# Hardware Architecture

The hardware architecture of BLOB has been meticulously designed to balance durability, efficiency, and sensing capabilities in the challenging marine environment. Each component has been selected and engineered to withstand the corrosive effects of saltwater while maintaining optimal performance during extended deployments.

## Biomimetic Hull

The exterior of BLOB features a hydrodynamic shape that closely mimics the natural form of a fish. This biomimetic design is not merely aesthetic but serves critical functional purposes. The hull is primarily constructed from a composite of carbon-fiber and titanium alloys, materials chosen for their exceptional strength-to-weight ratio and resistance to corrosion. This construction allows BLOB to withstand the pressures encountered in port environments while remaining lightweight enough for efficient propulsion.

The hull's surface incorporates a specialized coating that inhibits biofouling, reducing maintenance requirements and ensuring consistent hydrodynamic performance over extended deployment periods. Strategic placement of access panels allows for rapid maintenance and sensor replacement without compromising the structural integrity or water-tight seals of the system.

## Propulsion System

BLOB's movement through water is achieved through a sophisticated propulsion system that replicates the efficient locomotion of biological fish. The primary propulsive force comes from an oscillating tail fin driven by a series of high-torque, low-speed servomotors. This mechanism generates thrust through lateral undulation, creating a sinusoidal wave that propagates along the body toward the tail.

Complementing the main tail drive are pectoral fin servos that provide fine control over pitch, roll, and yaw. These articulated fins enable precise maneuvering in confined spaces and help maintain stability during stationary sensing operations. The propulsion system operates with remarkable energy efficiency, contributing significantly to BLOB's extended operational endurance between charging cycles.

## Sensor Spine

The modular sensor spine represents the core sensing capability of BLOB. Designed as a reconfigurable backbone, it accommodates various sensor packages that can be customized according to specific monitoring requirements. The standard configuration includes:

A multibeam sonar system that provides high-resolution 3D mapping of the seafloor and underwater structures. This system emits multiple beams in a fan-shaped pattern, allowing BLOB to scan a wide swath of the seabed with each pass, efficiently generating detailed bathymetric maps.

The Doppler current profiler measures water velocity at different depths, creating comprehensive profiles of current patterns throughout the water column. This data is crucial for understanding sediment transport mechanisms and predicting changes to navigation channels.

Turbidity and water chemistry probes continuously sample the surrounding water, monitoring parameters such as dissolved oxygen, pH, conductivity, temperature, and the presence of specific compounds of interest. These measurements support environmental compliance monitoring and early detection of water quality anomalies.

Pressure and temperature gauges provide contextual data that supports the calibration and interpretation of other sensor readings while also contributing to broader environmental monitoring objectives.

An acoustic modem facilitates underwater communication, allowing BLOB to transmit critical data bursts without surfacing and to receive updated mission parameters when necessary.

## Battery Module

Power for BLOB comes from a high-density lithium-ion battery pack, carefully engineered to maximize energy density while maintaining safety in the marine environment. The battery module is housed in a pressure-resistant, waterproof compartment with thermal management systems to ensure optimal operating temperatures regardless of external water conditions.

The system supports inductive charging, eliminating the need for direct electrical connections that could corrode in the marine environment. When BLOB returns to its docking station, charging begins automatically through electromagnetic induction, requiring no human intervention and maintaining watertight integrity.

## Edge AI Unit

At the heart of BLOB's autonomous capabilities is an embedded GPU computing platform, similar to the NVIDIA Jetson Xavier architecture. This edge computing system processes sensor data in real-time, enabling immediate analysis and decision-making without relying on continuous communication with shore-based systems.

The Edge AI Unit runs sophisticated neural networks for navigation, obstacle avoidance, and anomaly detection directly onboard. This local processing capability allows BLOB to operate autonomously for extended periods, making intelligent decisions based on environmental conditions and mission parameters even when communication with base stations is limited or unavailable.

The hardware architecture of BLOB represents a carefully balanced system where each component contributes to the overall mission capability while maintaining resilience in the challenging marine environment. The modular approach to design ensures that individual components can be upgraded or replaced as technology advances, extending the useful life of the platform and allowing adaptation to evolving monitoring requirements.
