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CougarTail & CUB: A General-Purpose Mast and Central Utility Board for Cylindrical Underwater Enclosures

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Cylindrical watertight enclosures are widely used across various underwater systems, from unmanned underwater vehicles (UUVs), to remotely operated vehicles (ROVs), to various sensor platforms. However, electronics are typically built on rectangular PCBs arranged in horizontal stacks, which inefficiently occupy the circular cross-section volume that is critical for both payload capacity and buoyancy management. This paper presents CUB (Central Utility Board) and CougarTail, a general-purpose system designed to address this gap. CUB is a circular PCB sized for 4-inch-diameter enclosures that co

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