Toshifumi Okunishi
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Shunichi Kobayashi, Akira Sekiznka, Toshifumi Okunishi, Hirohisa Morikawa;
Autonomous distributed control for ultra multilink bending propulsion mechanism in water, Proceedings of the 11th International Symposium on Unmanned Untethered Submersible Technology, vol. 11,
pp. 335 - 341, August 1999.