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There is a project called zuluCrypt[1] that will allow you to do what you want.

The project has a GUI and CLI interfaces that run without needing root's password.

zuluMount,a component of the project can automount unecrypted volumes.Encrypted devices can not get automounted since a user will have to provide a password to unlock them.

[1] i can not seem to be able to add a link to the project,just google the name of the project to find it