647days since
RoboSub 2012

Sponsors

The Boat

Up close view of one of the circuit boards on board Freyja


Some specifications

Mechanical
  • Weight 30 kg
  • Length 65 cm
  • Height 37 cm
  • Width 28 cm 
  • A plexiglass tube contains all navigation and computer equipment
  • 6 thrusters propell the AUV: 2 forward/backward, 2 up/down and 2 sideways
  • Sealed battery packs also act as a ballast

Electrical
  • Batteries are 24 V and are converted to 3.3 V, 5 V, 12 V and 18 V for various circuits
  • Battery duration is around 2 hours at full usage
  • Batteries can be be changed without turning the boat off
  • Two FitPC2 computers with an Intel Atom Z530 1.6GHz and 1GB RAM
  • 64 GB solid state drive (SSD)
  • Arduino Mega I/O board
  • MD22 two channel motor controllers
  • Analog Devices Blackfin digital processing board (DSP)
  • Ethernet wet-pluggable connector

Sensors
  • 2 USB Point Gray cameras
  • Hydrophone array
  • Depth sensor
  • IMU unit for navigation
  • 3 axis compass
  • 3 axis accelerometer
  • 3 axis gyro

Software
  • Robot Operating System (ROS)
  • Image Processing Node
  • Localization Unit
  • Navigation