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

Table 2

Electrical conditions of nichrome wire and peltier device.

Thickness of air layer	Device	Voltage (V)	Current (A)
0 mm	Nichrome wire	33	1.3
	Peltier device	6.3	2.2
2 mm	Nichrome wire	36	1.2
	Peltier device	6.3	2.6
12 mm	Nichrome wire	36	0.7
	Peltier device	6.3	2.6