Design and fabrication of a 1m titanium sphere for 4000m ocean depth

A spherical pressure housing slightly greater than 1 meter inside diameter has been designed, fabricated from near-net-shape Ti-6Al-4V castings, and tested for robotic operations in 4000m seawater. This paper discusses the design considerations, methodology, fabrication processes, and hyperbaric testing of the sphere. An additional note on mounting equipment inside the sphere is included.