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Mason, Richard and Burdick, Joel (1999) Propulsion and control of deformable bodies in an ideal fluid. In: 1999 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 773-780. ISBN 0-7803-5181-9 . http://resolver.caltech.edu/CaltechAUTHORS:20111208-082607396

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