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, “Three-dimensional stochastic modeling using sonar sensing for undersea robotics”, Autonomous Robots, vol. 3, pp. 121–143, 1996.
, “Texture classification using wavelet packet and fourier transforms”, in Oceans '95 : "Challenges of our changing global environment" : conference proceedings, October 9-12, 1995, San Diego, California, vol. 1, San Diego, Calif.: Oceans '95 MTS/IEEE Conference Committee, 1995, pp. 387–396.
, “Three-dimensional modeling of seaflorr backscatter from sidescan sonar for autonomous classfication and navigation”, in Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology, June 12-14, 1989, Durham, N.H.: Marine Systems Engineering Laboratory, University of New Hampshire, 1989, p. 21 pages.