K. S. Wasserman, J. L. Mathieu, M. I. Wolf, A. Hathi, S. E. Fried and A. K. Baker, “Dynamic Buoyancy Control of an ROV using Variable Ballast Tank,” Proceedings of OCEANS 2003, California, 22-26 September 2003, pp. 2888-2893.
 K. Shibuya, Y. Kado, S. Honda, T. Iwamoto and K. Tsutsumim, “Underwater Robot with a Buoyancy Control System Based on the Spermaceti Oil Hypothesis,” Proceedings of the 2006 IEEE/RSJ Interational Conference on Intelligent Robots and Systems, Beijing, 9-15 October 2006, pp. 3012-3017.
 M. R. Clarke, “Buoyancy Control as a Function of the Spermaceti Organ in the Sperm Whale,” Journal of the Marine Biological Association of the United Kingdom, Vol. 58, No. 1, 1978, pp. 27-71. doi:10.1017/S0025315400024395
 W. Zhao, J. Xu and M. Zhang, “A Variable Buoyancy System for Long Cruising Range AUV,” 2010 International Conference on Computer, Mechatronics, Control and Electronic Engineering (CMCE), Harbin, 24-26 August 2010, pp. 585-588.
 M. Xu, “Adaptive Fuzzy Logic Depth Controller for Variable Buoyancy System of Autonomous Underwater Vehicles,” Proceedings of the 3rd IEEE Conference on Fuzzy Systems, Florida, 26-29 June 1994, pp. 1191-1196.
 M. A. Salim, A. Noordin and A. N. Jahari, “A Robust of Fuzzy Logic and Proportional Derivative Control System for Monitoring Underwater Vehicles,” 2nd International Conference on Computer Research and Development, Melaka, 7-10 May 2010, pp. 849-853. doi:10.1109/ICCRD.2010.187