"This change in shape creates friction inside Europa, generating enormous amounts of heat in a mechanism known as tidal heating, which melts some of the ice and forms a vast internal ocean beneath the moon's thick ice shell."
"The autonomous underwater exploration robots envisioned by SWIM are extremely small. Their wedge-shaped bodies are about 12 centimeters long, with devices called cryobots to transport them beneath thick ice shells using nuclear energy to melt the ice."
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