Up close view of one of the circuit boards on board Freyja
Some specifications
Mechanical -
Weight 30 kg
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Length 65 cm
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Height 37 cm
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Width 28 cm
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A plexiglass tube contains all navigation and computer equipment
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6 thrusters propell the AUV: 2 forward/backward, 2 up/down and 2 sideways
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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
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Battery duration is around 2 hours at full usage
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Batteries can be be changed without turning the boat off
- Two FitPC2 computers with an Intel Atom Z530 1.6GHz and 1GB RAM
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64 GB solid state drive (SSD)
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Arduino Mega I/O board
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MD22 two channel motor controllers
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Analog Devices Blackfin digital processing board (DSP)
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Ethernet wet-pluggable connector
Sensors -
2 USB Point Gray cameras
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Hydrophone array
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Depth sensor
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IMU unit for navigation
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3 axis compass
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3 axis accelerometer
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3 axis gyro
Software -
Robot Operating System (ROS)
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Image Processing Node
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Localization Unit
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Navigation
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