\newpage

\vspace*{0.5in}

\begin{minipage}[c]{0.99\textwidth}
  \centering 
  \includegraphics[width=0.95\textwidth]{figures/cover_orgs+.eps}
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\vspace{0.3in}
\noindent
This work is the product of a multi-year collaboration between the
Center for Advanced System Technologies (CAST), Code 2501, of the
Naval Undersea Warfare Center in Newport Rhode Island and the
Department of Mechanical Engineering and the Computer Science and
Artificial Intelligence Laboratory (CSAIL) at the Massachusetts
Institute of Technology in Cambridge Massachusetts.

\vspace{0.4in}

\noindent
{\bf Points of contact for collaborators:}

\vspace{0.1in}

\noindent
Dr. Michael R. Benjamin \newline
Center for Advanced System Technologies \newline
NUWC Division Newport Rhode Island \newline
{\underline {Michael.R.Benjamin@navy.mil}} \newline
{\underline {mikerb@csail.mit.edu}}

\vspace{0.25in}
\noindent
Prof. John J. Leonard \newline
Department of Mechanical Engineering \newline
Computer Science and Artificial Intelligence Laboratory \newline
Massachusetts Intitute of Technology \newline
{\underline {jleonard@csail.mit.edu}}
 

\vspace{0.25in}
\noindent
Prof. Henrik Schmidt \newline
Department of Mechanical Engineering \newline
Massachusetts Intitute of Technology \newline
{\underline {henrik@mit.edu}}
 

\vspace{0.75in}

\small
\noindent
{\bf Sponsorship, and public release information:}

\vspace{0.05in}
\noindent
This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of 
the Office of Naval Research (ONR), Code 311. Information on Navy public
release approval for this document can be obtained from the Technical
Library at the Naval Undersea Warfare Center, Division Newport RI. 
\normalsize
