I think an air powered engine could be the best way in order to use a tank as body..this makes 2 funtions at the same time..
first..this keep air at high pressures that gives pressure to a small piston multi expansion based engine made using composites materials like teflon, delrin or something like this for the bodies,,,second have a good enough bouyancy features..some people have made test using prototipes with this idea for a long time..i think a 2 camera design is the way to go...mono camera has too many drawbacks...
a stirling engine for a dpv is a little crazy....the system is tricky even in submarines..i can not imagine something simple enough in this smaller vehicle...(it is not an oxidant problem issue only) :06: