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However, there are a lot of problems to be solved. We have been investigated the application of brain-inspired technolofies into AUVs. The motion of AUV is represented by complicated non-linear dynamics in six degrees of freedom with added-mass and hydrodynamic forces, and control systems should be adaptive and robust. In this paper, a new self-Organizing cotroller system for AUVs using modular network Self-Organizing Map(mnSOM) proposed by Tokunaga et al. is discussed. 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