“…Flexible tanks are widely used for balloons or buoyant aerobots (Cathey, 2008;Dosselaer, 2014;Zhu et al, 2019;Liao et al, 2021), and the most commonly used shape is a pumpkin balloon (Baginski et al, 2006;Wakefield, 2007;Baginski et al, 2008;Wakefield, 2009;Baginski, Brakke, 2010;Barg et al, 2011;Deng, Pellegrino, 2011;Wakefield, Bown, 2013;Saito et al, 2021). However, for the subsea storage of compressed air or oil, because the buoyancy in water is much greater than that in air, a shape with a larger height/diameter is preferred, as shown in the section presenting natural shapes, although there are several other shapes, such as droplet-shaped balloons (Cheung et al, 2012;Vasel-Be-Hagh et al, 2013;Vasel-Be-Hagh et al, 2015;Wang et al, 2019) and tubular long shapes (Mas, Rezola, 2016).…”