1. Introduction

Abstract

One of the first efforts to design an underwater vehicle is due to Leonardo Da Vinci. It has been found in the Codice Atlantico (Codex Atlanticus), written between 1480 and 1518, together with the development of some diver’s devices (see Figure 1.1 and 1.2 where the corresponding page of the Codex is reported). Legends say that Leonardo worked on the idea of an underwater military machine and that he further destroyed by himself the results judged too dangerous.