The complete experimental setup is presented in Figure . The immersion of test specimens takes place in a Fisherbrand™ Isotemp™ FSGPD28 general purpose water bath. To record the weight of the specimens during the experiment, a Gibertini CRYSTAL 500 CAL CE/C is used. A UR10e collaborative robot from Universal Robots is tasked with transporting the samples from the water bath to the balance and vice versa while a number of additional accessories facilitate the experiment. In the following subsections, the different components of the setup are described in further detail.