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 __   __     ___      _____     _____     ______  
 \ \\/ //   / _ \\   |__  //   |  ___||  /_   _// 
  \   //   | / \ ||    / //    | ||__    `-| |,-  
  / . \\   | \_/ ||   / //__   | ||__      | ||   
 /_//\_\\   \___//   /_____||  |_____||    |_||   
 `-`  --`   `---`    `-----`   `-----`     `-`'

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Text this: Control of a four-wheel ROV on a circular surface