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, “Identification of low-order dynamic models for deeply towed underwater vehicle systems”, International Journal of Offshore and Polar Engineering, vol. 2, pp. 38–45, 1992.
, “Identification of parametric dynamic models for deeply-towed underwater vehicle systems”, in Proceedings of the First (1991) International Offshore and Polar Engineering Conference, vol. 2, Golden, Colo.: International Society of Offshore and Polar Engineers (ISOPE), 1991, pp. 97–105.
, “The influence of thruster dynamics on underwater behavior and their incorporation into control system design”, IEEE Journal of Oceanic Engineering, vol. 15, pp. 167–178, 1990.
, “An inverse kinematic algorthim for manipulators with redundant degrees of freedom”, International Journal of Robotics and Automation, vol. 2, pp. 86–89, 1987.