You know, all of this could be immensely possible with 3D printing, we could create batteries the size of sand that have the full potential of a lithium. These schematics... if we could figure out the math, which I assume you already have, we could likely even throw all of that into a computer and it could print out smaller propulsions and guidance, something that would fit on a torpedo but would have substantially more power than what its size suggests...
Make it more efficient, therefore, allowing it to concentrate on a specific spot on the ... is it a beetle? Looks a bit like a beetle.