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  Subjects -> ENGINEERING (Total: 1961 journals)
    - CHEMICAL ENGINEERING (153 journals)
    - CIVIL ENGINEERING (149 journals)
    - ELECTRICAL ENGINEERING (81 journals)
    - ENGINEERING (1114 journals)
    - ENGINEERING MECHANICS AND MATERIALS (292 journals)
    - HYDRAULIC ENGINEERING (46 journals)
    - INDUSTRIAL ENGINEERING (52 journals)
    - MECHANICAL ENGINEERING (74 journals)

ENGINEERING (1114 journals)            First | 2 3 4 5 6 7 8 9 | Last

International Journal of Manufacturing Research     Hybrid Journal   (Followers: 6)
International Journal of Manufacturing Technology and Management     Hybrid Journal   (Followers: 8)
International Journal of Materials and Product Technology     Hybrid Journal   (Followers: 4)
International Journal of Mathematical Education in Science and Technology     Hybrid Journal   (Followers: 7)
International Journal of Mathematics in Operational Research     Hybrid Journal   (Followers: 1)
International Journal of Medical Engineering and Informatics     Hybrid Journal   (Followers: 5)
International Journal of Micro Air Vehicles     Full-text available via subscription   (Followers: 4)
International Journal of Microwave and Wireless Technologies     Hybrid Journal   (Followers: 1)
International Journal of Microwave Science and Technology     Open Access   (Followers: 2)
International Journal of Mobile Network Design and Innovation     Hybrid Journal   (Followers: 3)
International Journal of Multiphase Flow     Hybrid Journal   (Followers: 2)
International Journal of Nanomanufacturing     Hybrid Journal   (Followers: 1)
International Journal of Nanoscience     Hybrid Journal   (Followers: 1)
International Journal of Nanotechnology     Hybrid Journal   (Followers: 5)
International Journal of Navigation and Observation     Open Access   (Followers: 5)
International Journal of Network Management     Hybrid Journal  
International Journal of Nonlinear Sciences and Numerical Simulation     Full-text available via subscription   (Followers: 1)
International Journal of Numerical Methods for Heat & Fluid Flow     Hybrid Journal   (Followers: 7)
International Journal of Optics     Open Access   (Followers: 1)
International Journal of Organisational Design and Engineering     Hybrid Journal   (Followers: 9)
International Journal of Pattern Recognition and Artificial Intelligence     Hybrid Journal   (Followers: 6)
International Journal of Pavement Engineering     Hybrid Journal   (Followers: 2)
International Journal of Physical Modelling in Geotechnics     Hybrid Journal   (Followers: 3)
International Journal of Plasticity     Hybrid Journal   (Followers: 6)
International Journal of Plastics Technology     Hybrid Journal  
International Journal of Polymer Analysis and Characterization     Hybrid Journal   (Followers: 4)
International Journal of Polymer Science     Open Access   (Followers: 16)
International Journal of Precision Engineering and Manufacturing     Hybrid Journal   (Followers: 6)
International Journal of Precision Technology     Hybrid Journal  
International Journal of Pressure Vessels and Piping     Hybrid Journal   (Followers: 2)
International Journal of Production Economics     Hybrid Journal   (Followers: 10)
International Journal of Quality and Innovation     Hybrid Journal   (Followers: 3)
International Journal of Quality Engineering and Technology     Hybrid Journal   (Followers: 2)
International Journal of Quantum Information     Hybrid Journal  
International Journal of Rapid Manufacturing     Hybrid Journal   (Followers: 2)
International Journal of Reliability, Quality and Safety Engineering     Hybrid Journal   (Followers: 4)
International Journal of Renewable Energy Technology     Hybrid Journal   (Followers: 8)
International Journal of Robust and Nonlinear Control     Hybrid Journal   (Followers: 2)
International Journal of Science Engineering and Advance Technology     Open Access  
International Journal of Sediment Research     Full-text available via subscription   (Followers: 1)
International Journal of Self-Propagating High-Temperature Synthesis     Hybrid Journal   (Followers: 2)
International Journal of Signal and Imaging Systems Engineering     Hybrid Journal  
International Journal of Six Sigma and Competitive Advantage     Hybrid Journal  
International Journal of Social Robotics     Hybrid Journal   (Followers: 1)
International Journal of Software Engineering and Knowledge Engineering     Hybrid Journal   (Followers: 1)
International Journal of Space Science and Engineering     Hybrid Journal   (Followers: 2)
International Journal of Speech Technology     Hybrid Journal   (Followers: 3)
International Journal of Spray and Combustion Dynamics     Full-text available via subscription   (Followers: 6)
International Journal of Surface Engineering and Interdisciplinary Materials Science     Full-text available via subscription   (Followers: 1)
International Journal of Surface Science and Engineering     Hybrid Journal   (Followers: 7)
International Journal of Sustainable Engineering     Hybrid Journal   (Followers: 7)
International Journal of Sustainable Manufacturing     Hybrid Journal   (Followers: 4)
International Journal of Systems Assurance Engineering and Management     Hybrid Journal  
International Journal of Systems, Control and Communications     Hybrid Journal   (Followers: 2)
International Journal of Technology Management and Sustainable Development     Hybrid Journal   (Followers: 1)
International Journal of Technology Policy and Law     Hybrid Journal   (Followers: 4)
International Journal of Telemedicine and Applications     Open Access   (Followers: 2)
International Journal of Thermal Sciences     Hybrid Journal   (Followers: 5)
International Journal of Thermodynamics     Open Access   (Followers: 2)
International Journal of Turbo & Jet-Engines     Full-text available via subscription  
International Journal of Ultra Wideband Communications and Systems     Hybrid Journal  
International Journal of Vehicle Autonomous Systems     Hybrid Journal   (Followers: 1)
International Journal of Vehicle Design     Hybrid Journal   (Followers: 6)
International Journal of Vehicle Information and Communication Systems     Hybrid Journal   (Followers: 2)
International Journal of Vehicle Noise and Vibration     Hybrid Journal   (Followers: 3)
International Journal of Vehicle Safety     Hybrid Journal   (Followers: 4)
International Journal of Vehicular Technology     Open Access   (Followers: 2)
International Journal of Virtual Technology and Multimedia     Hybrid Journal   (Followers: 4)
International Journal of Wavelets, Multiresolution and Information Processing     Hybrid Journal  
International Journal on Artificial Intelligence Tools     Hybrid Journal   (Followers: 4)
International Nano Letters     Open Access   (Followers: 6)
International Review of Applied Sciences and Engineering     Full-text available via subscription  
Inverse Problems in Science and Engineering     Hybrid Journal   (Followers: 2)
Ionics     Hybrid Journal  
IPTEK The Journal for Technology and Science     Open Access  
IRBM News     Full-text available via subscription  
Irrigation and Drainage Systems     Hybrid Journal  
ISA Transactions     Full-text available via subscription   (Followers: 1)
ISRN - International Scholarly Research Notices     Open Access   (Followers: 69)
ISRN Nanotechnology     Open Access  
ISRN Signal Processing     Open Access  
ISRN Thermodynamics     Open Access  
IT Professional     Full-text available via subscription   (Followers: 3)
Journal of Biosensors & Bioelectronics     Open Access   (Followers: 1)
Journal of Advanced Manufacturing Systems     Hybrid Journal   (Followers: 7)
Journal of Aerosol Science     Hybrid Journal   (Followers: 2)
Journal of Aerospace Engineering     Full-text available via subscription   (Followers: 142)
Journal of Alloys and Compounds     Hybrid Journal   (Followers: 7)
Journal of Analytical and Applied Pyrolysis     Hybrid Journal   (Followers: 3)
Journal of Analytical Science & Technology     Open Access   (Followers: 4)
Journal of Analytical Sciences, Methods and Instrumentation     Open Access   (Followers: 1)
Journal of Applied Analysis     Full-text available via subscription  
Journal of Applied and Industrial Sciences     Open Access  
Journal of Applied Logic     Full-text available via subscription  
Journal of Applied Physics     Hybrid Journal   (Followers: 168)
Journal of Applied Probability     Full-text available via subscription   (Followers: 6)
Journal of Applied Research and Technology     Open Access  
Journal of Applied Science and Technology     Full-text available via subscription  
Journal of Applied Sciences     Open Access   (Followers: 5)
Journal of Architectural Engineering     Full-text available via subscription   (Followers: 6)

  First | 2 3 4 5 6 7 8 9 | Last

Journal of Dynamic Systems, Measurement, and Control
   Journal TOC RSS feeds Export to Zotero [9 followers]  Follow    
   Full-text available via subscription Subscription journal
     ISSN (Print) 1528-9028 - ISSN (Online) 0022-0434
     Published by ASME International Homepage  [25 journals]   [SJR: 0.701]   [H-I: 53]
  • A Method for Selecting Velocity Filter Cut-Off Frequency for Maximizing
           Impedance Width Performance in Haptic Interfaces
    • Authors: Chawda V; Celik O, O'Malley MK.
      Abstract: This paper analyzes the effect of velocity filtering cut-off frequency on the Z-width performance of haptic interfaces. Finite difference method (FDM) cascaded with a low pass filter is the most commonly used technique for estimating velocity from position data in haptic interfaces. So far, there is no prescribed method for obtaining the FDM + filter cut-off frequency that will maximize Z-width performance. We present a simulation based method to demonstrate that there exists such an ideal FDM + filter cut-off frequency, and that it can be predicted by numerical simulation based on an identified model of a haptic interface. Experiments are conducted on a single degree-of-freedom (DOF) linear haptic interface to validate the simulation results.
      PubDate: Fri, 03 Oct 2014 00:00:00 GMT
       
  • Vehicle Parameter Identification for Vertical Dynamics
    • Authors: Cui Y; Kurfess TR.
      Abstract: In this paper, a nonlinear full car model considering the nonlinear and hysteretic characteristics of the shock absorber is developed. An approach to integrate the hybrid shock absorber model into the vehicle model using system identification techniques is then presented. To validate the approach, parameter identification of the nominal linear full car model and parameter identification of the full car model with nonlinear/hysteresis shock absorber force input are compared. The target vehicle is tested on an MTS Systems Corporation tire-coupled 4-post road simulator and the experimental data validate the system identification methods proposed in this paper.
      PubDate: Fri, 03 Oct 2014 00:00:00 GMT
       
  • Magnetic Bearing Rotordynamic System Optimization Using Multi-Objective
           Genetic Algorithms
    • Authors: Zhong W; Palazzolo A.
      Abstract: Multiple objective genetic algorithms (MOGAs) simultaneously optimize a control law and geometrical features of a set of homopolar magnetic bearings (HOMB) supporting a generic flexible, spinning shaft. The minimization objectives include shaft dynamic response (vibration), actuator mass and total actuator power losses. Levitation of the spinning rotor and dynamic stability are constraint conditions for the control law search. Nonlinearities include magnetic flux saturation, and current and voltage limits. Pareto frontiers were applied to identify the best-compromised solution. Mass and vibration reductions improve with a two control law approach.
      PubDate: Wed, 24 Sep 2014 00:00:00 GMT
       
  • Modeling of Multisample Nanoplacing
    • Authors: Landolsi F; Ghorbel FH.
      Abstract: Recently, we proposed a new probe-based manipulation technique, namely, vibrational nanoplacing, which reduces the requirements on the substrate flatness. The new manipulation scheme relies on adhesion forces to capture a sample at the nanoscale and transport it. The sample is then released using dynamic oscillations of the probe. In the present paper, we analyze the generalization of the proposed approach to multisamples and investigate selective release.
      PubDate: Wed, 24 Sep 2014 00:00:00 GMT
       
  • Adaptive Semi-Active Suspension of Quarter-Vehicle With Magnetorheological
           Damper
    • Authors: El Majdoub KK; Ghani DD, Giri FF, et al.
      Abstract: This paper addresses the problem of controlling quarter-vehicle semi-active suspension systems. Presently, the suspension system involves a magnetorheological (MR) damper featuring hysteretic behavior captured through the Bouc–Wen model. The control objective is to regulate well the chassis vertical position despite the road irregularities. The difficulty of the control problem lies in the nonlinearity of the system model, the uncertainty of some parameters and the inaccessibility to measurements of the hysteresis internal state variable. The control design is performed using Lyapunov control design tools; it includes an observer providing online estimates of the hysteresis internal state and an adaptive state-feedback regulator. The adaptive controller, obtained by combining the state observer and the state-feedback regulator, is formally shown to meet the desired control objectives. This theoretical result is confirmed by several simulations. The latter illustrate the performances of the present adaptive controller and compare them with those of earlier control approaches and those of the passive suspension.
      PubDate: Wed, 24 Sep 2014 00:00:00 GMT
       
  • Robust and Dynamically Consistent Model Order Reduction for Nonlinear
           Dynamic Systems
    • Authors: Segala DB; Chelidze D.
      Abstract: There is a great importance for faithful reduced order models (ROMs) that are valid over a range of system parameters and initial conditions. In this paper, we demonstrate through two nonlinear dynamic models (pinned–pinned beam and thin plate) that are both randomly and periodically forced that smooth orthogonal decomposition (SOD)-based ROMs are valid over a wide operating range of system parameters and initial conditions when compared to proper orthogonal decomposition (POD)-based ROMs. Two new concepts of subspace robustness—the ROM is valid over a range of initial conditions, forcing functions, and system parameters—and dynamical consistency—the ROM embeds the nonlinear manifold—are used to show that SOD, as opposed to POD, can capture the low order dynamics of a particular system even if the system parameters or initial conditions are perturbed from the design case.
      PubDate: Wed, 24 Sep 2014 00:00:00 GMT
       
  • An Alignment Strategy for Evolution of Multi-Agent Systems
    • Authors: Rastgoftar H; Jayasuriya S.
      Abstract: Developed in this paper is the notion that the collective behavior of swarms can be achieved without explicit peer-to-peer communication among agents. It is based on a recently proposed continuum framework for studying swarms where homogeneous maps are the key. The paper focuses on 2D evolution of a multi-agent system (MAS) that consists of N agents with Nl leaders at the two ends of m lines called leading segments, that are on the boundary of a moving convex domain Ωt. Rest of the (N-Nl) agents, the followers, are distributed along the m leading segments while lying inside the convex domain Ωt. Every follower i is initially located at the intersection of two line segments whose end points define four agents that are adjacent to i. Under this setup if the domain Ωt is transformed under a homogenous mapping and if every follower agent moves in such a way to reach the point of intersection of the two line segments connecting the adjacent agents, then the final formation of the MAS will satisfy the same homogenous map. This alignment strategy has the distinct advantage that the followers do not need the exact positions of the adjacent local agents to stay aligned.
      PubDate: Thu, 11 Sep 2014 00:00:00 GMT
       
  • Searching and Localizing a Radio Target by an Unmanned Flying Vehicle
           Using Bootstrap Filtering
    • Authors: Saghafi F; Esmailifar S.
      Abstract: In this article, an algorithm has been developed to search and localize a radio target in a marine area. This algorithm consists of two main parts, estimation and guidance. In the estimation part, bootstrap filtering has been employed to extract the target states from measurements. Although, by utilizing bootstrap filter, the target states can be estimated without requiring special maneuvers, exploiting proper guidance law to maximize the information gain can significantly enhance the localization performance. For evaluating the developed algorithm, an accurate simulation software with six degrees of freedom mathematical model including autopilot is used. Obtained statistical results from different simulation runs for both stationary and moving targets are presented to demonstrate the performance of the developed algorithm.
      PubDate: Thu, 11 Sep 2014 00:00:00 GMT
       
  • Reliable Robust Control Design for Uncertain Mechanical Systems
    • Authors: Sakthivel RR; Santra S, Mathiyalagan KK, et al.
      Abstract: In this article, we consider the problem of reliable H∞ control for a class of uncertain mechanical systems with input time-varying delay and possible occurrence of actuator faults. In particular, we assume that linear fractional transformation (LFT) uncertainty formulations appear in the mass, damping, and stiffness matrices. The main objective is to design a state feedback reliable H∞ controller such that, for all admissible uncertainties as well as actuator failure cases, the resulting closed-loop system is robustly asymptotically stable while satisfying a prescribed H∞ performance constraint. By constructing an appropriate Lyapunov–Krasovskii functional (LKF) and using linear matrix inequality (LMI) approach, a new set of sufficient conditions are derived in terms of LMIs for the existence of robust reliable H∞ controller. Further, Schur complement and Jenson's integral inequality are used to substantially simplify the derivation in the main results. The obtained results are formulated in terms of LMIs which can be easily verified by the standard numerical softwares. Finally, numerical examples with simulation result are provided to illustrate the applicability and effectiveness of the proposed reliable H∞ control scheme. The numerical results reveal that the proposed theory significantly improves the upper bound of time delays and minimum feasible H∞ performance index over some existing works.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • Dynamic Performance Characteristics of Floating-Ring Bearings With Varied
           Oil-Injection Swirl-Control Angles
    • Authors: Tamunodukobipi D; Ho Kim C, Lee Y.
      Abstract: Hydrodynamic instability is a prime causative of performance irregularities and violent vibrations in floating-ring bearing (FRB) supported turbosystems. The quest for energy-efficient solutions to this has stimulated the development of diverse FRB design-geometries, dimensional relationships, and surface-contours. Unfortunately, these modifications are characterized mainly by model-predictors, which results lack sufficient test-data to benchmark their authenticities. This work presents the concept and the test-data of flow redirection in FRBs by using an oil-injection swirl-control mechanism (OISCM) to attenuate rotordynamic instabilities. FRBs with radius ratio = 1.75 and clearance ratio = 1.5 are tested for various OISCM angles (0 deg, 30 deg, and 60 deg) and under a specific load = 50 kN/m2. The test results indicate that FRBs with OISCM demonstrate substantial improvements in damping and stability characteristics. Their whirl-frequency-ratio (WFR) and cross-coupled forces are lower because of improved symmetry of films' pressure-forces (Kxx ≈ Kyy). Although the magnitudes of direct damping are higher ( Cxx  = 16.92 kN s/m for 60 deg and 6.03 kN s/m for 0 deg), the load capacity (Kxx) is slightly lower than the normal (0 deg), injection. Nonetheless, this discrepancy in load capacities becomes insignificant for speeds above 22 krpm. The WFR and subsynchronous amplitudes, which are graphic reflections of the bearing-based instability, become progressively smaller with increasing OISCM angle. However, this advantage at elevated speeds can only be sustained by a corresponding increase in oil-supply pressure to circumvent the advent of a starved inner-film and its attendant imbalance response and thermal growth. In closure, the OISCM bearing is more effective for mitigating rotordynamic instabilities in turborotors than conventional FRBs.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • Task Space Impedance Control of the Manipulator Driven Through the
           Multistage Nonlinear Flexible Transmission
    • Authors: Pitakwatchara P.
      Abstract: This paper addresses the task space impedance control of a robot driven through the multistage nonlinear flexible transmission. The proposed controller uses limited information of the angle and the current of the motors to regulate the end point compliance at the specified set point. In particular, motor angle is employed to estimate the stationary robot link angle and joint velocity in real time. They are then used to constitute the stationary force on the attempt to cancel the robot gravity force and to form the task space interacting force according to the desired impedance characteristics. Motor current is used to infer the transmitted torque to the robot. This torque is fed back to mitigate the effect of the motor inertia from deteriorating the desired impedance. Asymptotic stability of this controller with the flexible joint robot is guaranteed with additional damping. Passivity of the system is also investigated. Simulation and experiments of the proposed control scheme on a two degrees-of-freedom (DOF) cable-pulley driven flexible joint robot model are examined.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • A Discrete Sliding-Mode Guidance Law
    • Authors: Zhou D; Sun S, Zhou J, et al.
      Abstract: Based on the discrete form of the target-missile relative motion equations in plane, a discrete sliding-mode guidance (DSMG) law is proposed. All previous missile seeker's measurements are used in the design of the DSMG law to estimate the target acceleration such that noises in the seeker's measurements are effectively being smoothened. It is proved that the proposed DSMG law is finite time convergent. Quasi sliding-mode bands of the DSMG law are discussed, and the formula for calculating the terminal miss distances of the missile under the DSMG law are presented. Simulation results from a space interception process verify the effectiveness of the proposed method.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • Control of an Underactuated Three-Link Passive–Active–Active
           Manipulator Based on Three Stages and Stability Analysis
    • Authors: Lai X; Pan C, Wu M, et al.
      Abstract: This paper presents a novel three-stage control strategy for the motion control of an underactuated three-link passive–active–active (PAA) manipulator. First, a nonlinear control law is designed to make the angle and angular velocity of the third link convergent to zero. Then, a swing-up control law is designed to increase the system energy and control the posture of the second link. Finally, an integrated method with linear control and nonlinear control is introduced to stabilize the manipulator at the straight-up position. The stability of the control system is guaranteed by Lyapunov theory and LaSalle’s invariance principle. Compared to other approaches, the proposed strategy innovatively introduces a preparatory stage to drive the third link to stretch-out toward the second link in a natural way, which makes the swing-up control easy and quick. Besides, the intergraded method ensures the manipulator moving into the balancing stage smoothly and easily. The effectiveness and efficiency of the control strategy are demonstrated by numerical simulations.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • Early Model-Based Design and Verification of Automotive Control System
           Software Implementations
    • Authors: Shahbakhti M; Reza Amini M, Li J, et al.
      Abstract: Verification and validation (V&V) are essential stages in the design cycle of automotive controllers to remove the gap between the designed and implemented controller. In this paper, an early model-based methodology is proposed to reduce the V&V time and improve the robustness of the designed controllers. The application of the proposed methodology is demonstrated on a cold start emission control problem in a midsize passenger car. A nonlinear reduced order model-based controller based on singular perturbation approximation (SPA) is designed to reduce cold start hydrocarbon (HC) emissions from a spark ignition (SI) combustion engine. A model-based simulation platform is created to verify the controller robustness against sampling, quantization, and fixed-point arithmetic imprecision. In addition, the results from early model-based verification are used to identify and remove sources of errors causing propagation of numerical imprecision in the controller structure. Thus the structure of the controller is modified to avoid or to reduce the level of numerical noise in the controller design. The performance of the final modified controller is validated in real-time by testing the control algorithm on a real engine control unit. The validation results indicate the modified controller is 17–63% more robust to different implementation imprecision while it requires lower implementation cost. The proposed methodology from this paper is expected to reduce typical V&V efforts in the development of automotive controllers.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • Neural Network-Based Tracking Control of Underactuated Autonomous
           Underwater Vehicles With Model Uncertainties
    • Authors: Seok Park B.
      Abstract: In this paper, we propose a neural network (NN)-based tracking control method for underactuated autonomous underwater vehicles (AUVs) with model uncertainties. In order to solve the difficulties in designing the controller for underactuated AUVs, the additional virtual control input is developed, and the approach angle, which generates the desired yaw angle to track any reference trajectory, is introduced. Moreover, the NNs are used to deal with model uncertainties in the hydrodynamic damping terms of AUVs. Finally, the proposed controller is designed based on the dynamic surface control (DSC) method, and the boundedness of all tracking errors is proved by using the Lyapunov stability theory. Some simulation results demonstrate the performance of the proposed control method.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
  • On the Self-Recovery Phenomenon for a Cylindrical Rigid Body Rotating in
           an Incompressible Viscous Fluid
    • Authors: Eui Chang D; Jeon S.
      Abstract: The damping-induced self-recovery phenomenon is well understood for finite-dimensional mechanical systems. In this paper, we discover a self-recovery phenomenon in a composite system that consists of a cylindrical vessel and a surrounding fluid, where the vessel is equipped with an internal rotor and the fluid is incompressible and viscous. In the system dynamics, interactions between the vessel and the ambient fluid are fully taken into account. A combination of the Lyapunov method and the final-value theorem is applied for analysis of the dynamics. It is mathematically shown that after the spin of the rotor comes to a complete stop in finite time or exponentially as time tends to infinity, the vessel, which has deviated from its initial position due to the reaction to rotor spinning, converges back to its initial position as time tends to infinity, and so does every fluid particle. An experimental test is conducted to verify the occurrence of this phenomenon. The simultaneous self-recovery of the vessel and the fluid to the initial configuration is induced by the fluid viscosity as if the viscosity has a memory of the initial configuration. We envision that our discovery may be useful in designing and operating mechatronic systems interacting with fluids such as underwater vehicles.
      PubDate: Wed, 10 Sep 2014 00:00:00 GMT
       
 
 
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