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E. R. Snow, Advances in grasping and vehicle contact identification : analysis, design and testing of robust methods for underwater robot manipulation, Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution, Cambridge, MA and Woods Hole, MA, 1999.
E. R. Snow and Yoerger, D. R., Devising a misalignment tolerant subsea grasping system, in Oceans '97 MTS/IEEE : conference proceedings : 6-9 October 1997, World Trade and Convention Centre, Halifax, Nova Scotia, Canada, vol. 2, Piscataway, N.J.: IEEE, 1997, pp. 1222–1229.