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Nitiwat Sanornoi, Thossaporn Thossansin, Boonchana Phurahong, Pitikhate Sooraksa. Hydra Control System. In 2004 IEEE Conference on Robotics, Automation and Mechatronics, RAM 2004, December 1-3, 2004, Singapore. pages 1135-1140, IEEE, 2004. [doi]