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i think they use paraffin actuators on underwater robotic glider AUVs thesedays too.
When they glide up or down through the thermoclines - the parafin actuator charges a battery to run the whole operation. Effectively meaning the robots can operate indefinitely underwater (if needed) with no need to surface and charge it's solar panels - it instead harvests energy from the temperature differences underwater at various depths, all thanks to a parafin piston.
roidroid 1 year ago