1. R.H. WESTON, R. HARRISON, A.H. BOOTH and P.R. MOORE (1989) A new concept in machine control. J. Computer Integrated Manufacturing Systems 2 (2), p. 115–122
2. R. HARRISON (1991) A generalised approach to machine control. Ph.D. Thesis, Loughborough University of Technology.
3. X.T. YAN (1992) Graphical modelling of modular machines. Ph.D. Thesis, Loughborough University of Technology.
4. S.F. CHAN (1989) Advancement in robot programming with specific reference to graphical methods. Ph.D. Thesis, Loughborough University of Technology.
5. Y.F. YONG, R.J. MARSHALL, and M.C. BONNEY, (1988) Using CAD to Plan and Evaluate a Robotic Cell, in Control and Programming in Advanced Manufacturing. Edited by K. RATHMILL, Springer-Verlag, p. 235–247.