Jason McCanna, Graeme J. Rae; Shape memory alloy buoyancy regulator for subsea robots, Proceedings of the Tenth International Symposium on Unmanned Untethered Submersible Technology, vol. 10, pp. 206 - 216, September 1997.

K. A. White, S. M. Smith, K. Ganesan, D. Kronen, G. J. S. Rae, R. M. Langenbach; Performance results of a fuzzy behavioral altitude flight controller and rendezvous & docking of an autonomous underwater vehicles with fuzzy control, Proceedings of 1996 Symposium on Autonomous Underwater Vehicle Technology, pp. 117 - 124, June 1996.

R. M. Langenbach, G. J. S. Rae; Fuzzy logic docking control for an autonomous underwater vehicle, Proceedings of the Ninth International Symposium on Unmanned Untethered Submersible Technology, vol. 9, pp. 253 - 261, September 1995.

Nagahiko Shinjo, Graeme J. S. Rae; Sensor-based fuzzy obstacle avoidance system for autonomous underwater vehicles, Proceedings of the Ninth International Symposium on Unmanned Untethered Submersible Technology, vol. 9, pp. 271 - 278, September 1995.

Graeme J. S. Rae, Stan E. Dunn; On-line damage detection for autonomous underwater vehicles, Proceedings of 1994 Symposium on Autonomous Underwater Vehicle Technology, pp. 383 - 392, July 1994.

G. J. S. Rae, S. M. Smith; A Fuzzy Rule Based Docking Procedure for Autonomous Underwater Vehicles, Proceedings of IEEE OCEANS'92 Conference, pp. 539 - 546, October 1992.

G. J. S. Rae; A damage conscious navigation system for the ocean voyager, Proceedings of the Seventh International Symposium on Unmanned Untethered Submersible Technology, vol. 7, pp. 385 - 402, September 1991.

G. J. S. Rae; "Fautilus" twenty feet under the sea, Proceedings of MTS/IEEE OCEANS'89 Conference, pp. 16 - 25, September 1989.

G. J. S. Rae; "Fautilus" Twenty Feet Under the Sea, Proceedings of MTS/IEEE OCEANS'89 Conference, pp. 715 - 719, September 1989.