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C. T. Howell, Grosenbaugh, M. A., Moxnes, S., Anderson, J., and Triantafyllou, M. S., 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.