International Conference on Robotics and Automation, page. 4809 - 1814, 2004-04-27
International Conference Intelligent Robots and System, page. 1737 - 1742, 2005-08-05
International Conference on Control, Automation and Systems, page. 1587 - 1592, 2003-10-22
the Fifth ISOPE Pacific/Asia Offshore Mechanics Symposium, page. 143 - 149, 2002-11-01