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Ura, T., Kumagai, M., Sakakibara, T., Kimura, Y., Oku- mura, T., Kazuyoshi, S., Sasaki, M. and Matsushima, M. (2002) Construction and operation of four autonomous underwater vehicles for lake survey. Proceedings of the 2002 International Symposium on Underwater Technol- ogy, Tokyo, 16-19 April 2002, 24-29. doi:10.1109/UT.2002.1002374

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