Ocean exploration and research are vital for scientific and industrial advancement. While fulfilling this goal can be achieved by manned exploration teams, using unmanned platforms reduces human risk, lowers operational costs, and enables long-endurance missions.
This research discusses the development of the MARLIN, a semi-submersible unmanned vehicle which adopts a SWATH configuration featuring two hulls, four vertical struts, and three transverse connection foils. The MARLIN was designed from the ground up with the primary objective of producing a low-cost and stable vehicle that can be remotely operated and reach at least 5 knots while carrying a horizontal payload at the bow. While many tests were conducted during the design process, this research focuses on the development of a 6-DOF simulation code for the assessment of dynamic stability of the vehicle. The simulation incorporates a comprehensive set of external forces and moments, such as hydrostatics,
