@inbook {Ulrich1991a,
	title = {{Design optimization of an electric underwater manipulator}},
	booktitle = {Intervention/ROV {\textquoteright}91 Conference {\&} Exposition: May 21-23, 1991, Diplomat Resort and Convention Center, Hollywood, Florida},
	year = {1991},
	pages = {219{\textendash}228},
	publisher = {Marine Technology Society ROV Committee},
	organization = {Marine Technology Society ROV Committee},
	address = {San Diego, Calif.},
	author = {Ulrich, N and Yoerger, D R}
}
