publication venue for Preswirl Maneuvering Propulsor 2012 Configuration Optimization of Supercavitating Underwater Vehicles With Maneuvering Constraints 2010 Calibration of a seawater sound velocimeter 2006 Stratigraphic model predictions of geoacoustic properties 2006 System identification of open-loop maneuvers leads to improved AUV flight performance 2006 SIMULATING OCEAN ACOUSTIC TOMOGRAPHY MEASUREMENTS WITH HAMILTONIAN RAY TRACING 1986