Underwater vehicle with improved controls and modular payload

A system for controlling an underwater vehicle, comprising:

• a linear control assembly comprising a motor and a threaded rod, the motor engaged with an internally threaded member that is threadably engaged with and surrounding the threaded rod;
• a control rod connected to the threaded rod;
• a fin assembly connected to the control rod;
• and
• a spring calibrated to compensate for forces of seawater pressure on said linear control assembly and linkage rods, said spring engaged with and providing a pre-load on the threaded rod that acts in a direction opposite to the load applied by the sea,
• wherein actuation of the motor rotates the internally threaded member, thereby causing a linear movement of the threaded rod, the control rod, and the fin assembly.

A modular payload system for an underwater vehicle having a payload section and a central body section, the system comprising:

• a payload section having a bulkhead section, and
• a central body section, the central body section having a circumferential lip portion and a plurality of fasteners circumferentially disposed on the lip portion, wherein at least one of the plurality of fasteners comprises an increased diameter head that is larger than an opening dimension of the respective transversely disposed locking section;
• and
• wherein the central body section is engageable with the bulkhead section by aligning the plurality of fasteners with the axially-disposed openings of the recesses, pressing the bulkhead section toward the central body portion, and twisting the bulkhead portion with respect to the central body portion to engage the plurality of fasteners with the transversely disposed locking sections of the plurality of recesses.