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, “A remote navigation system for the deep diving research vessel Alvin”, in Proceedings: 2000 IEEE International Conference on Robotics and Automation April 24-28, 2000, San Francisco Hilton Hotel, San Francisco, CaliforniaNational Marine Navigation Meeting, Manned Deep Submergence Vehicles, Washinton, D.C.: Institute of Navigation, 1966, pp. 184–208.