@article{articled07c9b57,
title   = {Modeling and identification of an open-frame underwater vehicle: the yaw motion dynamics},
author = {Julca Avila, Juan Pablo and Adamowski, Júlio Cezar and Maruyama, Newton and Takase, Fábio Kawaoka and Saito, Milton},
year = {2012},
doi = {10.1007/s10846-011-9625-x},
journal   = {Journal of Intelligent and Robotic Systems}
}