Submarine Vehicle kinematics planes definitions computational submarin submarine manoeuvrability configurations intact conditions

 Vertical rudder Horizontal plane Main thruster
Acoustic telemetry transmitter
Fuel cell pressure vessel GPS antenna Main pressure vessel
Oxygen gas tank
Pressure vessel for buoyancy control system
Emergency transponder
Metal hydride pressure vessel
Acoustic telemetry receiver
Acoustic homing sonar
Vertical rudder
Vertical thruster (aft)
Oil bladder Trim controller  Snapshot digital camera
Lithium ion rechargeable battery

Ballast releaser
Color TV camera  Forward altitude sonar Side scan sonar  Vertical thruster (fore)  Emergency ballast releaser  Doppler velocity log.
Fig. 1 General arrangement of vehicle Configuration and layout of the vehicle (side view) 

Analysis of shape and general arrangement for a UUV | SpringerLink
https://link.springer.com/article/10.1007/s11804-011-1051-8

AUV Docking Station Integration with Monterey Inner Shelf Observatory Contents CRUSER is

https://www.iatlantic.eu/imirabilis2-expedition/equipment/autonomous-underwater-vehicles/

JMSE | Free Full-Text | Submarine Manoeuvrability Design: Traditional Cross-Plane vs. x-Plane Configurations in Intact and Degraded Conditions
https://www.mdpi.com/2077-1312/10/12/2014

Sensors | Free Full-Text | New Vectorial Propulsion System and Trajectory Control Designs for Improved AUV Mission Autonomy
https://www.mdpi.com/1424-8220/18/4/1241

JMSE | Free Full-Text | Design, Simulation, and Experimental Study on the Hydraulic Drive System of an AUV Docking Device with Multi-Degree Freedom
https://www.mdpi.com/2077-1312/10/11/1790

Submarine Vehicle kinematics planes definitions computational
Computational Fluid Dynamics
computational fluid Submarine
rotating propeller
Propeller blade geometry with double ring mounting

https://newatlas.com/aircraft/toroidal-quiet-propellers/
Toroidal propellers: A noise-killing game changer in air and water
 3d-model various toroidal-propeller for mercury and yamaha
Toroidal propeller for Outboard motors like Mercury, Yamaha, Mariner, Tohatsu 9.9-20HP (ready to 3d print)
https://en.wikipedia.org/wiki/Toroidal_propeller
https://hackaday.com/2023/07/02/testing-futuristic-propeller-designs-with-a-3d-printer-and-a-solar-powered-boat/

https://www.mdpi.com/2226-4310/6/8/91
Aerospace | Free Full-Text | Fabrication and Testing of the Cold Gas Propulsion System Flight Unit for the Adelis-SAMSON Nano-Satellites