Structure Subsystem

The prototype is currently made of polyvinyl chloride, a neutrally buoyant material. It is also easy to use, obtain, and is subject to little degradation from the water.

We chose to use a cube-like design for simplicity and ease of task completion. Because of the tasks, this design is perfect to maintain the center of balance while descending through the 'ice' hole, as well as the tight maneuvering required to accomplish the rest of the tasks.