1. O. Bottema, and B. Roth.Theoretical Kinematics, North-Holland Press, New York 1979.
2. A. Karger, and J. Novak.Space Kinematics and Lie Groups, Gordon and Breach Science Publishers, New York 1985.
3. J.M. McCarthy. On the scalar and dual formulations of the curvature theory of line trajectories. ASME J. of Mech., Trans and Auto.in Design,1987, 101-106.
4. H. Pottman, and J. Wallner. Computational Line Geometry, Springer-Verlag, Berlin, Heidelberg 2001.
5. M.J. Mancewicz, and W.H. Frey. Developable Surfaces: Properties, Representations and Methods of Design, General Motors R&D Publication, 1992.