1. Exterior Structure Design Alternatives Cornell CUAV: Twin hull on aluminum frame designMIT Orca 4: Dual side thrusters Colorado HydroBuff R5L: Front dive planes and aft rudderFlorida Atlantic Squid: Vector thrust control

2. Hydrodynamics Mechanical Design Myring Hull Contour –Design developed by U.S. Navy to minimize drag for submersible objects. –Divides into 3 compartments: Nosecone, mid-section and tailpiece Dimensions –Nose Cone Length: 6 inches –Mid Section Length: 24 inches –Tailpiece Length: 12 inches –Mid Section Thickness: 1/8 in. –Maximum Outer Diameter: 6 inches Material Selection –Nose Cone: PVC –Mid Section: Aluminum 6061 –Tailpiece: Aluminum 6061 Control Surface Configuration –4 NACA 0012 airfoils mounted to the front of the tailpiece Total Drag computed to be 16.1 N at 5 knots (with antenna deployed at 6 in.)

3. Control Surface Sealing Design Must withstand pressure of 45.0 psi Dynamic Seals –American Variseal W10-MS-R-010-W-Z80 Rod Seal –Low Friction Servo Movement –Spring Loaded Rotary Shaft Seals Dimensions –0.375 in.Housing Groove Diameter –0.99 in. Gland length Seal pressed in housing groove in tailsection Servo used for electronic control of control surfaces 1/4 in. diameter stainless steel shaft passes from servo to control surface –Aluminum coupler and set screws used to attach servo to shaft –Pins used to attach shaft to control surface Control Surface Sealing Design Rotary seal schematic as provided by American Veriseal