ROV Hercules

Since it was first launched in 2003, ROV Hercules has been working in tandem with ROV Argus to explore the geology, biology, archaeology, and chemistry of the deep sea. Hercules is equipped with a high-definition video camera, several LED lights, two manipulator arms, and a variety of oceanographic sensors and samplers, including a suite of high-resolution mapping tools that is available for use upon request. Hercules can deliver approximately 68–113 kg (150–250 lbs) of samples or tools to and from the seafloor.

General

• Depth Capability 4,000 meters (13,123 feet)
• Tether 30–45 meters (98.4–147.6 feet), 20 millimeters (0.79 inches) diameter, neutrally buoyant
• Size 3.9 meters long × 1.9 meters wide × 2.2 meters tall (12.8 feet long × 6.2 feet wide × 7.2 feet tall)
• Mass ~ 2,500 kilograms (5,500 pound-mass) in air payload | Up to 113 kilograms (250 pounds)
• Maximum Vehicle Speed 0.77 meters/second (1.5 knots) forward, 0.25 meters/second (0.5 knots) lateral, 0.5 meters/second (1 knot) vertical (on site, within tether range)
• Maximum Transit Speed 1 meter/second (2 knots), no sampling, in layback mode
• Maximum On-bottom Transit Speed 0.5 meters/second (1 knot), no sampling
• Maximum Sampling Transit Speed 0.25 meters/second (0.5 knots) on flat seafloor; < 0.13 meters/second (< 0.25 knots) over featured terrain
• ROV Closed Loop Position Control Station Keep, X/Y step, Auto Depth, Auto Altitude, X/Y/Z step and hold velocity control
• Descent/Ascent Rate 30 meters/minute (98.4 feet/minute), 15 meters/minute (49.2 feet/minute), 20–22 meters/minute avg.
• Propulsion
  • Six hydraulic thrusters powered by 15 kW (20 hp), 207 bar (3,000 psi) hydraulic system
  • Fore/Aft & Vertical – Four 27.94 cm (11 inch) ducted thrusters, each providing 900 N (200 lbf) thrust
  • Lateral – Two 22.86 cm (9 inch) ducted thrusters, each providing 450 N (100 lbf) thrust

Vehicle Sensors & Navigation

• System NavEst integrated navigation system solution
• Heading and Attitude
  • Primary Heading – IXSEA Octans III north-seeking fiber-optic gyrocompass (0.1° secant latitude accuracy with 0.01° resolution)
  • Secondary Heading – TCM2 solid state fluxgate compass
• Pressure Sensor Paroscientific Digiquartz 8CB series
• CTD Sea-Bird FastCAT 49
• Oxygen Optode Aanderaa 3830
• Temperature Probe WHOI high-temperature probe (0°–450°C, 0.1°C resolution)
• USBL Navigation TrackLink 5000
• Doppler Navigation & Altitude RDI Workhorse Navigator Doppler Velocity Log 600 kHz, 0.7–90 meter range (2.3–295.3 feet)
• Forward-looking Sonars
  • Kongsberg Mesotech 1071 scanning sonar, 300 kHz, 1–200 meter (3–656 feet) range typical
  • TriTech Super SeaPrince 675 kHz, 50 meter (164 feet) range

Imaging & Lighting

• Standard Imaging Suite One high-definition video channel on fiber optic, four standard definition video channels on coax, generally configured as:
  • Insite Pacific, 6,000 msw rated, Zeus Plus with 10× zoom lens, Ikegami HDL-45A with zoom/pan/tilt/extend –1080i SMPTE 292M output format
  • Insite Pacific, 6,000 msw rated, Titan Rotate-Tilt standard definition camera (bubble camera) 480 line NTSC format
  • Three Insite Pacific NOVA utility cameras, mounted to view the starboard sample box, port rail, and aft region 480 line NTSC format
  • One Insite Pacific Aurora utility camera to view the eight-jar suction sampler, NTSC format
  • One Deep Sea Power & Light Wide-i-SeaCam to view starboard side sample box, NTSC format
• Lighting
  • Two Deep Sea Power & Light Matrix-3 LED lamps, 20,000 lumens, forward mounted
  • Six to twelve Deep Sea Power & Light Sphere LED lamps, 6,000 lumens, mounting configurable
  • SCALING | Two green Deep Sea Power & Light Micro Sea-Lasers, mounted 10 cm (3.94 inches) apart, HD camera only
• High-Resolution Mapping Suite
  • Available for nonstandard mapping products
  • Typical configuration is downward looking; forward looking configuration possible
  • Two stereo Prosilica GT 2750 still cameras, one black & white, one color; 2750x2200 pixels; 29° × 39° field of view; 2–4 meter (6.5–13 feet) range; 200 wattsec strobe lighting at 1 image every 3 seconds
  • Structured light laser system with a dedicated Prosilica GC 1380 still camera; runs concurrently with stereo imaging; 532 nanometer 100 mw Coherent laser; 45° line generating head
  • System also supports Kongsberg M3 sonar

Manipulators and Sampling

• Manipulators
  • Kraft Predator: Hydraulic, seven function spatially correspondent, force feedback, 200 lb lift
  • ISE Magnum: Hydraulic, seven function, 300 lbs lift
• Suction Systems
  • Suction sampling system, eight 3-liter discrete samples -or-
  • Venturi dredge excavation system
• Sampling Tools Mission configurable
  • Up to eight 6.35 centimeter (2.5 inch) inner diameter, 28 centimeter (11 inch) long push cores
  • Up to six 5-liter Niskin bottles, manually triggered
  • Custom tools and sensors can be integrated
• Sample Storage
  • Forward sample tray (inboard): 45 cm × 33 cm × 25 cm (17.7 inches × 13 inches × 9.8 inches)
  • Forward sample tray (outboard): 68 cm × 35 cm × 30 cm (26.8 inches × 13.8 inches × 11.8 inches)
  • Starboard sample drawer: 65 cm × 50 cm × 30 cm (25.5 inches × 19.7 inches × 11.8 inches)
  • Payload: Up to 113 kilograms (250 pounds) depending on sensor package
  • Custom configuration of boxes, crates, and containers
• Elevators Mission configurable; free ascent; maximum standard payload 68 kg (150 lb)

Scientific Instrument Support

• Switched Power
  • 110 V, 60 Hz AC
  • 24 VDC
  • 12 VDC
• Digital Data Channels
  • RS-232: 115 Kbauds
  • RS-485/422: 2.5 Mbauds
  • Ethernet: 10/100/1,000 mbps links available
  • TTL: one TTL link
• Hydraulic Proportional and solenoid hydraulic functions
  • 1,150 psi at 5 GPM
  • 1,850 psi at 5 GPM
  • 3,000 psi at 5 GPM (advance notice needed)
• Examples of User-Installed Technology Advance notice is required for custom solutions to engineering integration of user-provided sensors and equipment.
  • in situ mass and laser spectrometers
  • Fluorometer
  • pH sensor
  • eH sensor
  • Kongsberg M3 multibeam sonar
  • 18 MP Ethernet connected digital still camera
  • Low-light camera (Canon ME20F-SH HD, 1080p at up to 4 million ISO, 24mm f1.4 prime lens)
  • Modular soft grippers powered by an independent seawater-based hydraulic drive system