TXP + Ground ETH_TXP - RS-485 A RS-485 B 12 V DC + Pin numbering is clockwise starting at 1 in the upper left when looking at the face of the male connector with the row of 5 pins on top. ROV Connections...

  • Page 62: Operator Control Console

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

  • Page 63: Safety Circuits

    You must press the Reset Button to enable it. When enabled, the green LED will be illuminated. When using a power source that includes a GFCI, the VideoRay supplied GFCI is not needed and can be removed from the power cord.

  • Page 64: Switches And Connections

    A normal reading on the LIM display is > 4 M-Ohm, indicating that the insulation of the power conductors in the tether is good. If there is any degradation of insulation, the value displayed will decrease. The MSS LIM is two stage. When the LIM detects the resistance between the ROV power conductors falls below 900 kOhms, the yellow LIM Alarm A1 LED will turn on, but the power circuit will remain on.
  • Page 65 The Operator Control Console top includes the following switches: SWITCH LOCATION FUNCTION Main Operator Control Power Turns the Operator Control Console on and off. Console top upper left Switch Operator Control Turns the ROV power on and off. Twist in the direction of the arrows to Power Console top central left turn on the ROV power and press the switch to turn it off.
  • Page 66 VideoRay does not recommend installing additional hardware or software on the computer unless you are familiar with its operation and confident it will not interfere with the VideoRay control software or the computer's ports. Software that is packaged with VideoRay accessories has been tested and is approved for use.

  • Page 67: Additional Specifications

    Ethernet RJ-45 female Can be used to connect the computer to a network, or the Operator Control Console for Ethernet based accessories. Display Port Provides an HD video signal. This can be used to connect the computer to Display Port Female an external monitor.
  • Page 68 Brightness High Bright � 1000 nits Features Wide Viewing Cone 10 Point PCAP Touch Front Full Range Diming Pot Monitor specifications are subject to change without notice.

  • Page 69: Hand Controller

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Hand Controller The hand controller is used to operate the VideoRay and its features. Several types of hand controllers are supported. Controllers not included in your configuration are available from VideoRay for purchase. Supported controllers include:...

  • Page 70: Forward / Reverse Control

    Forward / Reverse Control Yaw Control Depth Control Lights Intensity Camera Tilt Up Camera Tilt Down Camera Focus In Camera Focus Out Snapshot Video Record Cycle Display Mode Manipulator Open Manipulator Close Manipulator Rotate Hand Controller Connection CONNECTION TYPE FUNCTION Type A male cable Used to connect the hand controller to a USB port on the control connection...

  • Page 71: Depth Control

    The joystick can be moved in any direction to simultaneously move forward or backward while turning or moving laterally. Do not run the horizontal thrusters in air for an extended period of time. Doing so may cause overheating and damage to the components. Forward / Reverse Control Yaw Control The joystick is used to control the yaw motion of the ROV.
  • Page 72 The Depth Control knob is used to make the ROV dive or surface by controlling the direction and amount of vertical thrust. Knob Location and Label Rotate the Depth Control knob forward (counterclockwise) to dive. The greater the rotation from the center position, the faster it will dive.
  • Page 73 Do not leave the lights on for an extended period of time. Doing so may cause overheating and damage to the components. Lights Intensity Camera Tilt Up The Camera Tilt Up button increases the vertical angle of the front camera in the upward direction. Button Locations and Labels Tilt Up Press and hold the Tilt Up button to tilt the front camera up.
  • Page 74 Press and hold the Tilt Down button to tilt the front camera down. Release the button when the camera has tilted to the desired setting or has reached the end of its range. You should not continue to hold either tilt button when the camera has reached the end of its tilt range. Camera Tilt Down Camera Focus In The Camera Focus In button adjusts the focus of the front camera for near objects.

  • Page 75: Video Record

    Press and hold the Camera Focus Out button to adjust the camera focus for far objects. Release the button when the camera has focused to the desired setting or has reached the end of its range. Camera Focus Out Snapshot The Snapshot button saves a still image from the active camera.

  • Page 76: Cycle Display

    Button Location and Label Press the Video Record button to start recording a video from the active camera. Press the Video Record button again to stop recording a video from the active camera. When the recording is active, the record icon button is illuminated green. Video Recordings are saved as .MP4 formatted files in the gss_logs folder.
  • Page 77 Cycle Display Mode Manipulator Open The Manipulator Open button opens the jaws of the manipulator. Button Locations and Labels Manipulator Up Press and hold the Manipulator Open button to open the jaws of the manipulator. Release the button when the manipulator jaws open the desired amount or have reached the end of their range. You should not continue to hold the Manipulator Open button when the jaws have reached the end of their range.
  • Page 78 Rotate the Manipulator Rotate knob counterclockwise to rotate the manipulator jaws counterclockwise (when viewed from the rear of the manipulator). Center the Manipulator Rotate knob to stop the manipulator jaws from rotating. Manipulator Rotate VideoRay IP65 Controller Mapping Forward / Reverse Control Yaw Control Depth Control...
  • Page 79 Camera Focus Out Snapshot Video Record Cycle Display Mode Manipulator Open Manipulator Close Manipulator Rotate Hand Controller Connection CONNECTION TYPE FUNCTION Type A male cable Used to connect the hand controller to a USB port on the control connection panel or the computer. Forward / Reverse Control The joystick is used to control the forward / reverse motion of the ROV.
  • Page 80 Do not run the horizontal thrusters in air for an extended period of time. Doing so may cause overheating and damage to the components. Forward / Reverse Control Yaw Control The joystick is used to control the yaw motion of the ROV. Location The Joystick does not have a label.
  • Page 81 Knob Location and Label Rotate the Depth Control knob forward (counterclockwise) to dive. The greater the rotation from the center position, the faster it will dive. Rotate the Depth Control knob backward (clockwise) to surface. The greater the rotation from the center position, the faster it will surface. Do not run the vertical thruster in air for an extended period of time.
  • Page 82 Lights Intensity Camera Tilt Up The Camera Tilt Up button increases the vertical angle of the front camera in the upward direction. Button Locations and Labels Tilt Up Press and hold the Tilt Up button to tilt the front camera up. Release the button when the camera has tilted to the desired setting or has reached the end of its range.
  • Page 83 Press and hold the Tilt Down button to tilt the front camera down. Release the button when the camera has tilted to the desired setting or has reached the end of its range. You should not continue to hold either tilt button when the camera has reached the end of its tilt range. Camera Tilt Down Camera Focus In The Camera Focus In button adjusts the focus of the front camera for near objects.
  • Page 84 Press and hold the Camera Focus Out button to adjust the camera focus for far objects. Release the button when the camera has focused to the desired setting or has reached the end of its range. Camera Focus Out Snapshot The Snapshot button saves a still image from the active camera.
  • Page 85 Press the Video Record button to start recording a video from the active camera. Press the Video Record button again to stop recording a video from the active camera. When the recording is active, the record icon button is illuminated green. Video Recordings are saved as .MP4 formatted files in the gss_logs folder.
  • Page 86 Manipulator Open The Manipulator Open button opens the jaws of the manipulator. Button Locations and Labels Manipulator Up Press and hold the Manipulator Open button to open the jaws of the manipulator. Release the button when the manipulator jaws open the desired amount or have reached the end of their range. You should not continue to hold the Manipulator Open button when the jaws have reached the end of their range.
  • Page 87 Press and hold the Manipulator Close button to close the jaws of the manipulator. Release the button when the manipulator jaws close the desired amount or have reached the end of their range. You should not continue to hold the Manipulator Close button when the jaws have closed on an object or reached the end of their range.
  • Page 88 Mission Specialist Pro 5 Operator's Manual, 1.00.00 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.
  • Page 89 Tether connectors should not be lubricated with petroleum products or grease. Petroleum will degrade the rubber and grease will attract dirt and lead to abrasion and corrosion. VideoRay recommends lubricating the tether connectors with pure silicone spray. Tether Specifications...
  • Page 90 Tether Strain Relief The Pro 5 strain relief is used to secure the ROV to the tether to prevent separation and loss of the vehicle if the tether connection becomes separated. The strain relief also minimized the load on the tether connector.
  • Page 91 ROV to Tether Strain Relief Use the following procedures to install and secure the vehicle to the tether to prevent loss of the vehicle due to a connection failure. The strain relief cable may already be attached to the tether. If so, you can skip steps 1 to 3.
  • Page 92 4. Align the pins and insert the male ROV whip connector to the female tether connector until the faces mate. Secure the connection with the locking collar. 5. Insert the strain relief eye socket into the hole in the frame and secure it with the retaining screw. 6.
  • Page 93 1. Ensure that you have all three parts of the tether to tether strain relief as shown below. 2. Ensure that both carabiners are labeled with '600lbs'. Older models of VideoRay ROVs used the '450lbs' rated carabiners and these should not be used with Mission Specialist systems.
  • Page 94 3. Connect one of the carabiners to one loop end of the tether to tether strain relief cord. 4. Connect the carabiner to the tether strain relief webbing and secure the carabiner locking nut.
  • Page 95 5. Repeat steps 3 and 4 using the second carabiner and strain relief webbing from the second tether. 6. Make sure the strain relief cable connections are secure so that all of the load is carried by the strain relief and there is no load on the tether connection. When working in an area where there is a chance the tether can become snagged on a protruding object, the connection can be wrapped with tape to prevent a protruding object from passing through the space between the tether and the strain relief cable.

  • Page 96: Connections Summary

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Connections Summary The following connections are required: 1. Connect the female end of the tether to the ROV. 2. Secure the tether strain relief to the ROV. 3. Connect the male end of the tether to the Operator Control Console.

  • Page 97: Included Accessories

    This configuration includes the following sensors and tooling: Rotating Manipulator Optional Accessories The following pages provide information about the various accessories that are supported on the VideoRay Defender. Your configuration may or may not include all of these accessories. Blueprint Oculus Sonar 750D...
  • Page 98 The Blueprint Oculus Sonar 750D is a general purpose dual-frequency sonar used for navigation and high resolution imagery of near field target identification. For more information on the Oculus 750D sonar see the Datasheet and User Manual For operation of the Sonar within the Greensea software, see page 39 in the Greensea EOD Workspace Manual This device includes it's own operating instructions, however it is integrated through our software and...
  • Page 99 Supplemental spare parts for field repairs (Basic spares are included for some items) Tactical Operations Support Tether weights and davit Retrieval devices or baskets In general, VideoRay does not supply these items, and users must procure them on their own.

  • Page 100: Software Guide

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Software Guide Mission Specialist software consists of three main components: 1. Topside User Interface, installed on the Operator Control Console and used to control the ROV. 2. Configuration and diagnostic software installed on the Operator Control Console used to configure and test each ROV module.
  • Page 101 Mission Specialist Pro 5 Operator's Manual, 1.00.00 Greensea User Manuals for the Defender Greensea control software comes in three versions: Greensea EOD Workspace User Manual - includes Autonomous Navigation Control* (Military Use Only) Greensea Professional Workspace User Manual - includes Autonomous Navigation Control* Greensea Basic Workspace User Manual Autonomous control features require a DVL.
  • Page 102 Mission Specialist Pro 5 Operator's Manual, 1.00.00 VideoRay Interface Overview There are four applications that are required to operate the VideoRay vehicle control software. These are stored in the ~/Flighthack folder. Start the thruster controls using vr_engage.py Start the camera controls using vr_engage_camera.py Start the video window Video is automatically in record mode when the video window is started.

  • Page 103: Software Management

    -r gss_configs-<<configName>> (repeat for each vehicle model config file) c. cd Downloads d. chmod +x <<name>>.run e. sudo ./<<name>>.run oculus (or use the desired sonar) f. When prompted enter the password, use: videoray 5. Start the workspace using the desktop icon...
  • Page 104 7. In the Terminal Window, enter the following commands a. cd .config/greensea_systems b. rm workspace.ini (Do not delete any other files, specifically gss.key) 8. Close the Terminal Windows The new version should be installed and ready to run. Contact VideoRay support if you need assistance.

  • Page 105: Module Configuration

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Module Configuration The modular concept requires that modules be configured prior to installation or replacement in a specific vehicle arrangement. Configuration information is specific to each vehicle. Information about the configuration for a specific...

  • Page 106: Updating Firmware

    Some of the options use two dashes "--," not a long dash Updating Firmware Firmware can be found locally in the Home/firmware/ folder. The most up-to-date firmware is available from VideoRay's FTP server. You can download the firmware to the local folder by connecting to the...
  • Page 107 Internet and using the following command: vr_pull_firmware.sh To use vr_refresh on modules connected to the communications module, you need to open a virtual port and specify the port to use. See vr_create_virtport_all.sh for more information. Example firmware update commands for different modules are shown below. In each case, X.Y.Z should be replaced by the actual version number.
  • Page 108 The vr_enum command is used to enumerate (list) the modules that are connected to the vehicle. vr_enum [OPTIONS] [min explcit id] [max explicit id] [Options] - See the table below [min explicit id] - The minimum Node ID to include the list [max explicit id] - The maximum Node ID to include in the list OPTION Alternate Argument(s)
  • Page 109 vr_setid [OPTIONS] SN Node_ID Group_ID SN - See the table below Node_ID - The Node ID to program into the module (1 - 255) Group_ID - The Group ID to program into the module (1 - 255) OPTION Alternate Argument(s) Description Default --help...

  • Page 110: Virtual Ports

    [Options] - See the table below N - The Node ID of the module to reset and enter debug mode. This command must be executed from the flighthack folder and requires the preceding "./" OPTION Alternate Argument(s) Description Default --help Display this help information --com Com port to use...
  • Page 111 This command must be executed from the flighthack directory and requires the preceding "./" The trailing "&" allows this command to run in the background, otherwise you would need to open a new terminal window to use commands that access the virtual ports. When finished using the virtual ports, they should be removed using the following command: killall socat.
  • Page 112 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.
  • Page 113 System components should not be connected to voltage sources higher than their rating. VideoRay Negative, Neutral and PPT tethers are rated to 600 V DC and are safe to use on any system through the Mission Specialist 400 V DC.
  • Page 114 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. Solution Notes Chlorine / Solutions of no more than 400 PPM. Follow use with 30 minute soak and rinse in fresh Bromine water.
  • Page 115 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.

  • Page 116: Project Management

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Project Management While 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: 1.

  • Page 117: Additional Notes

    Are accessories needed? What is the water visibility? Will you need to retrieve anything? Define the additional equipment requirements What are the site conditions? Will you have power available or need to supply your own? Will you need insect repellent? What will the weather be? Will you need to bring extra clothes or rain gear? Will you need to bring sun screen?

  • Page 118: On-Site Operations

    VideoRay includes a ground lift adapter cord that can be used to isolate the control panel ground. All connected devices must be connected through this adapter.

  • Page 119: Video Recording

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

  • Page 120: Data Management

    Often, the completion of a project means delivering a product, such as images or videos of an inspection, or retrieval of an item. These can be delivered as isolated products or as part of a formal report. See the Images and Videos section of the Operations Guide...

  • Page 121: Emergency Situations

    Unless there is a danger of immediate peril, pause to completely assess the situation and develop a recovery plan. Seek help when needed. Many resources exist and you can contact VideoRay. Emergency Response to a Flooded Module If you suspect that a module is experiencing a leak during operations, there are four critical steps to remember: 1.
  • Page 122 5. Rinse wet components in distilled water as soon as possible. If you do not have distilled water, use fresh water as soon as possible and follow up with a rinse in distilled water as soon as possible after that. 6.
  • Page 123 Emergency Response to a Cut Tether If the tether is suspected of being nicked or cut, follow these steps: 1. Turn off the power. 2. If possible, retrieve the ROV. 3. If the tether is completely separated, mark the spot to facilitate a search for the ROV. 4.

  • Page 124: Remote Operations

    Several practices are common to almost all ROV operations. This section provides some guidelines for the practices. Deployment Platforms VideoRay ROVs can be deployed from land, vessels, remotely or even some very unique situations. Power can be provided by a shore based system, a generator or a battery with an inverter. Height above Water Surface VideoRays can be deployed from a significant height above the water surface by lowering the vehicle by its tether.

  • Page 125: Tether Management

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

  • Page 126: Cold Weather Operations

    Oil Product Data Sheet. The MSDS for the dye is also available: MSDS. Please check with VideoRay regarding the current specifications for thruster oil and use in potable water systems. The following procedure to disinfect the ROV prior to entering a potable water tank is recommended by John Conrady of Conrady Consultant Services and is used with permission.
  • Page 127 VIDEORAY IS NOT RESPONSIBLE FOR IDENTIFYING WATER CONDITIONS OR ANY EFFECTS OF OPERATING IN ANY ENVIRONMENT, WHETHER CONTAMINATED OR NOT. Use of VideoRay equipment in contaminated water or other liquids is not recommended and damage to the equipment from operating in such conditions is not covered under warranty.

  • Page 128: Chemical Compatibility

    ROV because it reacts adversely with the main domes and light domes. Chemical Compatibility Use of VideoRay equipment in liquids other than water should be checked against standard chemical compatibility charts, available from a variety of sources such as Cole-Parmer.
  • Page 129 (which is much more challenging when you cannot see the vehicle), personal skills and experience. The VideoRay MSS Systems have 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.

  • Page 130: Auto Modes

    1. Load Map 2. Set Declination Verify Heading 3. Fuse GPS Verify Location Turn off Fuse GPS Fuse GPS should only be used when Station Keeping and Waypoint Following is Off. If either is on when Fuse GPS is selected, the ROV may make a rapid and unexpected excursion. Auto Modes Auto Modes on the Mission Specialist operate differently than on the Pro 4.

  • Page 131: Additional Notes

    Auto Depth can be used to maintain an existing depth, or surface or dive to a specified depth. Auto Depth is designed to be as seamless as possible so that you can pilot without having to constantly engage and disengage it when alternating between hovering and changing depths. How Auto Depth Works When Auto Depth is engaged, the ROV will automatically respond to changes in depth (measured by the pressure sensor) by applying vertical thrust to maintain the current depth (pressure).
  • Page 132 Auto Pitch Auto Pitch can be used to maintain an existing Pitch, or pitch the vehicle to a specified Pitch. Auto Pitch 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 pitch.

  • Page 133: Station Keeping

    Station Keeping Station Keeping requires a DVL. Station Keeping will maintain the current location of the vehicle. If auto heading and/or auto pitch is on, the orientation will be maintained as well. Auto modes will only maintain a specific parameter and if there are currents or the tether is pulled, the location may change.
  • Page 134 Operator Control Console and the tether's capacity to deliver that power to the ROV. This design feature allows VideoRay to maximize the performance of the vehicle for specific tasks. This also means that the system can, at times, demand more power than can be delivered, which could result in a system brown out.
  • Page 135 The following suggestions will help you advance your piloting skills. Use a light touch on the controls. The VideoRay is very agile and if you apply too much control input, you will tend to over steer or over shoot your objectives. This will often require reverse control input to compensate, which is inefficient.
  • Page 136 throughout depth, or there may be wind driven current on the surface, and tidal or other currents below. This will of course complicate the situation, but there are techniques to try before giving up. Use the minimum amount of tether possible and use performance or negative tether to minimize the effects of drag.
  • Page 137 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.

  • Page 138: Configuration Overview

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Remote Operations and Streaming Mission Specialist systems can be controlled remotely over the Internet or set up to stream video to remote destinations. Requirements 1. Mission Specialist System 2. TeamViewer Software [Download] 3. Addition computer for control and/or streaming (Windows or Ubuntu) 4.
  • Page 139 3. Invite remote viewers to the meeting. 4. The remote viewers can connect to the meeting as usual. VideoRay installs the TeamViewer Service Queue on the Operator Control Console by default. You will need to install the Ubuntu, Debian x86 64bit version. [Download].
  • Page 140 Mission Specialist Pro 5 Operator's Manual, 1.00.00 Maintenance Guide This section will describe the maintenance requirements and procedures for periodic or common maintenance requirements. It will not be detailed enough to be considered a component level repair manual, but will address component replacement of modular components.
  • Page 141 Basic Equipment Care Do not abuse the VideoRay and be careful not to damage the system's components through normal use. For example, avoid letting the tether connectors come in contact with the ground where rough surfaces or dirt can damage the contacts.

  • Page 142: Storage And Transport

    VideoRay systems should always be cleaned after use. When used in salt water or contaminated environments, make sure to thoroughly rinse and then soak all wet components. It is especially important that you rinse the pressure sensor and allow it to drain. You must remove the float block to do this.
  • Page 143 Maintenance should be completed by trained and certified technicians, and using factory authorized parts. VideoRay recommends that you create and maintain a system logbook. The logbook entries can include details of missions (date, location, conditions, dive time, etc.) and maintenance performed (date, procedure, parts replaced, etc.).

  • Page 144: Special Handling

    VideoRay is designed with ease of maintenance in mind, and only a few tools are required to service the system. In fact, many maintenance procedures, such as changing light modules can be done without tools. VideoRay also includes a small tool and spares kit with each system delivered that contains most of the required tools.
  • Page 145 7. Make sure any sealing O-rings are in good condition and installed properly. 8. Make sure the connection is completely sealed when connected. 9. Use the connector locking devices when they are supplied for the connector. 10. Use the appropriate strain relief if applicable for the connection and make sure the strain relief is connected properly to ensure there is no strain on the connector.
  • Page 146 O-rings. Serious damage to the O-ring or the seat may result. O-ring Lubrication - VideoRay recommends the use of pure silicone spray or the O-ring lube kit that comes in the standard tool kit. Other lubricants can lead to deterioration and failure of the O-rings and components.
  • Page 147 Hull Materials Care and Handling Aluminum Hull Components VideoRay's aluminum parts are protected by anodizing and/or ceramic coatings. The use of metal tools can scratch these coatings leading to corrosion. Be careful when working with with metal tools near hull parts.

  • Page 148: Galvanic Corrosion

    Make sure all stainless steel fasteners are not in direct contact with aluminum hull parts. VideoRay uses nylon spacers for these contact points to keep the materials separated. Always make sure to use these spacers when reassembling parts after routine maintenance or a repair.
  • Page 149 Magnetic Field Mapper software must be installed on the Operator Control Console. If the Magnetic Field Mapper software is not installed, It can be downloaded at: https://videoray.exavault.com/files/quarterdeck/xsens/mag_mapper.tgz. The user name is quarterdeck and the password is quarterdeck (use all lower case). After logging in, navigate to the xsens/ folder and download mag_mapper.tgz.
  • Page 150 7. When asked if you trust this application and want to Launch it, click on the Yes button. 8. When asked for the password, enter videoray and click on the Authenticate button (use all lower case). 9. When the Magnetic Field Mapper software starts, make sure the Use Motion Tracker option selected and click on the Next and then the Scan buttons.
  • Page 151 12. The Capturing Data screen will appear with a graphic display of three axes and a sphere. 13. The vehicle must be rotated slowly 360 degrees about all axes. As you rotate, the sphere will update with areas that are mapped. The goal is to cover as much of the sphere as possible. a.
  • Page 152 14. After completing the rotations to cover as much of the sphere as possible click on the Process button. 15. The display will update with a before (red) and after (blue) graph. The red graph will likely have sections with a lot of variation and be offset from 1.0. The blue graph should have much less variation and average value close to 1.0.

  • Page 153: Diagnostics And Repair

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Diagnostics and Repair Are you having a bad day with your Mission Specialist system? You have come to the right place. Solving problems requires either a methodical diagnostics approach, or lots of luck. If you don't like to gamble, the following may help you overcome challenges that inevitably present themselves from time to time.

  • Page 154: Power Module Replacement

    Mission Specialist Pro 5 Operator's Manual, 1.00.00 Module Configuration and Replacement Power Module Replacement Replacing a Power Module requires hardware replacement. Currently, the Power Module will be pre- configured when delivered, so there is no need for software configuration procedures.
  • Page 155 Replacing a Communications Module requires hardware replacement. Currently, the Communications Module will be pre-configured when delivered, so there is no need for software configuration procedures. Hardware Replacement To remove and replace a Communications Module, follow these steps: 1. Power down the system. 2.
  • Page 156 5. The replacement Communications Module serial number should appear in the list of enumerated devices, such as COMHB000356 (COMHB will be present, but the number may be different). 6. Enter diagnostic mode of the new Communications Module, type: ./vr_debug_putty.py 2 followed by the Enter key where 2 is the default Node ID of the new Communications Module.
  • Page 157 7. Mount the replacement AHRS on the frame and secure it using the Phillips head screws removed earlier. 8. Thread the cable and connector through the same routing as the old AHRS. Connect the cable to the same location on the Communications Module as before. 9.
  • Page 158 Thruster and Control Software Configuration Refer to the configuration parameter table in the Thruster section of the Equipment Guide.: Commands below are case sensitive. 1. Connect and power up the system, but do not start the control software. 2. Launch the terminal program and use the following commands to program the thruster. 3.

  • Page 159: Camera Replacement

    11. Press the s key followed by Enter to save the configuration. 12. Press the x key followed by Enter to exit the configuration menu. 13. Press the x key again to exit diagnostic mode. You do not need to press Enter. 14.
  • Page 160 Hardware Replacement To remove and replace an LED Light, follow these steps: 1. Power down the system. 2. Remove the top float block by removing the four screws holding the float block to the frame. 3. Note the position of the LED Light being replaced in the vehicle frame. The position of the LED light being replaced will determine the configuration parameters to be programmed into the replacement.
  • Page 161 7. Type: vr_enum followed by the Enter key again to verify the replacement LED Light is registered with its Node ID. 8. Enter diagnostic mode of the replacement LED Light, type: ./vr_debug_putty.py NodeID followed by the Enter key where [Node ID] is the Node ID of the replacement LED Light. This will open a new diagnostic window.

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