Preface The expedition ARK XIX/3 with the German icebreaking RV ...

Together with the installation of a high-resolution vertical camera aiming at providing high
quality images of the seafloor new imaging software can be used to produce on-profile
mosaic images from successive shots. Forward facing lights have been fixed on the
bottom of the ROV to enhance optical contrast. Close to the main camera a highresolution
digital still camera (HYTEC VSPN3000, 3 Mpixels, autofocus, and optic zoom)
was installed to allow scientists to take up to 200 high quality pictures appropriate for
publication. Additionally, laser beams were placed around the main camera to have a
scale for estimating distance and size of objects. Concerning handling and sampling
operations, the MAESTRO slave/master arm has been improved with regard to both
robotics and manoeuvring. A second grasping arm has been installed. Based on
experiences with the manned submersible "Nautile" a shuttle was adapted to be used
with the ROV. This prototype was tested and used to transfer equipment and samples
from the seabed to the surface (and conversely) during dives. A total of 23 dives were
carried out during the entire expedition.
Fig. A3-1: Schematic illustration of the "Victor 6000" system with its main components: (1)
Hydraulic direct coil winch, 8500-m 20-mm diameter umbilical cable; the total mass
of this ensemble is 30 tonnes. (2) Vehicle 3.1 x 1.8 x 2.1 m, mass 4 tonnes + 600 kg
for the module. (3) Depressor 1.5 x 0.8 x 0.5 m, mass 1.2 tonne. (4) Tether 100 to
300 m, 35-mm diameter. (5) Five 20-ft containers for power supply to vehicle,
hydraulic plant for winch, command post, mechanics workshop, storage.
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