A collapsible mast, typical of large UUVs like Boeing’s Orca, is positioned at the rear. CSSC’s product card details three configurations: Type A, which can carry 8–12 torpedoes or torpedo ...

In their study, the researchers looked at two types of material: the corrugated rollable tubular boom (COROTUB) and collapsible tubular mast (CTM). Let's consider the design around COROTUB first.