APPENDIX IV

DSOG Unmanned Vehicle Status

Jason/Medea

• Control Van Rewire
• Medea Replacement
• Debug Telemetry Lockups
• Documentation
• Manipulator Testing

Argo II

• Improved Obstacle Avoidance Forward Looking Sonar
• Determine Source of Video Camera Focus Problems
• Thrusters for Heading Control
• Resolve Noise on LBL Transducer
• Single Van Operations
• Documentation

DSL 120

• Replace Depressor
• Refine Low Speed Tow Dynamics
• Design and Install Weight Dropper
• Determine suitable Upgrade Path for Surface Processing
• Documentation

New 3-Chip DSOG Video Camera and Pan and Tilt

3-Chip

• Studied Present Market and Technology
• Studied Present 3-chip Performance and Specifications
• Studied MBARI 3-chip Development Effort
• Developed Specs and RFQ for Camera Compatible with Both Alvin and

Jason

• New Camera will be Installed During 1996 Overhaul Period

Pan and Tilt

• Surveyed Commercial Vendors
• Identified Remote Ocean Systems as Preferred Vendor
• Discussed Performance History of ROS units with Users
• Acquired Quote
• To Be Installed During 1996 Overhaul

Jason Manipulator Test Program

Completed as of 6/95:

• Demonstration of Fiber Optic Connector Mating/Unmating
• Operational Pressure Tests to 1 0,000 psi
• Redesign of Gripper for More Gripping Force
• Identification of Hydrothermal Fluid Sampler Trigger Mechanism
• Development of Mechanical and Electrical Documentation
• Identification of Dock Test Program
  1. Gas Tight Sampler
  2. Major Sampler Bottle
  3. High and Low Temperature Probes
  4. Rock/Glass Sampler
  5. Rock Sampling
  6. Transfer of Samplers/Samples to/from Elevators
  7. Biology Samples

To Be Accomplished Before 1/96:

• Installation and Testing of New Gripper
• Implementation of Polar Coordinate Control
• Dock Trials
• Vehicle/Manipulator Pressure Tests to 6,000 Meters
• Installation on Alvin for a Portion of November Science Program

Electronic Still Camera Characteristics

Vital:

• Analog Display of Acquired Digital Data
• Time Stamp at Acquisition
• Simple Real-Time Control
• Real Time Enhancement
• Adaptable to Both Alvin and ROV Power and Telemetry
• "High" Dynamic Range and Resolution
• Minimize Custom Software and Hardware
• Standard Data Format

Desirable:

• Real-Time Control of Focus
• Real-Time Zoom
• Real-Time Viewfinding

Image Processing and Mosaicking

This appendix includes a three dimensional graph of "DSOG Ummanned Vehicle Proposals" number of proposals by year and funding agency and a "DGOS Unmanned vehicles 1995/96" schedule. If a copy of these items is desired, contact the UNOLS office at:

e-mail unols@gsosun1.gso.uri.edu

phone (401) 792-6825

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