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K. Shibuya, Y. Kado, S. Honda, T. Iwamoto and K. Tsutsumim, “Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis,” Proceedings of the 2006 IEEE/RSJ Interational Conference on Intelligent Robots and Systems, Beijing, 9-15 October 2006, pp. 3012-3017.

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