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The Piranha Unmanned Surface Vessel ( USV or unmanned surface vehicle ) is a watercraft developed by Zyvex Marine ( a division of Zyvex Technologies , formerly Zyvex Performance Materials ) in 2010 .
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Please list all entity words in the text that fit the category. Output format is "word1, word2". 
Option: location, person, organization 
Text: {0} 
Answer:
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