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, “First evidence for high-temperature off-axis venting of deep crustal/mantle heat: The Nibelungen hydrothermal field, southern Mid-Atlantic Ridge”, Earth and Planetary Science Letters, vol. 275, pp. 61–69, 2008.
, “Fine-scale seafloor survey in rugged deep-ocean terrain with an autonomous robot”, in Proceedings: 2000 IEEE International Conference on Robotics and Automation April 24-28, 2000, San Francisco Hilton Hotel, San Francisco, California, vol. 2, Piscataway, N.J.: IEEE, 2000, pp. 1787–1792.
, “Fine-scale three-dimensional mapping of a deep-sea hydrothermal vent site using the Jason ROV system”, International Journal of Robotics Research, vol. 19, pp. 1000–1014, 2000.
, “Full-scale experiments in open-loop positioning of a deep towfish”, in Oceans '92: Mastering the oceans through technology: Proceedings, vol. 2, New York, N.Y.: IEEE, 1992, pp. 906–911.
, “A full-scale experiment and theoretical study of the dynamics of underwater vehicles employing very long tethers”, in BOSS '88 : proceedings of the International Conference on Behavior of Offshore Structures, Trondheim, Norway, June 1988, vol. 2, Trondheim, Norway: Tapir Publishers, 1988, pp. 549–563.