The Stability Subteam is responsible for the flotation, stability, and suspension of Mini-Minion. A symmetric catamaran configuration utilizing foam-filled TPU pontoons and PETG propulsion pods was selected to emulate the air-filled pontoons and wave-walking behavior of the full-scale WAM-V while maintaining low mass and quick manufacturability. Design decisions were validated through simulation, physical testing, and scale modeling to ensure reliable performance under RoboBoat mission conditions.

The Deck Subteam is responsible for designing a watertight structural deck that houses Mini-Minion’s onboard sensors, electronics, and power systems. An aluminum honeycomb composite deck was selected for its high stiffness-to-weight ratio and waterproofing potential, with fiberglass skins and sealed interfaces used to protect internal components and manage heat dissipation. The deck architecture incorporates removable battery hatches and a detachable interface to the suspension system. T-slot rail mounting enables modular placement of external hardware such as water tanks, CO₂ tanks, and GPS antennas. Design choices were evaluated through plywood prototypes and aluminum honeycomb scale models, followed by fabrication trials and fit testing to validate weight, sealing, and serviceability requirements in the field.

The Sensor & Systems Subteam is responsible for integrating Mini-Minion’s onboard sensors, servos, and mission hardware into a unified system. A significant portion of this effort focused on hands-on testing and validation of mission mechanisms, including experimental nozzle fabrication to optimize water cannon performance and analytical evaluation of CO₂-based launch systems as an alternative to compressed air. Component placement, mounting geometry, and actuation strategies were refined through physical testing, mathematical modeling, and reuse of proven hardware from the full-scale Minion platform. System-level validation included power-on checks, sensor verification, thruster and servo testing, emergency stop testing, and integrated subsystem evaluations to ensure readiness for autonomous operation.