Deep Ocean Engineering: Product User's Guide

Deep Ocean Engineering
™
Vector M5
Underwater Remotely Operated Vehicle
Product User's Guide

DOC # 200-10001-0A
Deep Ocean Engineering

1431 Doolittle Drive, San Leandro, CA USA
Tel: 510-562-9300 Fax: 510-430-8249
www.deepocean.com
VECTOR M5 ROV™ USER'S GUIDE
Doc. 200-10001-0A Page 1-2  2007 Deep Ocean Engineering, Inc.

1. PREFACE
The Deep Ocean Engineering Vector M5 ROV offers advanced

solutions for today's demanding underwater investigations. It
provides superb manuverability with high reliability and low
maintenance.
Deep Ocean Engineering has carefully designed this Guide to provide

quick, concise answers to daily operational needs, and to serve as a
source of reference information.
A small investment of time learning the information provided in this Guide

provides maximum benefits and superior results.
IMPORTANT
Please be certain to read all the safety information provided, and contact
Deep Ocean Engineering immediately if a safety concern arises.
Please refer to the Appendices section for any information pertaining to

your unit that was not covered in the main text of this Guide. After
reading the information provided in this Guide, if there are any questions
left unanswered, please contact Deep Ocean Engineering support
personnel for additional assistance.
The Deep Ocean Engineering product support number is 510-562-9300.

Other contact information is provided in the chapter titled "Obtaining
Assistance".
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1.1 TABLE OF CONTENTS
1. PREFACE .............................................................................. 1-3

1.1 Table of Contents ............................................................... 1-4
1.2 Table of Figures.................................................................. 1-5
1.3 Purpose and Scope ............................................................ 1-6
1.4 Warnings and Cautions....................................................... 1-6
1.5 Disclaimers ......................................................................... 1-9
1.6 Copyright ...........................................................................1-10
1.7 Trademarks .......................................................................1-10
1.8 Conventions.......................................................................1-10
1.9 Related Information ...........................................................1-11
1.10 Standard Warranty.............................................................1-12
2. INTRODUCTION.................................................................... 2-1
2.1 Introduction......................................................................... 2-2
2.2 M5 ROV.............................................................................. 2-4
2.3 Topside Components .........................................................2-16
2.4 Control...............................................................................2-22
2.5 Safety Features .................................................................2-25
3. PRE-LAUNCH PREPARATION ............................................ 3-1

3.1 Quick Guide........................................................................ 3-2
3.2 Detailed Procedure ............................................................. 3-3
4. LAUNCHING AND TENDING THE ROV............................... 4-1

4.1 Quick Guide........................................................................ 4-2
4.2 Detailed Procedure ............................................................. 4-3
4.3 Supporting Information........................................................ 4-7

1.2 TABLE OF FIGURES

Figure 2-1 Typical M5 System.......................................................... 2-2
Figure 2-2 ROV Modules.................................................................. 2-4
Figure 2-3 Thruster .......................................................................... 2-7
Figure 2-4 Propellers – Front View ................................................... 2-8
Figure 2-5 Camera ......................................................................... 2-10
Figure 2-6 Light .............................................................................. 2-11
Figure 2-7 Rotary Drive Actuator (RDA) ......................................... 2-12
Figure 2-8 M5 Chassis ................................................................... 2-15
Figure 2-9 M5 Topside Components .............................................. 2-16
Figure 2-10 Typical Console – Front View........................................ 2-17
Figure 2-11 Typical Console – Rear View ........................................ 2-18
Figure 2-12 Power Module ............................................................... 2-19
Figure 2-13 Pilot Portable Control Module........................................ 2-20
Figure 2-14 Umbilical Cable ............................................................. 2-21
Figure 2-15 On-screen Control (GUI) ............................................... 2-22
Figure 2-16 Handheld Controller ...................................................... 2-23
Figure 3-1 Bulkhead Connector Locations........................................ 3-4
Figure 3-2 Purge Plug and Securing Screw Locations...................... 3-6
Figure 3-3 Connecting the Umbilical to the ROV .............................. 3-8
Figure 3-4 Connecting the Umbilical to the Power Module .............. 3-9
Figure 3-5 Connecting the Power Module to the Console.............. 3-10
Figure 3-6 Junction Box Indication Lights ....................................... 3-11
Figure 3-7 Computer Power Control............................................... 3-12
Figure 3-8 External Equipment Power Switch................................ 3-13
Figure 3-9 Pilot Control Screen ..................................................... 3-14
Figure 3-10 Joystick Functions......................................................... 3-15
Figure 4-1 Umbilical bound to Lift Cable for Launch ......................... 4-7
Figure 4-2 Umbilical with Strain Relief .............................................. 4-8
Figure 4-3 Operating in Current with Anchor .................................. 4-11
Figure 4-4 Adding Floats to the Umbilical Cable............................. 4-12
Figure 4-5 Adding Weights to the Umbilical Cable.......................... 4-13

1.3 PURPOSE AND SCOPE

This User's Guide provides product information, preparation for use,
vehicle launch, maintenance, problem solving, and other important
information for all standard Deep Ocean Engineering Vector M5 ROVs. A
separate Pilot’s Guide provides instructions on piloting the ROV.
It is intended for use by technicians and engineers who are fully qualified
to work with precision measurement equipment in the environment into
which the Vector M5 ROV will be installed. Because the Vector M5 ROV
can be used in a variety of situations, it is not feasible to cover site-related
information in this document.
NOTE: Some equipment and features mentioned in this manual may be

optional, or may not apply to some configurations. This manual is
not intended to designate which specifc equipment and features
apply to or are optional for various configurations. It applies to
the product in general.
1.4 WARNINGS AND CAUTIONS

The following warnings and cautions represent typical situations that
require special attention. Your knowledge and experience with your
specific environment must be also taken into consideration in order to
help assure safety for personnel and equipment.
WARNINGS
Be aware of the potential hazards associated with the environment into

which the equipment will be installed.
AC, high frequency AC, and DC voltages are present in the System. Only
qualified personnel should install, maintain, and operate this equipment.
Wear eye protection while working on the product.
Never work alone on live circuits. You must be within sight and calling
distance of another person who has the following qualifications:
1. Knows how to remove power from the System.
2. Is acquainted with emergency procedures, first aid locations, and the
use of the fire extinguishers.

Do not wear metal objects on your person while working on live electrical
circuits.
Safe operation is the responsibility of the end user. Read this manual
and understand how to avoid hazards prior to operating this unit. Contact
Deep Ocean Engineering before operating or servicing this System if you
have questions or are uncertain about any information.
Replace all covers and safety shields after completing system start up,
troubleshooting, and maintenance procedures.
Only personnel qualified to work on high voltage circuitry should service

the system. Check voltage levels with a voltmeter before working on any
electronics. Refer any servicing to qualified personnel.
There may be potentially lethal voltage present on the ROV at any time
that the umbilical cable is connected. There is no indication on the ROV
as to whether high voltage is present or not.
Do not apply power until instructed to do so. When preparing the ROV for
use, start at the ROV and work towards the power mains.
Keep clear of the thruster propellers at all times while power is applied to
the vehicle.
Do not plug or unplug the connectors with power on. This can create a
personnel safety hazard, damage circuitry, and cause arcing that can
damage the contacts.
Keep clear of the thruster propellers at all times while power is applied to
the vehicle.
Thrusters often spin when shutting off power. Bystanders must be kept
clear until power is completely disconnected.
Always disconnect the ROV from the power source before performing
cable connections, maintenance, or storage operations.
When preparing the ROV for use, start at the ROV and work towards the
power mains.
When removing the ROV from use, start at the power mains and work
toward the ROV.

CAUTIONS
Never run the lights out of the water for more than a few seconds. They
are designed to be cooled via submersion.
The ROV must not be lifted in air using the umbilical cable. A lifting
fixture must be provided for that purpose.
Before working on circuits, measure the voltage with a voltmeter.
Do not apply forces such as bending, pulling, or twisting to the

connectors. Do not pull on the connectors when removing end caps of
the modules.
Do not force the connectors together. Be certain of the orientation of the

plug to the socket before insertion. Failure to do so may result in damage
to the ROV or topside electronics.
Be certain power is removed from the power module. High voltage is

present at the connectors.
Be certain that the AC power input is removed from the Power Module.
High voltage is present at the connectors.
Potentially lethal voltages may be present on the ROV even when there
are no apparent active operations. Someone may operate the remote
controls at any time if the umbilical is connected to the Power Module.
Always disconnect the power at the Power Module and post a “Servicing -
Do Not Apply Power” notice at that location before inserting hands, tools,
or anything into the ROV.
Always keep clear of Thruster propellers when the umbilical cable is

connected to the Power Module.
Stay clear of accessories with moving parts such as rotating Sonar,

Manuipultors, Cable Cutters, etc.

1.5 DISCLAIMERS
Document Every effort has been made to supply complete and accurate information
to the customer. However, Deep Ocean Engineering assumes no
responsibility for its use, nor any infringements of patents of other third
parties that would result. In addition, Deep Ocean Engineering makes no
representations or warranties of any kind concerning the contents of this
publication. Under no circumstances will Deep Ocean Engineering be
held liable for any loss or other damages pertaining to the use of this
publication.
This publication is general in nature. No guarantee is made that this

publication conforms to the particular equipment produced for a particular
application. ”As-built" documentation may incur an additional charge.
Factory and on-site training in the use and operation of Deep Ocean
Engineering products may be made available at the buyer’s expense,
subject to agreement by Deep Ocean Engineering
The information contained in this publication is subject to change without

notice. Deep Ocean Engineering reserves the right to make changes and
product improvements at any time and without prior notice. Consult your
local Deep Ocean Engineering representative or an applications engineer
for information regarding current specifications.
Application and Deep Ocean Engineering assumes no liability for damages or injuries
Usage (consequential or otherwise) caused by the improper use and/or improper
installation of this product, or where this product is used in any application
other than what it was designed for and intended. Deep Ocean
Engineering expressly denies any responsibility if this product has been
modified without Deep Ocean Engineering’s prior written approval, or if
this product has been subjected to unusual physical or electrical stress, or
if the original identification marks have been removed or altered.
Some equipment and features mentioned in this manual may be optional,

or may not apply to some configurations. This manual is not intended to
designate which specifc equipment and features apply to or are optional
for various configurations. It is general in nature.

1.6 COPYRIGHT
Copyright © 2007 Deep Ocean Engineering All rights are reserved. No
part of this publication may be stored in a retrieval system, transmitted or
reproduced in any way, including but not limited to photocopy,
photograph, magnetic or other record, without the prior agreement and
written consent of Deep Ocean Engineering Manual design Copyright ©
2007 A Plus Services.
1.7 TRADEMARKS
D.O.E., Deep Ocean Engineering, M5, and Vector M5 are trademarks of
Deep Ocean Engineering Other trade names are the property of their
respective owners, and are hereby acknowledged.
1.8 CONVENTIONS
This User's Guide uses the following conventions:
WARNING
A WARNING indicates that PERSONAL INJURY may occur if the user

does not observe the provided information.
CAUTION
A CAUTION indicates that DAMAGE TO EQUIPMENT may occur if the

user does not observe the provided information.
PRECAUTION
A PRECAUTION indicates that INCONVENIENCE TO THE USER (such

as loss of, or incorrect data) may result if the user does not observe the
provided information.

1.9 RELATED INFORMATION
For additional reference information, please check our Web Site at:
http://www.deepocean.com/

1.10 STANDARD WARRANTY
Following are the terms of the standard warranty provided for Deep
Ocean Engineering equipment. In some cases, the terms of sale will
specify alternative warranty coverage – in such cases, those terms
supersede the information below.
LIMITED WARRANTY
(Liability for Repair or Replacement Only)
Deep Ocean Engineering Incorporated (hereinafter Deep Ocean

Engineering) warrants to the original purchaser that the new systems it
provides shall be free from defects in design, material and workmanship
for a period of twelve (12) months from the date of shipment or as stated
below;
In order to claim shipping and handling damage, Buyer must inspect the
delivered equipment and report such damage to Deep Ocean
Engineering within 30 days of receipt of the equipment. Please note that
failing to report any damage within this period is the same as
acknowledging that the goods were received undamaged.
For a warranty claim to be valid, it must:
• Be made within the applicable warranty period.
• Include the product serial number and a full description of the

circumstances giving rise to the claim.
• Have been assigned a Return Material Authorization (RMA)

number by Customer Support
All warranty work will be performed at Deep Ocean Engineering. Buyer is

responsible for obtaining authorization (see details below) to return any
defective units, properly packaging and prepaying the freight and
insurance costs. Deep Ocean Engineering will return the repaired
equipment (freight and insurance prepaid) to Buyer; repair parts and labor
will be provided free of charge.
In the event the returned items are found to be fully operational, our
current hourly labor rate may be charged.
Deep Ocean Engineering reserves the right to do warranty repair with

either new, or factory refurbished parts at our discretion.

Deep Ocean Engineering disclaims responsibility, specified or implied, for

loss of product or revenue.
Authorized Returns
Before returning any product for repair and/or adjustment, contact

Customer Support and discuss the problem with them. Be prepared to
give them the model number and serial number of the unit as well as the
reason for the proposed return. This consultation contact will allow
Customer Support to determine if the unit must actually be returned for
the problem to be corrected. Such technical consultation is always
available at no charge.
Units that are returned without authorization from Customer Support and
that are found to be functional will not be covered under the warranty (see
warranty statement below). That is, you the buyer will have to pay a
retest/calibration fee and all shipping charges.
Warranty Statement
The seller makes no express or implied warranty that the goods are
merchantable or fit for any particular purpose except as specifically
stated in printed specifications. The sole responsibility of the Seller
shall be that it will manufacture the goods in accordance with its
published specifications and that the goods will be free from defects
in material and workmanship. The Seller’s liability for breach of an
expressed warranty shall exist only if the goods are installed,
started in operation, tested and maintained in accordance with the
Seller’s published instructions. The Seller expressly excludes any
warranty whatsoever concerning goods that have been subject to
misuse, negligence or accident, or that have been altered or
repaired by anyone other than the Seller or the Seller’s duly
authorized agent. This warranty is expressly made in lieu of any and
all other warranties express or implied, unless otherwise agreed to
in writing. The warranty period begins on the date of shipment from
Deep Ocean Engineering. In all cases the Seller has sole
responsibility for determining the cause and nature of the failure,
and the Seller’s determination shall be final. This Warranty
Statement may be superseded by a service agreement entered into
between Deep Ocean Engineering and the buyer or by the terms of
sale.

(This page is intentionally blank).

2. INTRODUCTION
This section will introduce the features and capabilities of the

Deep Ocean Engineering Vector M5 ROV and its associated
equipment.
IN THIS CHAPTER
2.1 INTRODUCTION.................................................................... 2-2

System Overview ........................................................................... 2-3
2.2 M5 ROV ................................................................................. 2-4

Electronics ..................................................................................... 2-5
Mechanicals................................................................................... 2-5
Instrumentation .............................................................................. 2-5
Body/Hull Assembly ....................................................................... 2-5
Thrusters ....................................................................................... 2-7
Propellers ...................................................................................... 2-8
Camera.........................................................................................2-10
Lights ............................................................................................2-11
Rotary Drive Actuator....................................................................2-12
Electrical .......................................................................................2-13
Structure .......................................................................................2-15
2.3 TOPSIDE COMPONENTS................................................... 2-16

Console ........................................................................................2-17
Power Module...............................................................................2-19
Pilot Portable Control Module........................................................2-20
Umbilical Cable .............................................................................2-21
2.4 CONTROL ........................................................................... 2-22

Computer Displayed Pilot Window ................................................2-24
Camera View Display....................................................................2-24
Vehicle Electronics/Telemetry .......................................................2-24
Navigation.....................................................................................2-24
Auto Pilot ......................................................................................2-24
2.5 SAFETY FEATURES........................................................... 2-25

2.1 INTRODUCTION
The M5 Vector is a portable high performance ROV system combining

superior power, telemetry, and payload capacity. The synergy of
ruggedness, reliability, and powerful performance empowers the M5 to
set new standards for inspection-class vehicles.
Figure 2-1 Typical M5 System
Monitor
1 Unit Flip-up
GUI (XGA)
Power Module
Boosts and Isolates
AC Power to ROV Monitor
CAUTION - HV! 17 inch Digital
Video(PAL/NTSC)
Control unit
cable
Control Unit Cable to J-Box

Pilot Box
Control Unit
Computer
PC
Umbilical
Control unit cable
Control Unit
Hydrolek
Remote Power Cord Power Cord
Control 220VAC 220VAC
Control Unit
Pilot Box
NOTE: Some items are Control Unit
optional
ROV

System Overview
See Figure 2-1. The M5 incorporates five high-performance Thrusters

(propulsion units) — four horizontal, and one vertical. They provide the
highest power-to-weight ratio and reliability in this class.
The power and control system utilizes a network architecture for simplicity
and ease of use. Multiple on-board micro-processors provide expanded
capabilities and backup redundancy.
An intuitive computer-aided diagnostics system provides real time on-site

analysis that can be utilized by a novice operator.
Each system is configured according the user’s application and

requirements; therefore, your system may vary somewhat from that
described here.

2.2 M5 ROV
The M5 Vector s a powerful, versatile ROV. Its standard features include

five Thrusters - four horizontal, and one vertical, a neutrally buoyant
Figure 2-2 ROV Modules
1 FRAME 17 STARBOARD COVER

2 THREADED KNOB 18 REAR COVER
3 CAMERA & TILT ASSY 19 STERN BELLY FLOAT-1
4 SKID 20 STERN BELLY FLOAT-2
5 POWER BOTTLE 21 SONAR GUARD ASSY
6 SENSOR BOTTLE 22 TRANSFORMER BOTTLE
7 TERMINATION 23 BALLAST BRACKET
8 FLASHER BRACKET ASSY 24 SONAR MOUNTING BRACKET
9 CAMERA BRACKET 25 ALTIMETER
10 THRUSTER 26 MULTI SEALITE
11 FLOTATION, BOW STRBRD BELLY 27 XENON STROBE
12 FLOTATION, BOW PORT BELLY 28 BEACON
13 FLOTATION PORTSIDE 29 SONAR
14 FLOTATION, STARBOARD SIDE 30 BALLAST
15 FLOTATION, REAR 31 CAMERA
16 PORT COVER 32 VECTOR BONDED CAMERA
NOTE: Some items are optional equipment.

umbilical cable, powerful illuminating lights and a range of cameras;

including a color video camera optimized for low light, with remote zoom
and a motorized tilt mount. To aid in navigation, depth and heading
information are provided. Auto-depth and auto-heading modes can be
selected. Custom-response joystick controls optimize maneuvering of the
M5 in confined spaces. A wide range of optional equipment allows the
M5 to be easily tailored to your unique needs.
Electronics
Heavy-duty industrial-grade motors protected by double barrier seals give

the Thrusters a long life and a low failure rate. Robust sub-sea
electronics, long-life lights and an abrasion-resistant cable are hard-wired
to the topside Controller creating a rugged electrical system that is easy
to service in the field. An external, waterproof electrical termination
attached to the umbilical end, provides power, control signals, and data to
and from the vehicle.
Mechanicals
The M5’s mechanical design allows sub-assemblies to be easily removed

for preventive maintenance or repair. Thrusters, lights, and instrument
assemblies mount to the vehicle body. All can be quickly replaced for
minimum turnaround time. Unique Thruster seals are lubricated in oil
baths and have double barriers for long life and high reliability. They also
facilitate easy visual confirmation of seal integrity.
The M5 incorporates direct drive technology, providing the advantages of

lower cost, increased reliability, improved performance, and higher
output-to-weight ratio. Since there are no shaft couplings, motor
mounting brackets, noisy gearboxes, or extra bearings, the result is fewer
moving parts. The M5’s Thrusters provide a reliable and compact design.
Instrumentation
The color camera is a separate module, allowing other specialized

cameras to be easily added or substituted. Power and telemetry is
provided for the addition of optional equipment such as sonar,
manipulator, stills camera, additional lights, or other accessories.
Body/Hull Assembly
The M5 Vector ROV frame is polypropylene. Proprietary flotation material

is located beneath the ABS covers. The structure is strong, lightweight,

and corrosion resistant. This type of ROV body is an "open-frame"

design. There are many advantages to this type of platform, such as the
independence of each subassembly, and the ease of adding accessories.
The open frame design was developed to maximize the potential of the
Thrusters by providing minimal interference to Thruster flow. Component
interference could greatly reduce the effectiveness of Thruster operation.
The main components - Thrusters, Lights, Camera and two Electronic

Modules are in their own watertight housings. The cable harness
connects all the electronic power and instrumentation to two cylindrical
Electronics Modules known as “bottles”. Those two modules connect to
the umbilical cable via two smaller cables known as “whips”. The
inherent result is an "open" bottom, providing many opportunities to
mount additional equipment.
The frame is held together utilizing stainless steel fasteners threaded into
replaceable Delrin inserts (cross dowels). This combination provides a
strong connection, yet allows the frame to be disassembled and
reassembled. The replaceable threaded inserts are easily removed and
replaced in case of damage. For high strength applications, the inserts
are in stainless steel.

Thrusters
Thruster Motors See Figure 2-3. The Thruster Drive Motors are heavy-duty one-
horsepower 195 VDC brushless motor units that develop 65 lbs. of force
each. These high torque, gearless Thrusters are housed in a pressure
compensated housing tested to a depth of 3500 meters. Additionally, a
hydrodynamic nozzle provides symmetric thrust while focusing the water
flow.
The M5 Vector ROV is equipped with five Thrusters. Four are horizontal
and provide forward, reverse, and turning capabilities. The fifth provides
up/down movements. The Thrusters rely on submersion in water for
cooling. Do not run them out of the water for over five minutes; and then
only for pre-launch testing or problem solving.
All of the M5 Vector ROV Thruster motors are interchangeable with the
exception of the propellers.
The Thrusters utilize special dielectric oil that transfers heat faster than
Figure 2-3 Thruster

transformer oil. It is environmentally friendly, with a greater

biodegradation rate than standard oils. Enhanced cooling performance
allows the Thrusters to be smaller in size and weight, thereby increasing
power density. The heat transfer fluid is nearly 10% lighter than mineral
oil and has a lower viscosity, further increasing power density.
Propellers
See Figure 2-4. High efficiency ducted propellers are closely matched to
the drive motors and the performance characteristics of the vehicle as a
whole. It is this combination of powerful gear motors and matched
drivetrains that give the M5 its exceptionally high thrust-to-weight ratio.
The M5 utilizes both left and right pitched fiberglass-filled nylon

propellers. This provides the torque-balanced characteristic of the
vehicle. The horizontal Thrusters are counter-rotating, and use a left-
rotating propeller on the starboard and right-rotating propeller on the port
side of the vehicle. The vertical Thruster uses a right-rotating propeller.
The difference between left and right is demonstrated in Figure 2-4, which
shows a front view of the propellers. When viewing a propeller in this
manner, the trailing or forward-most edge indicates the type of propeller.
The picture on the left shows the trailing edge on the left side, which
makes this a left propeller. The right propeller is exactly opposite.
Figure 2-4 Propellers – Front View
Left-rotating Right-rotating

Both the horizontal and vertical Thrusters use the same type of propellers
– except they are left or right propellers. If the improper left/right propeller
is installed, the M5 will not perform properly.

Camera
See Figure 2-5. The M5 camera is housed in a 1,000 FSW (Feet Sea
Water)-rated pressure tube. Its recessed flat lens minimizes reflection of
ambient light inside the camera housing, and is protected from impact by
a heavy-duty viewport. This camera may be tilted in excess of +/-90
degrees by remote control.
The camera utilizes a 1/2" interline transfer CCD. Its sensor elements are
EIA - 768 H x 494 pixels, and CCIR - 752 H x 582 pixels. The scanning
rate is EIA - 525 line/60 Hz and CCIR - 625 line/50 Hz with a 2:1
interlace. The sensitivity is 3.4 x 10-4 lux at the faceplate over the
useable display, with a full resolution of 3 x 10-3 lux at the faceplate. The
signal to noise ratio is 46 dB min w/AGC off. It provides video line drivers
that can compensate for over 1,500 meters (5,000 feet) of RG 59 U cable.
The focal Length is 3.8 mm, f 0.8, fixed 6" to infinity, with an automatic
iris. The Angle of View (diagonal) is 94.58° with a water corrected port.
Other lens options are available.
There are no expensive SIT tubes to burn, and the camera can operate in
both extreme low light levels and high intensity sunlight without incurring
damage. Because of the latest advancements in digital video processing,
the camera exhibits a high signal-to-noise ratio of 46 dB.
Figure 2-5 Camera

A second camera may be connected to the female 4-way connector on

the Sensor Electronics Module. Up to two video sources can be viewed
simultaneously. Additional video sources can be multiplexed.
To reduce line interference, a special video amplifier is fitted in-line with

the camera signal.
Camera Tilt The M5 Vector ROV uses a gear-driven tilt mechanism powered by a 24
Mechanism VDC motor. This motor is enclosed in a waterproof pressure housing
mounted under the frame. This assembly utilizes a safety clutch that
allows the camera to be moved when physical force is applied. The
range of tilt is set for +/- 90 degrees off horizontal.
Lights
See Figure 2-6. The M5 Vector ROV lighting system consists of two
quartz-halogen 240-volt 250-watt DSPL lights. These lights are self-
contained units in independent housings. The standard arrangement of
these lights is one mounted together with the camera, and the other
mounted to the M5 frame. The camera-mounted light moves in
conjunction with the camera to ensure an illuminated image at all times.
The stationary frame-mounted unit provides ambient light. The lights may
be configured differently to meet specific needs. These lights rely on
water for cooling. If they are run in the air for more than a few seconds,
they will become damaged.
CAUTION
Never run the lights out of the water for more than a few seconds.
They are designed to be cooled via submersion.
Figure 2-6 Light

Rotary Drive Actuator
See Figure 2-7. Deep Ocean Engineering’s electrically-driven Rotary

Drive Actuator (RDA) provides a smooth tilt speed. It offers an
operational arc of ± 90° from horizontal, with adjustable stops.
The RDA assembly provides rotary motion for accessories like cameras,
lights, and sonar. An integral switch can be utilized rotational travel limits
are required.
There are two types of RDAs available - one used for low torque
applications having a plastic and aluminum gear set, the other for high
torque applications having a bronze and stainless steel gear set.
Figure 2-7 Rotary Drive Actuator (RDA)

Electrical
Power Control The Power Control Module (bottle) is mounted on the left side of the
Module vehicle and contains controllers for four of the five Thrusters. These each
consist of an HV AC to DC converter, a microcomputer, and a brushless
motor driver. Each has a unique address and receives commands from
the topside Console via the umbilical cable. These four controllers also
provide pulse width-modulated brightness control for on-board lights used
for illumination, and controls for accessory motors such as the camera tilt
and the DOE Manipulator. Each of the controllers also has a temperature
sensor, and one provides a leak detection for the Power Control Module.
Please refer to the Vehicle Specific Wiring section of this manual for
specific bulkhead functions and wiring pin-outs.

Sensor Module The Sensor Module (bottle) is located on the right side of the vehicle and
contains a controller for the fifth Thruster (right-forward). It also provides
power conditioning for the five Thruster computers and for the Sensors
computer. The Sensor Module can be configured for various sensors. A
typical ROV might include these sensors:
• Ambient temperature (module internal)
• Compass
• Yaw and Roll Gyro
• Rate Gyro
The Sensor Module also provides camera (composite) video-to-twisted

pair drivers for the camera output, and a video multiplexer when more
than two cameras are utilized.
Please refer to the Vehicle Specific Wiring section of this manual for
specific bulkhead functions and wiring pin-outs.

Structure
See Figure 2-8. The M5 is manufactured utilizing marine-grade aluminum

and high-tech plastics.The chassis is totally modular, with quick access to
all assemblies for ease of maintenance. Constructed from polypropylene,
the chassis is resilient, non-corroding and maintenace-free. Ancillary
equipment is easy to mount and integrate.
Figure 2-8 M5 Chassis

2.3 TOPSIDE COMPONENTS
See Figure 2-9. The modules and cables that are required to power and
control the ROV are described below. A typical configuration is
described. Each system is configured according the user’s application
and requirements; therefore, your system may vary somewhat from that
described here.
Figure 2-9 M5 Topside Components
Console
Control
Electronics
Monitor
Control Unit
Flip-up LCD
Pilot Box
Control Unit
Control unit
cable
Monitor
17 inch
Video(PAL/NTSC)
Cable to J-Box
Power Module
Electrical Isolation
and Protection Computer
PC
Umbilical
Control unit cable
Control Unit
Hydrolek
Remote
Control
Control unit cable
Power Input Power Cord

Cord Input
220VAC 220VAC
Control Unit
Pilot Box
Control Unit

Console
See Figure 2-10. The Console consists of the PC, the ROV Control
display providing the graphical user interface, a monitor providing a full-
screen view of the real-time video feed, a Junction Box (J-Box), power
strip, optional Data Recorders and the External Equipment Power Switch.
The Console requires 240 VAC from 50 to 60 Hz.
Figure 2-10 Typical Console – Front View
Flip-up
LCD VGA
Display
Console
Cabinet
Camera
Video
Display
External
Equipment
Main
Power
Switch
PC
DVD
Junction
Box

The Power Switch mounted to the right side of the Console is the main
power switch for the system with the exception of the Console. A red
safety cover protects the switch from accidental operation.
See Figure 2-11. This is a view of the rear of the Console showing
locations of the modules.
Figure 2-11 Typical Console – Rear View
Retracted
Flip-up
LCD VGA
Display
Console
Cabinet
Power
Distribution
Junction
Box
PC

Power Module
See Figure 2-12. The Power Module is the interface between the
Console (Junction Box) and the ROV. High voltage may be present at
the umbilical cable connector and inside the module. This module O
provides electrical safety features to protect personnel and equipment. V
S
r
 WARNING
ONLY PERSONNEL QUALIFIED TO WORK ON HIGH VOLTAGE

CIRCUITRY SHOULD SERVICE THE SYSTEM. CHECK VOLTAGE
LEVELS WITH A VOLTMETER BEFORE WORKING ON ANY
ELECTRONICS. REFER ANY SERVICING TO QUALIFIED
PERSONNEL.
Figure 2-12 Power Module
AC Power To ROV
Input
Fuse
Console
Cabinet

Pilot Portable Control Module
See Figure 2-13. The Pilot Portable Control Module Controller is an

alternative to using the stationary ROV Control display in the system
Console. It offers the ability to move around on a ship deck or pier while
piloting the ROV, and contains all the required functions for typical ROV
control. It can be placed on most surfaces, or handheld using the
integrated handles. This Controller is particularly useful for shallow water
operations where underwater hazards are common. This Controller is
weather-resistant.
The Portable Controller Module incorporates a Display, Joystick Piloting

Controls, and a pointing device for menu operations. It connects to the
Console via a cable.
See Figure 2-16 on page 2-23. This Handheld Controller offers a

lightweight compact Controller for the ROV. The Handheld Controller
consists of two joysticks and several buttons. The left joystick controls
vertical positioning lateral movement and the right joystick controls left
and right turns. This Controller is weather-resistant.
Please see the Pilot’s Guide for complete information on user controls.
Figure 2-13 Pilot Portable Control Module

Umbilical Cable
The umbilical cable is the single link between the ROV and topside
controls. It carries all power, signal, and control lines.
The ROV end of the umbilical connects to two smaller on-board cables
called “whips” that connect to the two main electronics modules.
The umbilical has a diameter of 0.73 inches and is neutrally buoyant in

fresh water. It has a breaking strength in excess of 5,000 lbs. and a lifting
load rating of 1,000 lbs.
 CAUTION
The ROV must not be lifted in air using the umbilical cable. A lifting
fixture must be provided for that purpose.
The rated minimum bend diameter is 22 inches, and precautions should

be taken to ensure that a tighter bend does not occur, or the cable may
incur internal damage.
Figure 2-14 Umbilical Cable

2.4 CONTROL
See Figure 2-15. Control is provided via a computer graphical user

interface (GUI) with multiple screens grouping control features logically,
providing:
• Intuitive feedback
• Active user control
• Ease of vehicle handling and navigation
• Collection and display of sensor data
Additionally, the GUI can set and store custom system configurations for
individual users. This is very helpful when the ROV is used either by
multiple people, or for varied purposes.
The ROV Control display provides intuitive feedback and dynamic

graphics to streamline vehicle handling, navigation, accessory control,
and sensor data collection. It provides tab-selected windows supporting
connectivity, setup, pre-dive, navigation, inspection, post-dive,
Figure 2-15 On-screen Control (GUI)

diagnostics, and user documentation.
See Figure 2-16. The intuitive Joystick Controller provide ease of

maneuverability in tight spaces, and provide stable long distance runs –
even at full speed. The ROV can move forward, reverse, vertically and
also provides horizontal maneuverability. The Thrusters can operate in a
continuous manner.
Please see the Pilot’s Guide for complete information on user controls.
Figure 2-16 Handheld Controller

Computer Displayed Pilot Window
The Pilot Window on the computer’s display is the main operating

controller for the ROV. It provides access to all controls and status
displays needed for normal operation, and the real-time view provided by
the ROV-mounted video camera. Status displays and controls are
grouped logically for ease of use.
Settings that determine the calibration, sensitivity, range, etc. of items in

the Pilot window are provided in other windows and are accessed by the
tabs across the top of the display.
Details of each item in the displays are provided in the Pilot’s Guide.
Camera View Display
The CamVue is a continuously updated display of the camera view; which

provides the operator with compass, roll heading, depth, turns count,
elapsed time, water leak alarm, and much more information, allowing the
vehicle to be operated safely.
Vehicle Electronics/Telemetry
Continuous full control and diagnostics of onboard vehicle functions pass

through a digital communications link. Standard configuration includes up
to three continuous video channels over TSP (Twisted Shielded Pairs),
and expandable digital telemetry utilizing RS232, RS485, Ethernet, and
optional fiber-optic telemetry.
Navigation
Rate gyro stabilized, optical, gyro, solid-state magnetic compass unit:

resolution ± 0.1°, accuracy ± 0.5°, update rate 50 mS. Electronic depth
sensor: accuracy 0.25% of FSD.
Auto Pilot
Auto Pilot provides selectable automatic piloting for auto-heading, auto

depth, and optional auto-altitude.

2.5 SAFETY FEATURES
The Console metalwork is grounded via the line power connector. An

overall shield on the umbilical carries ground to the ROV and connects to
all modules and electrically-related metal parts. If the umbilical is
penetrated by an electrically conductive object (example - a hand tool), it
will cause a short to the ground shield, protecting personnel.
In addition, the system requires an electrically-floating power supply. This

can be provided by some portable generators, but if power is supplied by
a shore source or a generator whose output voltage is not floating, an
isolation transformer is required. An electrically-floating supply has
neither power wire (commonly referred to as “hot” and “neutral”)
connected to ground at any point.
One short circuit between the metalwork and a conductor can be

tolerated if the power supply is electrically floating. However, it will trip
the ground fault interrupter (GFI) which provides secondary protection. In
the event of AC current passing to ground, power is removed at a rate
and current calculated to be safe for human beings.
 CAUTION
Before working on circuits, measure the voltage with a voltmeter.


3. PRE-LAUNCH PREPARATION
This section explains the steps to prepare the Vector M5 ROV

for launching.
For safe operation, please be sure you understand safety information in

Chapter 1. The following procedures assume you are familiar with the
information in the Introduction chapter. Please refer to that chapter for
any needed clarifications on these items.
You can follow the detailed procedure starting on page 3-3, or if you are
somewhat familiar with the operations, use the Quick Guide located on
page 3-2.
IN THIS CHAPTER
3.1 QUICK GUIDE ....................................................................... 3-2
3.2 DETAILED PROCEDURE ..................................................... 3-3

Preparing Electrical Connectors..................................................... 3-4
Checking On-board Equipment ...................................................... 3-6
Connecting the Umbilical Cable to the ROV................................... 3-8
Connecting the Umbilical Cable to the Power Module.................... 3-9
Connecting the Power Module to the Console ..............................3-10
Applying Power .............................................................................3-11
Check Control Responses ............................................................3-16
Initial Control Settings ...................................................................3-17
General Guidelines .......................................................................3-18

3.1 QUICK GUIDE
If this is your first use of the Vector M5 ROV or you need more
information on any of the steps listed below, we recommend that you
proceed to the detailed information beginning on page 3-3.
Prepare the Electrical Connectors
Check the On-board Equipment
Connect the Umbilical Cable to the ROV
Connect the Umbilical Cable to the Power Module
Connect the Power Module to the Console
Apply Power
Check Control Responses
Preset Intial Control Settings

3.2 DETAILED PROCEDURE
This procedure explains preparation of the Vector M5 System for launch.

If at any point during this procedure an abnormal result or safety concern
is noted, stop the procedure at that point and resolve that problem. If you
are unable to resolve the matter, contact DOE or its authorized
representative before proceeding.
 WARNING
THERE MAY BE POTENTIALLY LETHAL VOLTAGE PRESENT ON

THE ROV AT ANY TIME THAT THE UMBILICAL CABLE IS
CONNECTED. THERE IS NO INDICATION ON THE ROV AS TO
WHETHER HIGH VOLTAGE IS PRESENT OR NOT.
DO NOT APPLY POWER UNTIL INSTRUCTED TO DO SO. WHEN

PREPARING THE ROV FOR USE, START AT THE ROV AND WORK
TOWARDS THE POWER MAINS.
KEEP CLEAR OF THE THRUSTER PROPELLERS AT ALL TIMES

WHILE POWER IS APPLIED TO THE VEHICLE.

Preparing Electrical Connectors
See Figure 3-1. Check the connectors on the cylindrical Power and
Sensor Modules to make sure they have not become loose in the end
caps. This could result in a leak and possible damage to electronics.
See Figure 3-1. Check the cables and connectors on the Camera,
Lights, and all other electrical modules to make sure they are secure.
Check or insert all electrical plugs (or dummy plugs) to protect the
electrical connectors. Ensure the connectors are fully inserted “face-
to-face” and remain so during use.
These connectors must be clean, free of water, and lubricated before

connecting them in order to maintain good electrical contact. Clean
out the female connectors often with a contact cleaner/drying agent
spray. Once cleaned and inspected, lubricate both halves of the
connectors with silicone spray or 100% silicone grease lubricant.
Figure 3-1 Bulkhead Connector Locations
Camera
and Light

If no dummy plugs are available, sockets may be temporarily filled

with silicone-based grease.
 WARNING
DO NOT PLUG OR UNPLUG THE CONNECTORS WITH POWER ON.

THIS CAN CREATE A PERSONNEL SAFETY HAZARD, DAMAGE
CIRCUITRY, AND CAUSE ARCING THAT CAN DAMAGE THE
CONTACTS.
 CAUTION
Do not apply forces such as bending, pulling, or twisting to the

connectors. Do not pull on the connectors when removing end caps
of the modules.
TIP: Lubricate both male and female contacts with silicone grease
(Dow Corning #4 or equivalent) every mating cycle if possible.
TIP: When a socket (connector) currently has no mating plug, use

dummy connectors to protect the electrical connectors from
extended exposure to salt water or spray. These also protect
against possible physical damage when the connectors are left
unmated.
TIP: Unless there is a reason to disconnect them, leave connectors

plugged together and undisturbed.
TIP: Do not clean or otherwise expose the connectors to strong

oxidizing acids, esters, ketones; or chlorinated aromatic or nitro
hydrocarbons. Light corrosion and salt build-up in the connectors
can be cleaned with isopropyl alcohol and a small nylon bristle
brush.
TIP: Do not expose connectors to temperature extremes below 40

degrees or above 220 degrees Fahrenheit.

Checking On-board Equipment
See Figure 3-2. Check or install all the vent (purge) plugs.
Check that thumbscrews that secure covers and flotation are tight.
Figure 3-2 Purge Plug and Securing Screw Locations
Thumbscrews
Purge
Plugs

Check that each Thruster’s oil compensator is filled . They are to be

filled with a non-conductive oil. Inspect them to ensure that they are
watertight.
Check that each instrumentation and mechanical device is securely

fastened.
Check the Light Covers and End-caps are properly sealed.
Tape or wire-tie any loose sections of interconnecting cable. It is

imperative that all cables be secure to prevent them from being
damaged by the Thrusters. The cables must also be secured so they
do not interfere with water flow. Give attention to the fact that cables
that are not secured throughout their length may move to problematic
positions when affected by water flow. Cables must also remain
within the frame of the ROV so they encounter underwater obstacles.

Connecting the Umbilical Cable to the ROV
Carefully uncoil a sufficient length of the ROV-end of the cable to

allow for connection without placing a sharp bend in the cable. Use
care to not drop or damage the cable, and to not introduce dirt, water
etc. into the end of the connectors.
See Figure 3-3. Line up the Umbilical Mounting Block with the four
holes in the ROV Frame as shown.
Secure the umbilical to the ROV using the supplied hardware with
nyloc nuts, Tighten the four bolts securely.
Lubricate the connector plugs with silicone grease and then insert
them into the associated sockets. Verify that the connectors are fully
seated, then tighten the locking sleeves. Ensure that the rubber
retainers are fully looped around the connector.
Figure 3-3 Connecting the Umbilical to the ROV
Mounting Mounting
Bolts Block

 CAUTION
Do not force the connectors together. Be certain of the orientation

of the plug to the socket before insertion. Failure to do so may
result in damage to the ROV or topside electronics.
Connecting the Umbilical Cable to the Power Module
 CAUTION
Be certain power is removed from the power module. High voltage

is present at the connectors.
See Figure 3-4. Align the pins of the Umbilical Cable (or the cable
from the optional Slip Ring Unit) and insert the cable into the Power
Module as indicated. Tighten the connector securely.
Figure 3-4 Connecting the Umbilical to the Power Module
Umbilical
or Slip
Ring Cable

Connecting the Power Module to the Console
See Figure 3-5. Connect either end of the Console Cable to the
Power Module as indicated above.
Connect the other end of the Console Cable to the Junction Box,
which is located at the rear of the Console. See photo below.
 CAUTION
Be certain that the AC power input is removed from the Power

Module. High voltage is present at the connectors.
Figure 3-5 Connecting the Power Module to the Console
Cable to
Junction
Box in
Console
Ground
Fault
Interrupter Power
(GFI) Indicator

Applying Power
 WARNING
KEEP CLEAR OF THE THRUSTER PROPELLERS AT ALL TIMES

WHILE POWER IS APPLIED TO THE VEHICLE.
Place a notification sign on the ROV that it is active – DANGER – in

the native languages of all personnel.
Ensure that the ROV is in clear sight, and that no one is standing near
it.
Call out that you are activating the ROV – to stand clear.
See Figure 3-5 and Figure 3-6. Verify that the amber indicator lights
on both the Power Module and the Junction box are illuminated.
Figure 3-6 Junction Box Indication Lights
Junction
Power Box
Indicator (J-Box)
WHERE?
+12 VDC
Indicator
WHERE?
+24 VDC
Indicator
WHERE?

See Figure 3-7. Turn the computer on (if off) and allow it to complete
the boot process. This may take up to a minute. When the Pilot GUI
screen appears, continue this procedure.
Figure 3-7 Computer Power Control
Power
Button
See Figure 3-6 on page 3-11. Verify the Junction Box switch is on,
and the red indicator lights for the +24 VDC and +12VDC are
illuminated.

See Figure 3-8. Lift the red protective cover of the External
Equipment Power Switch, then switch it on. Note that this switch does
not affect power to the Console.
Figure 3-8 External Equipment Power Switch
External
Equipment
Power
Switch –
(under red
cover)

See Figure 3-9. Verify that the SF PWR COMM (Surface Power and
Communications) indicator on the Pilot Control Screen changes from
red to green.
Figure 3-9 Pilot Control Screen

See Figure 3-9. Click the PWR Enable button on the Pilot Control
Screen. Verify that at least 300VDC is indicated in the SF (Surface
Power) and SS (Sub-sea Power) fields on the Pilot Control Screen.
Figure 3-10 Joystick Functions
Need button-mapping numbers
1 – Auto Heading Toggle On/Off

2 – Auto Heading Toggle On/Off
3 – Thruster Toggle Enable / Disable
5 – Camera Focus – Near
6 – Camera Zoom – Wide
7 – Camera Focus - Far
8 – Camera Zoom Telephoto
9 – Camera Focus / Zoom Toggle

Check Control Responses
Set the Throttle on the Pilot Control Screen to 5%.
Using the joysticks, verify:

a. Vertical Thruster rotation is CW (clockwise) for UP, and
CCW (counter-clockwise) for DOWN.
b. Starboard Aft Thruster rotation is CW for FORWARD, and

CCW for REVERSE.
c. Port Aft Thruster rotation is CCW for FORWARD, and CW

for REVERSE.
d. Starboard Forward Thruster rotation CCW for FORWARD,

and CW for REVERSE.
e. Port Forward Thruster rotation is CW for FORWARD and

CCW for REVERSE.
f. Depth indication is zero (ZERO)
g. Camera responds to controls and will tilt upwards and

downwards.
h. Camera can be focused manually.
i. Camera can focus automatically.
j. Camera can zoom in and out.
k. Quickly turn the lights on and then off to verify that they
are working properly.
 CAUTION
Leaving the lights on for over five seconds when not submerged
may permanently damage them.
See Figure 3-9. Click the PWR Disable button on the Pilot Control
Screen to turn the power off.

Initial Control Settings
See Figure 3-9. Set “Thruster Enable” to off on the Controller or

control screen.
Set “Lights” to off on the Controller or control screen.
See Figure 3-8 on page 3-13. Set the External Equipment Power
Switch to OFF on the Console.
See Figure 3-5 on page 3-10. Reset the Ground Fault Interrupter
(GFI) on the Power Unit.
 WARNING
THRUSTERS OFTEN SPIN WHEN SHUTTING OFF POWER.

BYSTANDERS MUST BE KEPT CLEAR UNTIL POWER IS
COMPLETELY DISCONNECTED.
ALWAYS DISCONNECT THE ROV FROM THE POWER SOURCE

BEFORE PERFORMING CABLE CONNECTIONS, MAINTENANCE, OR
STORAGE OPERATIONS.
WHEN PREPARING THE ROV FOR USE, START AT THE ROV AND
WORK TOWARDS THE POWER MAINS.
WHEN REMOVING THE ROV FROM USE, START AT THE POWER

MAINS AND WORK TOWARD THE ROV.

General Guidelines
• Lubricate both male and female contacts with silicone grease (Dow
Corning #4 or equivalent) every mating cycle if possible.
• Use dummy connectors to protect the electrical connectors from

extended exposure to salt water or spray. These also protect
against possible physical damage when the connectors are left
unmated.
• Unless a problem exists, leave the connectors plugged together and

undisturbed. Unnecessary connections reduce the usable life of the
connectors.
• Ensure connectors are fully engaged – face-to-face - and remain so

during use.
• Check bulkhead connectors to ensure they have not become loose

in the endcaps. This could result in a leak and possible damage to
electronics.
• Whenever possible, wash down connectors and adjacent metal

surfaces with fresh water to decrease corrosion during storage.
• Do not plug or unplug connectors with power on. This could cause
arcing, and damage to connectors and circuits.
• Do not apply excessive physical forces such as bending, pulling, or

excessive torque to the connectors. Do not use the connectors as
handles when removing endcaps.
• Do not expose the connectors to strong oxidizing acids, esters,

ketones, or chlorinated aromatic and nitro hydrocarbons. Light
corrosion and salt build-up can be cleaned with isopropyl alcohol
and a small nylon bristle brush.
• Do not expose the connectors to temperature extremes: below -40

degrees or above 220 degrees Fahrenheit.
The ROV is now ready for launch.

4. LAUNCHING AND TENDING THE ROV
This section explains the steps to launch the ROV, and

operations that the ROV Tender performs to support use of the
ROV.
For safe operation, please be sure you understand safety information in

Chapter 1. The following procedures assume you have performed the
Pre-launch Preparation as explained in Chapter 3. Please refer to that
chapter for any needed clarifications on these items.
You can follow the detailed procedure starting on page 4-3, or if you are
somewhat familiar with the operations, use the Quick Guide located on
page 4-2. If you are unfamiliar with these operations, please first consult
the Supporting Information section starting on page 4-7 before attempting
these procedures. Instructions for piloting the ROV are provided in a
separate ROV Pilot’s Guide.
IN THIS CHAPTER
4.1 QUICK GUIDE ....................................................................... 4-2
4.2 DETAILED PROCEDURE ..................................................... 4-3

Preparation .................................................................................... 4-3
Tender Operations ......................................................................... 4-5
Special Techniques........................................................................ 4-6
4.3 SUPPORTING INFORMATION ............................................. 4-7

ROV Management ......................................................................... 4-9
Umbilical Management................................................................... 4-9
Umbilical Techniques....................................................................4-11
200-10001-0A Page 4-1  2007 Deep Ocean Engineering

4.1 QUICK GUIDE
If this is your first use of the Vector M5 ROV or you need more
information on any of the steps listed below, we recommend that you
proceed to the detailed information beginning on page 4-3.
Vent (purge) plugs are installed.
Connectors are connected, or dummy plugs installed.
Connector locking rings and retaining bands tight.
Umbilical cable is secured to ROV.
Thruster oil compensators filled and watertight.
Light covers and end-caps are sealed.
Interconnecting cables secured.
“Thruster Enable” and Light off when applying or removing power or

the umbilical.
Main Power Switch at Console off before resetting GFI.
Launch and retrieve using a tether manager or cage if possible.
Maintain constant awareness of umbilical location.
Keep the umbilical under control at all times.
Let umbilical out only as the ROV requires.
When ROV is working the bottom, umbilical should be above the

ROV.

4.2 DETAILED PROCEDURE
This procedure explains launching of the ROV, and supporting operations

that are performed by ROV Tender personnel during ROV use. If at any
point during this procedure an abnormal result or safety concern is noted,
stop the procedure at that point and resolve that problem. If you are
unable to resolve the matter, contact DOE or its authorized representative
before proceeding.
 CAUTIONS
Potentially lethal voltages may be present on the ROV even when

there are no apparent active operations. Someone may operate the
remote controls at any time if the umbilical is connected to the
Power Module. Always disconnect the power at the Power Module
and post a “Servicing - Do Not Apply Power” notice at that location
before inserting hands, tools, or anything into the ROV.
Always keep clear of Thruster propellers when the umbilical cable is

connected to the Power Module.
Stay clear of accessories with moving parts such as rotating Sonar,

Manuipultors, Cable Cutters, etc.
NOTE: If much time has passed since the Pre-launch Preparation has
been executed, it is prudent to re-check all those items, rather
only those in the list below.
Preparation
1. Ensure all vent (purge) plugs are installed.
2. Ensure that all connectors are connected, or that dummy plugs are
installed. Ensure that these are fully and firmly seated.
3. Ensure that connector locking rings and retaining bands are tight.
4. Ensure that the umbilical cable is physically secured to the ROV.
5. Ensure that all Thruster oil compensators are filled and watertight.

6. Ensure covers and end-caps for the light(s) are in place and sealed.
7. Ensure that all interconnecting cables have been thoroughly

secured.
8. Ensure that “Thruster Enable” and the Light Switch are off when
applying or removing power, or connecting the umbilical to the
Power Module.
NOTE: These items are under software control, and their state cannot be
changed if the Main Power Switch is off (since that disables the
ROV).
9. Ensure that the Main Power Switch at the right side of the Console
is off before resetting the Ground Fault Interrupter (GFI) on the
Power Module,
10. An umbilical cable strain relief is recommended. This allows the

ROV to move forward with no strain placed on the umbilical
termination point. It is also helpful in emergency retrievals since
lifting, pulling, or dragging forces will be transferred to the center of
the ROV.
11. Launch and retrieve the ROV using a tether manager or cage if
possible. If not, secure the umbilical cable to the lifting line with tie-
wraps for launch.
12. If a large lifting hook is used, position it no closer then within 6 feet
of the ROV. A good guideline is for the winch to have lift that is at
least the distance from deck to waterline - plus at least 3 feet (1
meter).
13. A snap shackle should be used to connect the lifting line to the ROV
lifting eye. Once the ROV is in the water, the shackle can be pulled
free using a boat pole or tag line.

Tender Operations
NOTE: An Umbilical Tender (personnel) is always recommended. Where

water current exists, two or more Tenders are advisable.
This section covers operations and responsibilities of the Tenders. These

items are not numbered, because they are not a specific sequence, but
are executed as the situation warrants:
• Maintain constant awareness of the umbilical location.
• Keep the umbilical under control at all times.
• The ROV should have enough umbilical cable length to operate

without pulling it out of the Tender’s hands.
• Let umbilical out only as the ROV requires, noting location and
direction of movement.
• When the ROV is working on the bottom, the umbilical should be
above the ROV. Dragging the umbilical on the bottom can cause
operational problems, and wastes motive power.
ROV Lifts Off • If the ROV lifts off the bottom while moving forward and the Pilot
Bottom must use the vertical Thruster to force the ROV down, the
umbilical may be being tended in too strained a manner – without
enough slack.
Excess Umbilical • If there is a large amount of umbilical floating and the excess is
Deployed looping down-current, the ROV is being tended with excess slack.
The ROV may also lift off the bottom due to having to pull
excessive umbilical.
Moving Vessel • Keep the umbilical away from the vessel’s propellers. A float
should be attached to the umbilical (depth of inspection plus 10 to
15 feet – 3 to 5 meters). Tend the cable from the bow, with the
vessel kept as close to that float as conditions permit. Keep a coil of
umbilical on the bow, monitor the amount of umbilical on the
surface, and continually adjust for movements of both the ROV and
vessel.

Special Techniques
Weights and/or buoyancy may be required in some situations in order to

control the cable.
WITH ANCHOR Drop anchor up-current from the work site and drift until the anchor
grabs. This will allow the ROV to be launched off either the stern or
off the side of the vessel, without the risk of becoming entangled
with the anchor line.
WITHOUT Work up-current and off to one side of the work site. This allows the ROV
ANCHOR to be launched off either the bow or the side of the vessel. If the work site
is off the starboard side of the vessel, the ROV should be launched off the
starboard side. This will help to prevent running over the umbilical, and
lessens the chance of it becoming entangled in the propellers.
ADDING FLOATS Adding floats to the umbilical can help prevent the umbilical from
becoming entangled on an obstructed bottom

4.3 SUPPORTING INFORMATION
This section provides general background information for those unfamiliar

with the operations described in this chapter.
Launch and retrieve the ROV using a tether manager or cage if possible.
If this is not possible, secure the lifting line to the umbilical cable as
shown in Figure 4-1.
In this figure the D-Ring on the lift line is 6 feet (2 meters) above the ROV.
Using a large lifting hook, it should be positioned no closer than 6 feet to
the ROV. A good guideline is for the winch to have lift that is at least the
distance from deck to waterline - plus at least 3 feet (1 meter). This gives
the winch room to swing the ROV on board, and allows deck hands to
hook/unhook from the lifting point without compromising safety.
The lift line can be any length, is usually made of wire, and should be
secured to the umbilical with tie-wraps. This aids in ease of launch and
retrieval. ROVs are typically launched using a snap shackle. Once the
ROV contacts the water, the shackle can be pulled free and the ROV is
ready for use. A short boat pole/tag line is helpful.
Figure 4-1 Umbilical bound to Lift Cable for Launch
Umbilical
tie-
wrapped to
lift cable

See Figure 4-2. The ROV can move more freely in all directions if the
umbilical has a strain relief loop that takes all strain off of the termination
point. The following figures show the same ROV moving forward with no
strain placed on the umbilical termination point.
This type of strain relief is also beneficial in emergency retrievals; since

lifting, pulling, or dragging forces will be transferred to the center of the
ROV.
Figure 4-2 Umbilical with Strain Relief
Umbilical
Strain
Relief

Different techniques are required in situations such as working the face of

a dam or an offshore structure with over 100 feet (30 meters) between the
launch point and the waterline. For example, lower a platform and use it
as a clump weight to depress the ROV to the working depth, then operate
from an excursion length umbilical (150 feet or less).
ROV Management
The major cause of loss of an ROV in use is umbilical entanglement.

Entanglement avoidance is a high priority.
There are a number of approaches the Tender should utilize to properly

manage ROV operations:
• Number of Tenders - the more challenging the job, the more

important the tender is to success. In a 3 knot current, ROV
operations require a minimum of 2 umbilical cable tenders.
• Umbilical Cable Management - clump weighting, use of ”dog

houses”, tether manager systems, or free swimming ROV
operations have advantages and disadvantages; and should be
considered based on the ROV’s application.
Umbilical Management
Umbilical cable management is primarily the responsibility of the Pilot,

with assistance from the Cable Tender, and the Vessel’s Captain. The
main focus of umbilical management is to be aware of where the umbilical
is – and to keep it under control at all times.
Umbilical tending is a vital part of effective cable management. The ROV

can perform better in operations where there is a strong current or
obstructions when the umbilical is properly managed.
The ROV should have enough umbilical cable length to operate without
pulling it out of the Tender’s hands. The Tender should know the ROV’s
general location and direction of movement, and let umbilical out only as
the ROV requires.
Insufficient Slack If the ROV lifts off the bottom while moving forward and the Pilot must
continuously use the vertical Thruster to force the ROV down, the
umbilical is being tended in too strained a manner – without enough
slack.

Excessive Slack If there is a significant amount of umbilical floating on the surface and the
excess is looping far down-current between the Tender and ROV, the
ROV is being tended with excess slack. In this situation, the ROV will
require even more power to make headway. The ROV may lift off the
bottom due to pulling excessive umbilical.
Moving Vessel On a moving vessel, constant operational tending is essential to keep the
umbilical out of the vessel’s propellers. In cases like this, a float should be
attached to the umbilical (depth of inspection + 10-15'). Then a Cable
Tender should be positioned on the bow, and the vessel should be kept as
close to the float as conditions safely permit. The Tender should keep a coil
of umbilical on the bow, monitor the amount of umbilical on the surface,
and continually adjust for movements of both the ROV and ship. The goal
is for the ROV to operate without interference from the tending. The captain
should keep aware of the ROV position and monitor that position for drift.
Umbilical Turns Pilots tend to make turns in the same direction. This can build up twists
in the umbilical, and as a result the umbilical can become difficult to
manage on deck - not lying flat; and the resultant torsion on the ROV
termination can interfere with navigation and result in premature umbilical
failure.

Umbilical Techniques
Umbilical management techniques may involve adding weights and/or

buoyancy to control the cable – depending on conditions. Each situation
must be carefully evaluated. Anchor lines, pilings, shipping traffic, current,
distance from the inspection and depth are constantly changing hazards
that must be taken into consideration.
When working on the bottom, the umbilical should be above the ROV.
Dragging the umbilical on the bottom can cause problems and wastes
motive power.
Recommendations
WITH ANCHOR See Figure 4-3. Drop anchor up-current from the work site and drift until
the anchor grabs. This will allow the ROV to be launched off either the
stern or side of the vessel without the risk of becoming entangled with the
anchor line.
Figure 4-3 Operating in Current with Anchor

WITHOUT Work up-current and off to one side of the work site. This allows the ROV
ANCHOR to be launched off either the bow or the side of the vessel. If the work site
is off the starboard side of the vessel, the ROV should be launched off the
starboard side, (as illustrated). This will help to prevent running over the
umbilical, and lessens the chance of it becoming entangled in the
propellers. An ROV tracking system should be used to track relative
position of the ROV from the vessel. The captain should also have this
information displayed on the bridge.
ADDING FLOATS See Figure 4-4. In some cases it can be beneficial to add floats to the
umbilical. This will help prevent the umbilical from becoming entangled
on an obstructed bottom.
Figure 4-4 Adding Floats to the Umbilical Cable
Added
Floats on
Umbilical
Cable

ADDING See Figure 4-5. In some cases it can be beneficial to add weights to
WEIGHTS the umbilical. This is recommended only for operations in an area
where there are not a lot of obstructions.
Figure 4-5 Adding Weights to the Umbilical Cable
Added
Weights on
Umbilical
Cable


Deep Ocean Engineering: Product User's Guide

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Deep Ocean Engineering

Product User's Guide

Deep Ocean Engineering

Doc. 200-10001-0A Page 1-2  2007 Deep Ocean Engineering, Inc.

The Deep Ocean Engineering Vector M5 ROV offers advanced

Deep Ocean Engineering has carefully designed this Guide to provide

A small investment of time learning the information provided in this Guide

Please refer to the Appendices section for any information pertaining to

The Deep Ocean Engineering product support number is 510-562-9300.

Doc. 200-10001-0A Page 1-3  2007 Deep Ocean Engineering, Inc.

1.1 TABLE OF CONTENTS

1. PREFACE .............................................................................. 1-3

3. PRE-LAUNCH PREPARATION ............................................ 3-1

4. LAUNCHING AND TENDING THE ROV............................... 4-1

Doc. 200-10001-0A Page 1-4  2007 Deep Ocean Engineering, Inc.

1.2 TABLE OF FIGURES

Doc. 200-10001-0A Page 1-5  2007 Deep Ocean Engineering, Inc.

1.3 PURPOSE AND SCOPE

NOTE: Some equipment and features mentioned in this manual may be

1.4 WARNINGS AND CAUTIONS

Be aware of the potential hazards associated with the environment into

Wear eye protection while working on the product.

Doc. 200-10001-0A Page 1-6  2007 Deep Ocean Engineering, Inc.

Only personnel qualified to work on high voltage circuitry should service

Doc. 200-10001-0A Page 1-7  2007 Deep Ocean Engineering, Inc.

Before working on circuits, measure the voltage with a voltmeter.

Do not apply forces such as bending, pulling, or twisting to the

Do not force the connectors together. Be certain of the orientation of the

Be certain power is removed from the power module. High voltage is

Always keep clear of Thruster propellers when the umbilical cable is

Stay clear of accessories with moving parts such as rotating Sonar,

Doc. 200-10001-0A Page 1-8  2007 Deep Ocean Engineering, Inc.

This publication is general in nature. No guarantee is made that this

The information contained in this publication is subject to change without

Some equipment and features mentioned in this manual may be optional,

Doc. 200-10001-0A Page 1-9  2007 Deep Ocean Engineering, Inc.

This User's Guide uses the following conventions:

A WARNING indicates that PERSONAL INJURY may occur if the user

A CAUTION indicates that DAMAGE TO EQUIPMENT may occur if the

A PRECAUTION indicates that INCONVENIENCE TO THE USER (such

Doc. 200-10001-0A Page 1-10  2007 Deep Ocean Engineering, Inc.

1.9 RELATED INFORMATION

Doc. 200-10001-0A Page 1-11  2007 Deep Ocean Engineering, Inc.

1.10 STANDARD WARRANTY

Deep Ocean Engineering Incorporated (hereinafter Deep Ocean

• Include the product serial number and a full description of the

• Have been assigned a Return Material Authorization (RMA)

All warranty work will be performed at Deep Ocean Engineering. Buyer is

Deep Ocean Engineering reserves the right to do warranty repair with

Doc. 200-10001-0A Page 1-12  2007 Deep Ocean Engineering, Inc.

Deep Ocean Engineering disclaims responsibility, specified or implied, for

Before returning any product for repair and/or adjustment, contact

Doc. 200-10001-0A Page 1-13  2007 Deep Ocean Engineering, Inc.

(This page is intentionally blank).

Doc. 200-10001-0A Page 1-14  2007 Deep Ocean Engineering, Inc.

This section will introduce the features and capabilities of the

2.1 INTRODUCTION.................................................................... 2-2

2.2 M5 ROV ................................................................................. 2-4

2.3 TOPSIDE COMPONENTS................................................... 2-16

2.4 CONTROL ........................................................................... 2-22

2.5 SAFETY FEATURES........................................................... 2-25

Doc. 200-10001-0A Page 2-1  2007 Deep Ocean Engineering, Inc.

The M5 Vector is a portable high performance ROV system combining