On Sep 3, 2011, at 7:24 AM, Dominic Pflaum wrote:

 Another idea may be to counteract gravity by filling the balloons with a certain amount of helium.

They had a partial helium mix ... it's not as easy as I thought to make them neutrally buoyant and they only stay that way for about 2 hours. For various reasons, most of the documentation was shot *after* they had lost some lift ...

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Dan Wilcox
danomatika.com
robotcowboy.com