A Robust Compact Water Sampler For Underwater Robotic Vehicles

摘要

Here we present the design of a custom water sampling system for use on the underwater robot Icefin. The goals of this instrument are to collect discrete water samples in a compact form factor, operate in extreme underwater environments including high pressure and low temperature settings, and maintain a simple low-cost design. To achieve these objectives the system integrates a fluidic manifold, several compact solenoid pumps and valves, electronic controls, and an oil filled housing. A first-generation version of the water sampler was successfully tested on the underwater robot Icefin during ocean deployments in McMurdo Sound, Antarctica. A second-generation version of the system with a 3D printed manifold and improved capabilities has since been developed and undergone preliminary lab tests.