1. Robot Simulation Study, an interim report written for OCS Group Limited, July 1990, Department of Electrical and Electronic, University of Newcastle Upon Tyne, UK.
2. Robotics window cleaning demonstrator, an internal report written for OCS Group Limited, an. 1991, Department of Electrical and Electronic, University of Newcastle Upon Tyne, UK.
3. Robot control system outline, an internal report written for OCS Group Limited, Jan. 1992, Department of Electrical and Electronic, University of Newcastle Upon Tyne, UK.
4. OCS robot controller, an internal report written for OCS Group Limited, Dec. 1992, Department of Electrical and Electronic, University of Newcastle Upon Tyne, UK.