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1993
D. A. Mindell, Yoerger, D. R., Freitag, L. E., Whitcomb, L. L., and Eastwood, R. L., “Jason talk: a standard ROV vehicle control system”, in Oceans '93: Engineering in harmony with the ocean: Proceedings, vol. 3, New York, N.Y.: IEEE, 1993, pp. III253–III258.
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