The robot was able to perform impressively in the race, crossing the 45"x19"x15" long tank in 12 seconds and setting a class record.  The robot check valves operated effectively and could be seen opening during water expulsion.  The bladder was operated with a syringe - rhythmic plunging to induce positive and negative pressure. The robot operated at the surface, but it was able to operate at different depths from top to bottom. 

The robot's air bladder allows for easily altering robot depth. Adjusting the air volume in the bladder with the syringe allows for rapid changes in the robot's depth. In the competition, the robot successfully demonstrated by switching between floating on the surface and resting on the bottom. 

The robot is currently incapable of self-launch. The propulsion system relies on rapidly displacing water; air's physical properties render it ineffective. The next step of improvement is to implement an onboard self-launching mechanism.

Hand-powered operation proved the most effective method of operation, but with improvements, mechatronic control will be the better option. The set up consists of a vacuum chamber set to -20psi and an air pump generating +20 psi. Two regulators are controlled by an Arduino Uno via two relays, selectively allowing airflow for alternating pressures. Due to the robot's air hose and the relays' incompatibility with breadboards, pressure changes took too long, and did not perform nearly as effectively as manual operation with the syringe. But the mechatronic system is still capable.