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"Experiments in the Hydrodynamic Modeling of an Underwater Manipulator", Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.
"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
Object Control for Undersea Robotic Vehicles, : Stanford University Aerospace Robotics Lab, September, 1993.