ROV Ventana comes with two manipulators as standard equipment: a Schilling T4, seven-function spatially correspondent arm, and a seven-function Schilling/Oceaneering Atlas Hybrid (rate and spacially correspondent.) Both manipulators can use a variety of end effectors.

The forward-looking camera systems are mounted on pan-and-tilt units. The main viewing camera is a High Definition Insite Zeus Plus and is mounted in a three-axis pan-and-tilt that is capable of plus or minus 45 degrees of pan and +45, –100 degrees of tilt. Two forward looking cameras, a wide angle Insite Aurora and an Insight Orion Zoom, are mounted on a single two-axis pan-and-tilt above the main camera with a range of 270 degrees of pan and 120 degrees of tilt.

Fangtooth fish (Anoplogaster cornuta) in a frame grab from the video camera on ROV Ventana about 735 meters below the surface in Monterey Bay.

The vehicle also has a hydraulic swing arm that deploys from the port side. This can be used to deploy additional samplers, tool packages, safety apparatus or user-supplied equipment.

Ventana is equipped with a Sea-Bird 19plus V2 CTD package which includes a dissolved oxygen sensor and a transmissometer. Three spatial lasers are mounted on the main camera for quantitative calculations.

ROV Ventana collecting a push core (the clear plastic tube).

When configured for benthic work, Ventana carries two manipulators, a sample drawer,  which can be sectioned off into separate compartments, and a quiver of 20 14-inch push cores. Also incorporated in the toolsled is a suction sampler, which can be used to collect benthic animals in 12 selectable containers. Payload of the system in this mode is approximately 410 kg (900 lbs.) The system is capable of deploying packages up to 113 kg (300 lbs.) using the manipulators. These packages include self-contained time-lapse video cameras, environmental study packages, flow measurement systems, in situ clathrate experiment rack, data loggers complete with borehole instruments (siesmometers, tiltmeters, osmotic sampler), transponder beacons, S4 current meters and many other small benthic experiments.

Detritus samplers on ROV Ventana are used for collecting soft, gelatinous animals in the deep sea.

In the midwater mode, the vehicle has the ability to carry up to eight detritus samplers, which are low-impact collection devices. The midwater toolsled carries a suction sampler with 12 isolated selectable collection containers.

Interfacing user equipment to Ventana is an easy task. Electrical connections are made using a Seacon MIN-K-10-CCP. This connector contains most of the required interface needs: serial communication, +24 VDC, +12 VDC, 120 VAC, and video connections. Three such ports are available. If custom connections or voltages are required they can be accommodated on fairly short notice. Hydraulic connections are made via quick disconnects and are available at two separate levels: 800 psi from a controllable four-way valve and 3000 psi through a servo valve.

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Specifications

  • Length: 10′
  • Width: 5′ 6″
  • Height: 7′ 3″
  • Core vehicle dry weight: 2,567 kg. (5,660 lbs.)
  • Core vehicle with benthic sled is typically 7450 lbs.
  • Core vehicle with midwater sled:
    • Heaviest configuration: 8225 lbs.
    • Lightest configuration: 7450 lbs.
  • Configurable ballast combined with benthic sled:
    • 850 lbs.
    • 80 lbs. variable buoyancy, expandable to 380 lbs.
  • Lighting: 3.4 kW
  • System: 1.1 kW
  • Science: 3.5 kW
  • Hydraulic power: 3000 psi
    • 50 hp Franklin electric motor (2300 VAC)
    • Rexroth A10-25 hydraulic pump
  • Thrusters (six):
    • Two Rexroth A2F with ISE nozzles
    • Four Volvo F11-10 with ISE nozzles
  • Servo manifolds:
    • MOOG -78 series 25gpm (thrusters and 1 auxiliary) 5 station
    • MOOG -30 series 1.8gpm (camera control) & 2 MOOG -32 series 6gpm (spares) 5 station
  • Hydraulic valve manifolds (two 8-station, 3-position 4-way)
  • Two manipulators:
    • Schilling T4 7-function with camera
    • Schilling/Oceaneering Hybrid Atlas 7-function
  • Umbilical cable: 2300 m
  • Three # 12 gage conductors for hydraulics
  • Four # 16 gage conductors for vehicle hotel
  • Four single-mode fibers, vehicle, HD video, ethernet, spare
  • Custom hardware and software developed at MBARI and Greensea Systems, Inc. Communication is achieved by use of local area network (LAN), multiplexed serial port technology, and analog interface.
  • Focal 903 digital multiplexer, 21 RS232 serial, 5 RS485 serial

Altimeter: Kongsberg 1007D, 100 meter range

Depth Sensor: Paroscientific 8B2000

Octans Fiber Optic Gyro (FOG) motion sensor with six degrees of freedom in custom 2000m titanium housing

ROV INS – Sonardyne Sprint 505 with real time aiding including : Speed of Sound, Depth, RDI DVL, USBL, and 1 PPS subsea synchronized with GPS

RDI Workhouse Doppler Velocity Log (DVL) with system integrated stationkeeping and video mosaicing, 1200 Khz.

USBL Sonardyne Ranger 2 V 6.0 with pole mounted Lodestar AHRS, HPT head and Laser surveyed CASIUS corrected offsets, 4000 m capable.

USBL Ranger 1 with GDT head for older HPR beacons and Sonardyne Homer tracking capability from ship.

ROV to ship beacons: Sonardyne WMT 6G and Applied Acoustic HPR – both in responder or transponder mode selectable from surface.

ROV to subsea targets using Sonardyne homer tracking system, 400 m range line of sight.

Sonardyne WMT beacon / AA 935 beacon (backup)

  • 6 DSPL HMI lamps, 400 watts, custom upgrade with Schiederwerk ballasts/ignitors
  • Two core vehicle lamps on ROS accupositioner Pan/Tilt units
  • Two Midwater sled lamps on ROS PT-10 Pan/Tilt units
  • 2x DSPL L.E.D. Lamps 250 watts
  • Mesotech MS1000, 675 kHz high resolution head or 330 kHz standard head
  • USBL (ship to ROV beacon), Sonardyne Ranger 2 software with laser measured offsets and Casius calibration
  • Tritech – Gemini 720is Multibeam Imaging Sonar 720kHz
  • One Ikegama HDL-57 60p camera with HA10X5.2 Fujinon zoom lens
  • Six Insight Orion zoom cameras with integrated pilot control
  • Extron 30 X 30 Video Switch (ROV control room)
  • Secondary HD 1080i 60 camera capability using Seacon MINL 3G standard interface typically with Insite Pacific Micro Zeus camera and dual serial port control.
  • VARS Video Annotation System with realtime annotation and up to 4K frame grab capabilities
  • M3RS video recording system:
    • MacOS/MacPro rack mount system
    • Movie Recorder software with 3 feed capabilities
    • Records video formats up to 4K resolution using DeckLink 8K Pro capture cards
    • Records master (ProRes) and mezzanine (H.264) formats simultaneously to Thunderbolt 3 RAID at up to 40Mbps
    • Additional software allows for pilot monitoring, automated dive number entry, automated nightly backups, and more
    • Video recordings are time-synced with shipboard UTC time server
  • Scientific CTD package
    • depth, temperature, salinity: SBE 19plus V2
    • dissolved O2 via SBE 43
    • transmissometer, WET Labs CSTAR
    • spare channel or fluorometer, WET Labs
  • Harbor Branch spatial lasers, custom electronic boards
    • 2 parallel, 9″ spacing
    • 1 crossing
    • 1 splitter, 1″ spacing
  • Gigabit ethernet high speed port + 120 vac @ 5 amps
  • 10/100 Base-T Ethernet port + 120 vac power @ 5 amps
  • Three dedicated high speed serial ports for science, with 12 and 24 VDC, and NTSC video available
  • “MARS like” interface port to simulate subsea MARS ports

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