A custom submarine was designed and manufactured by a team of nine students in UPenn’s Advanced CAD/CAM course. This unmanned submarine is piloted remotely by an operator above the water’s surface. Unlike a typical submarine, the vessel has four independent propulsion units. The position and speed of each propeller is precisely regulated by an onboard microcontroller, enabling the submarine to travel omnidirectionally through the water. All parts of the submarine except for the batteries and motors were manufactured in house.