A submarine is a watercraft capable of independent operation underwater. It differs from a submersible, which has more limited underwater capability. The term most commonly refers to a large, crewed, autonomous vessel. It is also sometimes used historically or colloquially to refer to remotely operated vehicles and robots, as well as medium-sized or smaller vessels, such as the midget submarine and the wet sub.Most large submarines consist of a cylindrical body with hemispherical (and/or conical) ends and a vertical structure, usually located amidships, which houses communications and sensing devices as well as periscopes. Submarines have one of the widest ranges of types and capabilities of any vessel. They range from small autonomous examples and one or two-person vessels that operate for a few hours, to vessels that can remain submerged for six months.
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