The motion of the carousel is actuated by a DC motor and controlled by an encoder and a hall sensor for resetting the position. The IceSampler is powered by a 12-V recharge- computers and electronics in agriculture 64 (2008) 27–33 29 Fig. 1 – The IceSampler. able battery pack (NiMH 2000mAh). It is housed in an IP66 fibre-reinforced impact-resistant plastic casing and measures 280mm× 190mm× 130mm with a total weight of 2.9 kg. The IceSampler is illustrated in Fig. 1.