"Experiments in the Automatic Retrieval of Underwater Objects with an AUV", Proceedings of Oceans '95, San Diego, CA, MTS/IEEE, pp. 366-373, October, 1995.
"Task-Based Control Architecture for an Untethered, Unmanned Submersible", Proceedings of the 8th Annual Symposium of Unmanned Untethered Submersible Technology, Marine Systems Engineering Laboratory, Northeastern University, pp. 137-147, September, 1993.
Experiments in Two-Cooperating-Arm Manipulation from a Platform with Unknown Motion, , Stanford, CA 94305, Stanford University, January, 1992.
"Experiments in Cooperative Manipulation from a Flexibly-Mounted Platform", Mechatronics, vol. 4, no. 3, 1994.
"Initial Experiments in Cooperative Manipulation from a Roving Platform", Proceedings of the ASME Winter Annual Meeting, Dallas, TX, November, 1990.
Experiments in Autonomous Navigation and Control of Multi-Manipulator Free-Flying Space Robots, , Stanford, CA 94305, Stanford University, March, 1993.
"A Modular System Architecture for Multi-Manipulator, Free-Flying Space Robots", Proceedings of the International Symposium on Intelligent Control, Chicago, IL, pp. 90-97, August, 1993.
"Experiments in Global Navigation and Control of a Free-Flying Space Robot", Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December, 1989.
Experiments in High-Performance Nonlinear and Adaptive Control of a Two-Link, Flexible-Drive-Train Manipulator, , Stanford, CA 94305, Stanford University, May, 1990.
"End Point Position and Force Control of a Flexible Manipulator with a Quick Wrist", Proceedings of the AIAA Guidance, Navigation and Control Conference, Williamsburg, VA, pp. 41-49, August, 1986.
"End-point Force Control of a Very Flexible Manipulator with a Fast End Effector", Proceedings of the ASME Winter Annual Meeting, vol. 3, Anaheim, CA, pp. 1-9, December, 1986.
"Preliminary Results on Noncolocated Torque Control of Space Robot Actuators", Proceedings of the NASA Conference on Space Telerobotics, Pasadena, CA, NASA, February, 1989.
"Experimental control results in a compact space robot actuator", Proceedings of the ASME Winter Annual Meeting, San Francisco, CA, December, 1989.
"Intensity based local terrain estimation with a multi-beam sonar", OCEANS 2016 MTS/IEEE, Monterey, CA, 09/2016.
"GPS Pseudolite Transceivers and their Applications", Proceedings of the 1999 Institute of Navigation National Technical Meeting, San Diego, CA, January, 1999.
"Object-Based Task-Level Control: A Hierarchical Control Architecture for Remote Operation of Space Robots", Proceedings of the AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space, Houston, TX, pp. 264-273, March, 1994.
"The Limitations of Independent Controller Design for a Multiple-Link Flexible Macro-Manipulator Carrying a Rigid Mini-Manipulator", Proceedings of the 2nd ASCE Conference on Robotics for Challenging Environments, Albuquerque, NM, pp. 93-99, June, 1996.
Manipulation of a Free-Floating Object Using a Macro/Mini-Manipulator With Structural Flexiblity, , Stanford, CA 94305, Stanford University, July, 1997.
"Adaptive Control of a Flexible Structure", Proceedings of the Second IFAC Workshop on Adaptive Control and Signal Processing, Lund, Sweden, International Federation of Automatic Control, pp. 131-136, July, 1986.
Adaptive Control of a Flexible Structure, , Stanford, CA 94305, Stanford University, June, 1986.
"Optimal Despin of a Tumbling Satellite with an Arbitrary Thruster Configuration, Inertia Matrix, and Cost Functional", Proceedings of the 20th AAS/AIAA Space Flight Mechanics Meeting, San Diego, AAS/AIAA, 2010.
"Optimal control for despin of underactuated tumbling satellites", Aeronautics & Astronautics, vol. Ph.D.: Stanford University, pp. 105, 08/2012.
"Rigid Body Inertia Estimation with Applications to the Capture of a Tumbling Satellite", Proceedings of 19th AAS/AIAA Spaceflight Mechanics Meeting, Savannah, GA, February, 2009.
Impedance Control of Flexible Macro/Mini Manipulators, , Stanford, CA 94305, Stanford University, December, 2000.
"Space Construction: An Experimental Testbed to Develop Enabling Technologies", Telemanipulator and Telepresence Technologies IV, Pittsburg, PA, October, 1997.