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, “Simulating the dynamics of underwater vehicles with low-tension tethers”, International Journal of Offshore and Polar Engineering, vol. 3, pp. 213–218, 1993.
, “Maneuvering underwater vehicles employing low-tension tethers”, in Proceedings of the Second (1992) International Offshore and Polar Engineering Conference, Golden, Colo.: International Society of Offshore and Polar Engineer (ISOPE), 1992, pp. 321–326.