Kenneth W. Watkinson, Douglas E. Humphreys, Neill S. Smith; UUV controllability at transition speeds: Thruster and fin control authority requirements, Proceedings of the Ninth International Symposium on Unmanned Untethered Submersible Technology, vol. 9, p. 97, September 1995.

D. E. Humphreys, K. W. Watkinson; Hydrodynamic control tradeoffs between fully movable and flapped control surfaces, Proceedings of the Eighth International Symposium on Unmanned Untethered Submersible Technology, vol. 8, pp. 312 - 318, September 1993.

D. E. Humphreys, K. W. Watkinson; The impact of open-loop vehicle stability on closed-loop control system performance: An analysis of four AUV concepts, Proceedings of IEEE OCEANS'92 Conference, pp. 533 - 538, October 1992.

Kenneth W. Watkinson; Application of aerospace rendezvous and intercept guidance techniques to underwater vehicles, Proceedings of the Seventh International Symposium on Unmanned Untethered Submersible Technology, vol. 7, pp. 104 - 115, September 1991.

Douglas E. Humphreys, Kenneth W. Watkinson; Use of a six-degree-of-freedom simulation model as a diagnostic tool for interpreting field test data: Determination of open-loop stability and center-of-gravity variations, Proceedings of the Fourth International Symposium on Unmanned Untethered Submersible Technology, vol. 4, pp. 70 - 96, June 1985.

Douglas E. Humphreys, Kenneth W. Watkinson; Effects of fin asymmetry on the dynamic response of a representative untethered submersible, Proceedings of the Third International Symposium on Unmanned Untethered Submersible Technology, vol. 3, pp. 132 - 149, June 1983.

Douglas E. Humphreys, Kenneth W. Watkinson; Methods for estimating vehicle transfer functions requiring only the geometric and inertia characteristics, OCEANS'72 --- IEEE International Conference on Engineering in the Ocean Environment, pp. 220 - 223, September 1972.