@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}
}
@inbook {Ulrich1991c,
	title = {{Passive mechanical gravity compensation for robot manipulators}},
	booktitle = {Proceedings: 1991 IEEE International Conference on Robotics and Automation, April 9-11, 1991, Sacramento, Calif.},
	volume = {2},
	year = {1991},
	pages = {1536{\textendash}1541},
	publisher = {IEEE Computer Society Press},
	organization = {IEEE Computer Society Press},
	address = {Los Alamitos, Calif.},
	isbn = {0-8186-2163-X},
	doi = {10.1109/ROBOT.1991.131834},
	url = {http://dx.doi.org/10.1109/ROBOT.1991.131834},
	author = {Ulrich, N and Kumar, V}
}
