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added mass analysis ballast tank basically biaxial fabrics block diagram bourdon tube breathing gas buoyancy center of gravity coefficient compartment constant cylinders damping decompression sickness depth control system developed diameter Diver Escape Capsule diving drag coefficient Dry Suits dynamic positioning equations experimental fabric shell factor of safety fibers fixed float floatation force gauge Hoop stress hydrostatic test I I I inches inflated Kevlar latches load loops lower head maximum measuring modulus motor neoprene neutrally buoyant nylon o-ring operation performance Phase Margin pitch and roll platform frame platform heave position error pressure inside prototype recompression chamber rolling motion rotation sampling Saturation Diving seam self-adjusting relief valve shown in Fig sliding ring spheres stabilizing steel suit surface tensile strength thrust tion underwater upper head vertical motion vessel voltage water pressure wedging weight yarn