Table 1
Float physical parameters.
| Parameter | Description | Unity | Typical Seabot value |
|---|---|---|---|
 |
Float vertical acceleration | m s−2 | |
| ż | Float vertical velocity | m s−1 | [− 0.3, 0.3] |
| z | Float depth | m | [0, 50] |
| mv | Virtual mass | kg | 18 |
| mf | Float mass | kg | 9 |
| ma | Added mass | kg | 9 |
| ρ | Water density | kg m−3 | 1025 |
| g | Acceleration due to gravity | m s−3 | 9.81 |
| Vt | Total float volume | m3 | Vf + Vp |
| Vf | Float volume | m3 | ≈8.8 ×−3 |
| Vp | Piston volume | m3 | ΔVp = 1.7 ×−4 |
| S | Float’s cross sectional area | m2 | 4.5 ×−2 |
 |
Motor power | W | ≈19.8 |
| Cd | Drag coefficient | − | ≈1 (theoretical) |
 |
Water compressibility | Pa−1 | 4.27 ×−10 |
 |
Float compressibility | Pa−1 | ≈4.30 ×−9(theoretical) |
| χ | Loss of volume per meter | m2 | 2.15 ×−6 |
Current usage metrics show cumulative count of Article Views (full-text article views including HTML views, PDF and ePub downloads, according to the available data) and Abstracts Views on Vision4Press platform.
Data correspond to usage on the plateform after 2015. The current usage metrics is available 48-96 hours after online publication and is updated daily on week days.
Initial download of the metrics may take a while.