If you’ve not seen the tutorial from the Univ. of Auckland before, it is kind of an interesting (and different!) approach to teaching users about Voyager — very video gamesque, in as much as a tutorial probably can be. 😉
It’s not the most indepth, but looks to cover the basics.
Main table of contents, which also provides some story elements:
http://www.library.auckland.ac.nz/instruct/tutorials/voyager/toc.html
Tutorials:
http://www.library.auckland.ac.nz/instruct/tutorials/voyager/index.html