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2. Simplified steady-state analytical model for manoeuvring and control of ASD tug in escort push operations;Artyszuk;Zesz. Nauko./Akad. Morska Szczec.,2013
3. Steady-state manoeuvring of a generic ASD tug in escort pull and bow-rope aided push operation;Artyszuk;TransNav,2014
4. Offline vector tugs actuation model (an efficiency analysis of towage forces during pull operations);Barrera,2018
5. Performance and Effectiveness of Omni-Directional Stern Drive Tugs;Brandner,1995