The unique functionality of LAUV Roald is the capabilty to capture pictures of microscopic objects floating in the water. Thus it is particularry interesting for biologist where it can combine traditional measurments of the water column with images. In addition it contains a lot of computational power for doing online processing of images and sensor data to enable adaptive sampling.
Vehicle length: 226cm
Weight in air: 35 kg
Max operational depth 100m
Speed, 0.5 to 2 m/s
Battery: 250Wh (6x) Li-ion
Typical endurance 9h @3kn, full payload
Main CPU: AMD Geode LX 800 CPU
User Computers: Jetson TX1, Jetson TX2
Data storage: 3TB
WLAN up to 1 km with the Manta modem
GSM within 3G coverage
Evologics S2CR 18/34 USBL underwater acoustic modem for a link up to 1km, depending on water conditions.
Iridium SBD module
Emergency acoustic pinger and directional hydrophone with up to 2km range
External GigaBit Ethernet connector for transfering data.
AHRS: Microstrain 3DM-GX4-25
DVl: Nortek DVL 1000, with ADCP capabilities.
ADCP range: 30 meterBottom track range: 75 meter.
Dissolved Oxygen: Aanderaa Optode 4831F
Chlorophyl: Tuner Cyclops7
Turbidity: Tuner Cyclops7
An onboard silhouette camera (SilCam), designed by SINTEF, is integrated into the hull of the AUV. As water flows through a backlighted capture volume, the SilCam captures images, while keeping objects in the entire volume in focus. The SilCam can capture objects with size between 100 $\micro$ m and 12 mm. Further onborad processing and classification of captured objects based on the PySilCam software https://github.com/emlynjdavies/PySilCam/wiki can be performed.