free-humanoid-submersible

docs/

Additional design notes, decision records, and reference material for Free Humanoid Submersible, beyond the canonical README.md and ARCHITECTURE.md at the root.

This directory will hold:

• Architectural decision records (ADRs). One file per resolved TBD. Each ADR cites the corpus entries that shielded the decision and links into ARCHITECTURE.md §9. Open TBDs at v0.0:
  • Active variable-buoyancy (syringe-pump) vs. fixed-trim ballast plates (current commitment: fixed-trim for v0.2).
  • 8-thruster ROV-class layout vs. 6-thruster Aquanaut layout (current commitment: 8 for v0.2; 6 held as future descriptor variant).
  • Pressure hull design depth (current commitment: 50 m for Phase 2; deeper variants — 100 m coastal, 30 m brackish — held as future variants).
  • Subsea Li-ion cell chemistry and pressure-balanced vs. oil-filled compensation (Phase 1 work).
  • Tether mechanical design (Kevlar-jacketed Ethernet vs. fiber + power composite — Phase 2 work).
• Pressure-hull design notes. 6061-T6 hull, Delrin endcaps, double-O-ring seals, penetrator selection. Cross-linked to chassis/.
• 8-thruster vectored layout notes. Thruster-mount geometry, force-and-moment Jacobian, thrust-allocation feasibility analysis. Cross-linked to control/.
• Mode-switch protocol notes. Detailed runtime documentation for the station-keeping → manipulation_static_hover hand-over and the surfacing emergency-ascent path.
• Mission-integration notes (dock-A subsurface). Detailed protocol-level documentation for rake-array clearing, intake-screen brushing, bilge-line inspection, and hull-mating-fixture maintenance at shoal dock-A. Cross-linked to clean_fish/ARCHITECTURE.md §3.2.
• Operational concept. Day-in-the-life of a deployed submersible at a dock-A subsurface site — work-order intake (over JANUS or tether), descent, dock approach, subsurface manipulation task, surfacing, return-to-tender, fleet-coordination idle.
• Indigenous and community consent protocol notes. Same posture as clean_fish ARCHITECTURE §9 and the three sibling morphologies, with marine-and-aquaculture-deployment-specific elaboration. Submerged operation is invisible to nearby observers, which makes the consent gate operationally more important than for the surface-side morphologies.
• Recommended corpus additions. Tracked here, with suggested ID slugs:
  • aquanaut-houston-2017 — Houston Mechatronics’ humanoid-arm AUV (commercial humanoid-AUV anchor)
  • oceanone-stanford-2016 / oceanone-k-stanford-2022 — Khatib lab’s bimanual humanoid teleop AUV (academic anchor)
  • bluefin-21-rov, remus-class-auv, saab-sabertooth — non-humanoid commercial AUV substrate
  • jason-rov-1989, robin-hov, alvin-hov — academic ROV / HOV lineage
  • unetstack-subnero — open-source underwater networking stack
  • stonefish-sim — open-source AUV simulator
  • janus-stanag-4748 — NATO open-standard underwater acoustic comms (already canonical in shoal architecture)
  • blue-robotics-thruster — open-hardware subsea thruster anchor
• Open questions. Tracked TBDs from ARCHITECTURE.md and any new questions raised by Phase 1 simulation or Phase 2 prototyping.

Cross-references

• Canonical specification: ARCHITECTURE.md
• Bipedal sibling docs: free-humanoid-platform/docs/
• Centaur sibling docs: free-humanoid-centaur/docs/
• shoal architecture: clean_fish/ARCHITECTURE.md

Status

v0.0 scaffold. ADRs are written as TBDs are resolved.

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