Successful techniques for supporting multidisciplinary science programs with `ROPOS´

The ROPOS scientific ROV has successfully achieved the multidisciplinary objectives of up to thirty scientists on a single research cruise. These have included fine scale terrain mapping with a scanning downward looking sonar and video; collection of rock samples up to 2000 kg, including drilled cores; video observations of the behavior of animals down to centimetre size; collection of animals from bacteria to crabs, fluid samples; positioning of probes within millimetres, real-time chemical analysis with an on-board scanner; and deployment and recovery of a range of equipment. This success is partly due to versatility and adaptability of the system. ROPOS has two configurations, a `caged´ system for operations up to 5000 m depths, and a `live-boating´ system for shallow waters. The system is supplied with a set of `core tools´ including long-base-line navigation, two manipulators, 3-CCD Video, forward-looking scanning sonar, suction sampler, `PacMan´ grab, sample tray and bio-box. ROPOS readily accepts user-provided tools. Its hydraulic power packs can provide up to eight separate functions for the users´ scientific tools. Its scientific telemetry system, independent of the vehicle telemetry, can multiplex up to seven bi-directional RS-232 channels for realime communication with, and control of many instruments. Analog and digital input and output are available through an external junction box. User provided tools have included a hot-fluid sampler, chemical scanner, ODP borehole data link, tubeworm stainer, rock-coring drill, rock-cutting chain saw, and downward looking scanning sonar. Operational procedures developed through experience have also had a big impact on effectiveness. Dive flexibility is maintained by carrying as many tools as possible at all times, which also minimizes changeovers on deck. The long dive times possible with an unmanned vehicle allow both survey and sampling on the same dive. This in turn allows the shipboard scientists to work efficiently