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Kraken2
(K2) ROV System Specifications
The following
sections list the capabilities and sampling systems of K2 (Kraken2)
NURC-UConn’s 1000 meter ROV.
General
vehicle capabilities
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| Image illustrating the major components of the deep ROV configuration: A) vehicle, B) depressor weight with soft yellow tether, C) winch with 1220 meters kevlar electro-optic cable |
The ROV is designed for two operational modes:
1) 1000 meter depth capacity – in this configuration
the system uses a dual tether system comprised of a 1220 meter
electro-optic, strength (Kevlar) reinforced cable on a DT
Marine winch that is connected to 1000 pound depressor weight.
An electro-optic junction box connects this tether to a 45
meter soft electro-optic tether that is connected to the vehicle.
This provides for greater depth capabilities and provides
separation between the movement of the vessel and the vehicle,
but requires a larger ship to accommodate the winch, depressor
and systems van. The fiber optic telemetry allows for transmission
of four simultaneous video channels (1 – High Definition,
3 – Standard Definition).
2) 300 meter depth capacity – uses a 330 meter long section
of the soft tether alone and relies upon the ship’s hydrowire
to lower a 200 pound clump weight to which the tether is married,
except for the last 150 feet, which allows the ROV to operate
freely from the weight, separating the vehicles movements from
the ship similar to the above system. This configuration does
not require the winch or systems van, which allows operations
on smaller vessels of opportunity with less mobilization/demobilization
costs.
Vehicle
imaging, sonar, illumination, navigation systems
This image shows some of the following imaging/sampling systems that have been built into the K2 or are available for mounting on the vehicle to meet science requirements.
A. Broadcast quality Insite Pacific 3-chip video cameras, two
available (3000 & 4000 meter rated)
B. One Insite Pacific Zeus+ HD video camera, depth rated to
6000 meters (not shown)
C. Six single chip video cameras, various brands and depth ratings (2 shown)
D. One Insite Pacific Scorpio Plus 3 mega-pixel digital still
camera (6000 meter rated) with twin electronic strobes (3000
meter rated)
E. Photosea 35 mm film camera (not shown)
F. Two Kongsberg Simrad sector scanning sonars (one -1500 meter mini-head system (shown), the
other a 6000 meter system)
G. One Kongsberg Simrad altimeter
H. Five Nuytco HMI lights (4– 200 watt, 1-600 watt), for daylight
quality (5600o K) lighting (2-200 watt shown)
I. One Deep Sea Power & Light 2000 lumen LED Multi-SeaLite
Vehicle physical sampling systems
J. Two bucket hydraulically switchable suction sampling system (not shown)
K. 6-function Hydro-Lek hydraulic manipulator
L. Insulated (1” polyurethane) “biobox” (12”W x12”Dx36”L) on
a hydraulically controlled sampling tray
M. Eight bucket rotisserie suction sampling system (not shown)
N. Two opening/closing detritus samplers (not shown)
O. Four 4”x4” mechanically (manipulator) closed stainless steel boxcores (not shown)
P. 2” outside diameter punch cores (not shown)
Vehicle navigation systems
A. ORE Trackpoint Ultrashort Baseline (USBL) navigation system coupled to
B. Winfrog Integrated Navigation System (with GPS receivers)
C. Ability to integrate multibeam and side scan sonar geo-tiffs
to serve as basemaps and aid in pilot navigation, exploration
and research efficiencies
D. Ability to continuously log ROV and ship navigation data
Vehicle control van
A standard 20 foot shipping container has been modified to support the topside vehicle and science control. The van houses the following equipment:
A. Hi-definition HDCAM recording deck
B. 4 – DVCAM SD decks
C. 2 DVD-R decks
D. ORE Trackpoint unit
E. Several SD NTSC and two HD monitors
Thrusters and Control System
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| K2 being lowered into NURC-UConn's test tank for initial thruster and control system tests |
The vehicle is powered by five Technadyne Model 1060 thrusters
(105 lb forward/65 lb reverse thrust) configured as two horizontals
(A), two vertrans (B) and one lateral (C).
UConn engineers developed a Labview@ -based vehicle operating system that is integrated with a UEI (United Electronics Industries) “PowerDNA” Ethernet based data acquisition system that provides the backbone for data telemetry for the ROV. The control system integrates with the UEI cube and with other vehicle systems to provide dynamically controlled thruster outputs, auxiliary system controls, temperature/electrical warnings, etc. The following are images of the current operating system screens and their functions:
| Main ROV Control Window - this screen provides fundamental vehicle control and system information |
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Thruster Control Window – this panel allows the operator to change the output of the thrusters within various planes of operation, overall power (gain) and monitor thruster output. |
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Alarm Window – this screen monitors several parameters within the subsea bottle and components connected to the bottle, including water intrusion, electrical shorts and temperatures |
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Auxiliary Window – this panel provides switching for the basic vehicle sensors as well as science components and sampling devices. |
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Data Recording Window – provides control of the logging functions |
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Operating System Maintenance Screen1 – provides information on input/output layers in the subsea computer and joystick control |
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Operating System Maintenance Screen3 – this screen provides detailed information about each of the thrusters as well as control of the camera pan and tilt unit, which includes an automatic “home” position that returns the camera to the same pan and tilt position. This feature is especially useful for reconfiguring the camera for quantitative transects following movement of the camera for off axis inspections/close-up videography. |
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