SIR: Sub-Ice ROVer
SIR
Sub-Ice ROVer (ROV = Robotically Operated Vehicle)
A robotic submarine
Conceptualized by Ross Powell (NIU), designed and built by DOER-Marine
The SIR a customized "slim-line" design similar to those used for pipeline investigations. The vehicle has a diameter of ~55cm (22in), has a length of 8.4m and is rated to 1500m depth. Power and data are transferred from and to the surface through a neutrally buoyant, strengthened, 3km-long umbilical tether of fiber optic and power cables. Navigation is by Doppler velocity logs (from two Doppler current meters) and a gyro (FOG) compass so the SIR is used either in automated mode with AUV technology to do spatial surveys, or is manually driven by a surface operator using real-time video imagery to investigate specific features and operate in enclosed spaces. The vehicle is highly instrumented for obtaining both remotely sensed data as well as collecting and recovering samples. The wide range of sensors and sample collectors provides data for studies in oceanography, sedimentology, stratigraphy, glaciology, biology, microbiology, geochemistry and geophysics, and includes:
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Visual imaging
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1 high-definition camera + HMI lights (broadcast quality images),
3 lower-resolution cameras + 4 quartz lights (piloting, down-hole viewing), digital still camera (high-resolution images) |
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Vertical scanning sonar
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long-range imaging for spatial orientation and navigation
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Doppler current meter
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determine water current velocities
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Multi-beam sonar
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image and swath map bottom topography
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Sub-bottom Profiler
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profile sub-sea-floor sediment for geological history
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CTD
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determine salinity, temperature and depth
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DO meter
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determine dissolved oxygen content in water
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Fluorometer
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determine organic matter in water
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Transmissometer
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determine suspended particulate concentrations in water
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Laser particle-size analyzer
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determine sizes of particles in water
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Triple laser-beams
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determine size and volume of objects
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Thermistor probe
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measure in situ temperatures of ice and sediment
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Shear vane probe
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determine in situ strength of sediment
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Manipulator arm
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deploy instrumentation packages, collect samples
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Ice corer
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collect ice samples and glacial debris
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Water sampler
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determine sea water/freshwater composition, calibrate real-time sensors, sample microbes
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Sediment corer
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sample sea floor, in-ice and subglacial sediment (stratigraphy, facies, particle size, composition, structure, fabric)
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SIR is owned by NIU and designed, engineered, and built with all instruments fully integrated into it by DOER-Marine, a ROV manufacturer with a global reputation, being owned by Sylvia Earle, former Director of NOAA and currently Explorer in Residence at National Geographic.
SIR in its slim borehole mode ready for deployment. On the left is SIR during its construction and testing phase at the DOER-Marine facility in Alameda, CA. The other two figures are CAD images used during the design phase of SIR. The left has its protective fiberglass “skins” on and the right shows the foam floatation blocks (yellow) on upper half and the instrumentation packages on the lower half. The ”dongle” on top is where the umbilical tether attaches.
SIR during is construction and testing phase at the DOER-Marine facility. Shown here as it is unfolded into its operational mode.
A CAD image of SIR in its operational mode without its protective fiberglass skins. On the top level are foam floatation units (yellow) and on the lower level are the scientific instruments. Ballast bottles shown in red are for adjusting the SIR attitude. Thrusters, lights, and cameras are prominent units around the SIR. The “dongle” at the top is where the umbilical tether attaches.
SIR sampling hotel
The sampling hotel is a device with individual trays in which sampling devices and acquired samples or autonomous instrumentation packages can be placed and transferred to and from the surface. The sampling hotel is directly attached to the umbilical and is used to allow the Sir to continue operations while the samples are tripped up to the surface for recovery. This design makes for greater efficiency and time use. The design of the sampling hotel is modular, to adapt to scientific objectives of each deployment.
SIR command center
The command center houses all surface electronic and control components of the SIR system as well as its data acquisition system. The ISO-container provides work-space for 6 people: the pilot and co-pilot fly the SIR and oversee its control panel, the navigator is responsible for navigation, while the chief scientist oversees the science mission, making decisions about targets and directs the pilot accordingly. Another scientist assists the chief scientist, and both are responsible for science equipment operation such as the sampling arm or sampling devices, as well as overseeing data recording and data back up. The command center has a hard-wired and wireless computer network, connecting the command center to other facilities of science operations, with the potential for live-stream data and video sharing. A uninterrupted power-back system will provide continuous power supply to all critical electronic parts.
SIR storage and maintenance unit
The SIR storage and maintenance van is the home of the SIR during field operations. It contains a wall mounted storage rack for the six SIR frame segments, storage for SIR instrumentation, SIR spare parts, workbenches, and equipment for routine SIR maintenance. It is designed to have an overhead gantry track for moving the SIR to its launch location.
Development and construction of the SIR and the GIPSIE were funded by NOAA grants NA04OAR4600167 and NA05OAR4311117 to Northern Illinois University, with an additional award to NIU from the Gordon and Betty Moore Foundation. All Science and Field Deployment and Operational costs are supported by the WISSARD awards from NSF.