Buoyancy- and Gravity-Powered Underwater Robots. - Amr M. Baz; Levent Gümüsel (Int. J. Robotics Res., 1990)

Experimental and theoretical evaluation of the buoyancy and gravity driven underwater robots. - Levent Gümüsel; Amr M. Baz (Robotica, 1995)

Optimum design of a bouyancy and gravity-driven underwater robot. - Amr M. Baz; Levent Gümüsel (J. Field Robotics, 1996)

Efficient virtual reality design of quiet underwater shells. - W. Akl; Amr M. Baz (Virtual Real., 2005)