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"Development and Experimental Validation of an Underwater Manipulator Hydrodynamic Model", International Journal of Robotics Research, vol. 17, no. 7, pp. 748-759, 1998.
"Experiments in the Hydrodynamic Modeling of an Underwater Manipulator", Symposium on Autonomous Underwater Vehicle Technology: IEEE, pp. 463-469, June, 1996.
Modelling of Underwater Manipulator Hydrodynamics with Application to the Coordinated Control of an Arm/Vehicle System, , Stanford, CA 94305, Stanford University, August, 1995.