In this paper, we present the design and proof of concept of a streamlined, low-cost, and smooth-hulled underwater vehicle (MASUV-1). MASUV-1 utilizes an ad-hoc designed multi-directional thrust-vectoring system for steering and an entirely enclosed propulsion system, allowing for safe operation in the vicinity of marine mammals. Tests of the vehicle in a still water environment show high maneuverability at speeds comparable with similar torpedo-type class underwater vehicles.

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