Tuolomee AUV features a large acrylic pressure hull which houses electronics. It is capped by two anodized aluminum end caps, and surrounded by a waterjet-cut aluminum frame. Tuolomee AUV also features eight thrusters for propulsion and a dynamic trim system which allows for on-the-fly redistribution of weight. The sub is designed to be easially updated piece by piece without sacrificing the usability of the machine. Similarly, the majority of the structural integrity has maintained itself throughout the years, and where it has not, we have been able to design and build customized solutions.
pictured: AUV frame
Tuolomee AUV's electrical systems are designed for simplicity and functionality. It is designed primarily around off-the-shelf components. Tuolomee AUV's electrical systems are powered by a Nvidia Jetson computer. Several sensors are implemented to allow Tuolomee AUV to run autonomously, including an underwater camera, a Blue Robotics depth sensor, and a Vectonav inertial measurement unit (IMU) for orientation data. The power distribution system allows for up to five hours of testing at a time.
Pictured: computer module (left) and power module (right)