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California Polytechnic State University Cistern Mapping - May 01, 2009

California Polytechnic State University Uses VideoRay Pro 3 ROV With KCF Technologies Smart Tether Positioning System To Help Map Cisterns In Malta

Students and faculty from the California Polytechnic State University recently used the KCF Technologies Smart Tether during a trip to Malta for the mapping of underground cisterns. The goal of the project was to obtain video and sonar data to map the cisterns and gain a better understanding of the evolution of water storage systems under the fortresses in Malta. The cisterns of interest date from the 16th century back to 300 B.C.

The Smart Tether was used with a VideoRay Pro 3 and SeaSprite scanning SONAR to drop down through street-level chutes and explore the various cisterns. The primary task for the equipment was to aid archaeologists in determining the age, construction methods, size, shape, and network complexity of these cistern systems. Accurate positioning in such an environment is critical, since the ROV becomes invisible once it leaves the vicinity of the entrance chute.

Maps were constructed using several different methods, incorporating data from the Smart Tether, SONAR, and a vehicle dynamics model. The Smart Tether positioning system was used as a means of confirming or correcting the position data generated by the vehicle model. The additional position data provided by the Smart Tether allowed easier navigation of the cisterns and a greater degree of confidence in the accuracy of maps generated during the expedition.

“The Smart Tether was great to have for our data captures, and will be of great value in making the maps accurate, so we were very fortunate to use the equipment on our trip.”
—Daniel Hiranandani, Senior, California Polytechnic State University

“Where the Smart Tether really improves things are when errors build over distance. As the ROV goes deeper into the tunnels, the errors in estimated state will grow over time if only the dynamic model and SONAR are used. The Smart Tether data eliminates this issue by providing GPS location measurements.”
—Chris Clark, Assistant Professor, Department of Computer Science, California Polytechnic State University

Learn More About The Smart Tether Positioning System

Visit The Cal Poly Blog To Learn More About This Project

Visit The Cal Poly Malta Cistern Mapping Website

Read Of Robots and the Underworld From The Cal Poly News Site

About VideoRay:
With more than 2,000 Remotely Operated Vehicles (ROVs) in service around the world, VideoRay has clearly become the global leader in Observation ROV technology. VideoRay is an extremely versatile, portable, affordable, and reliable solution for underwater operations including surveys, offshore inspections, search & recovery, homeland & port security, science & research, fish farming, and other unique applications in underwater environments. “Plug and play” technology allows you to quickly attach sensors and accessories in the field so you can successfully complete your mission. VideoRay is available on the General Services Administration.

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WHY VIDEORAY?

AFFORDABILITY

With ROVs starting under $10,000 (in the US), the cost is quickly justified when compared to commercial dive missions or funding the purchase, mobilization, staffing, and operation of larger ROVs.

PORTABILITY

One person can transport the tiny 8-pound sub, control box and tether. The Scout system weighs less than 70 pounds and packs neatly in one rolling Pelican case. All other systems fit in two Pelican cases that can be transported in a car trunk or helicopter, or checked as airline baggage.

USABILITY

Driving the VideoRay is similar to operating a video game. A specially trained ROV pilot is not needed. (In fact, kids raised on video games routinely put adults to shame piloting VideoRay.). VideoRay is equally at home with a search and rescue team as it is with a yacht owner enjoying live views of a coral reef in St. Thomas. Additional controls on advanced models include front camera focus and tilt, rear camera selection and automatic depth holding (see the product detail pages for complete lists of features and capabilities of each model).

SAFETY

Since VideoRay uses less than 500 watts of power, a car or marine battery with inverter, small gasoline generator, or any 100-240 VAC outlet powers the control box and submersible. The current running through the tether to the submersible is a comparatively safe 48 VDC, rather than the possibly lethal 360-plus VDC used by other ROVs. This makes it safe for divers to handle the submersible in the water, and for kids to swim with it in a pool.

REACH

Standard tether lengths vary by model, but additional neutral, negative, and positively buoyant tethers can be added to extend the overall reach of the VideoRay up to 1,100 feet. Tethers are available in a variety of lengths to meet the needs of particular water conditions or projects.