New Volume Change Mechanism Using Metal Bellows for Buoyancy Control Device of Underwater Robots

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left"> </td><td align="center">Peltier device</td><td align="center">Nichrome wire</td><td align="center">Control system</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left">Voltage (V)</td><td align="center">6.30</td><td align="center">36.3</td><td align="center">14.0</td></tr><tr><td align="left">Electric current (A)</td><td align="center">2.26</td><td align="center">1.15</td><td align="center">0.04</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Electrical conditions in experiment on each device.

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Table 4

Table 4: New Volume Change Mechanism Using Metal Bellows for Buoyancy Control Device of Underwater Robots 