NASA NTRS2000
Until quite recently, the only practical means to control balloon buoyancy, and thus altitude, required consuming large amounts of fuel or the limited venting of helium balloons and/or dropping of ballast. With recent discoveries at JPL, novel long-life, balloon buoyancy techniques have been discovered that for the first time allow balloons to float in the primarily hydrogen atmospheres of Jupiter, Saturn, Uranus, and Neptune (using ambient fill-gas), and by using renewable energy sources, allow multiple controlled landings on Venus (using atmospheric temperature differences), Mars (solar heat), Titan (RTG heat), and Earth (planet radiant heat).
Balloon Planetary Aerobot Buoyancy Mars Titan Venu↗