JOURNAL OF ROBOTIC SYSTEMS, vol. 20, no. 2, page. 79 - 91, 2003-02
JOURNAL OF ROBOTIC SYSTEMS, vol. 21, no. 7, page. 369 - 379, 2004-07
JOURNAL OF ROBOTIC SYSTEMS, vol. 22, no. 2, page. 111 - 121, 2005-02