@article {Estabrook1977,
	title = {{Development of deep-ocean work system}},
	journal = {Mechanism and Machine Theory},
	volume = {12},
	number = {5},
	year = {1977},
	pages = {569{\textendash}576},
	keywords = {HOV Alvin (Human Occupied Vehicle)},
	issn = {0094-114X},
	doi = {10.1016/0094-114X(77)90049-0},
	url = {http://dx.doi.org/10.1016/0094-114X(77)90049-0},
	author = {Estabrook, N and Wheeler, H and Uhler, D and Hackman, D}
}
