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N. Ulrich and Yoerger, D. R., Design optimization of an electric underwater manipulator, in Intervention/ROV '91 Conference {&} Exposition: May 21-23, 1991, Diplomat Resort and Convention Center, Hollywood, Florida, San Diego, Calif.: Marine Technology Society ROV Committee, 1991, pp. 219–228.
N. Ulrich and Kumar, V., Passive mechanical gravity compensation for robot manipulators, in Proceedings: 1991 IEEE International Conference on Robotics and Automation, April 9-11, 1991, Sacramento, Calif., vol. 2, Los Alamitos, Calif.: IEEE Computer Society Press, 1991, pp. 1536–1541.