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

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="541643.fig.0010a" src="https://static.hindawi.com/articles/isrn/volume-2013/541643/figures/541643.fig.0010a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>0 mm (water temperature: 25.8°C)</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="541643.fig.0010b" src="https://static.hindawi.com/articles/isrn/volume-2013/541643/figures/541643.fig.0010b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>2 mm (water temperature: 15.5°C)</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="541643.fig.0010c" src="https://static.hindawi.com/articles/isrn/volume-2013/541643/figures/541643.fig.0010c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>12 mm (water temperature: 11.4°C)</td></tr></table></td></tr></table>

<table>Buoyancy change in each air layer thickness.</table>

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Figure 10

Figure 10: New Volume Change Mechanism Using Metal Bellows for Buoyancy Control Device of Underwater Robots 