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M. S. Triantafyllou and Hover, F., Cable dynamics for tethered underwater vehicles. Cambridge, Mass.: Sea Grant College Program, Massachusetts Institute of Technology, 1990, p. 32.
M. S. Triantafyllou, Engebretsen, K., Burgess, J. J., Yoerger, D. R., and Grosenbaugh, M. A., 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, T. Moan, Ed. Trondheim, Norway: Tapir Publishers, 1988, pp. 549–563.
M. S. Triantafyllou and Grosenbaugh, M. A., Robust control for underwater vehicle systems with time delays, IEEE Journal of Oceanic Engineering, vol. 16, pp. 146–151, 1991.