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Cannon, R. H., S. M. Rock, R. L. Marks, T. W. McLain, D. W. Miles, and H. H. Wang, Object Control for Undersea Robotic Vehicles, : Stanford University Aerospace Robotics Lab, September, 1993.
McLain, T. W., and S. M. Rock, "Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
McLain, T. W., and S. M. Rock, "Experiments in the Hydrodynamic Modeling of an Underwater Manipulator", Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.