Submarine Vessel, Submarine Bombs and Mode of Attack for the United States government by Robert Fulton, 1806. Vessel sighting mechanism details. Robert Fulton (1765 - 1815) was an American engineer and inventor. While living in France, Fulton designed the first working muscle-powered submarine, Nautilus, between 1793-97. On July 3, 1801, at Le Havre, Fulton took the Nautilus down to the then-remarkable depth of 25 feet. With his three crewmen and two candles burning he remained for an hour without difficulty. (cropped and cleaned)