Syringe-worked mermaid: computational fabrication and stabilization method for cartesian diver

This paper introduces a new method to add the controllability to underwater objects applied by a structure of a Cartesian Diver which have been computational designed and fabricated. The Cartesian Diver is a well-known demonstration of Pascal's law and Archimedes' principle. The diver is able to be manipulated to achieve up and down motion by a single external force to the primary container based on water pressure changes to the overall volume of the diver or the volume of air in the cavity within the diver. And we discussed the principles and methods to create a digitally designed and fabricated the diver. We then developed several applications and conducted a user study using novice users.