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"A New Control Structure for Free-Flying Space Robots", i-SAIRIS: International Symposium on Artificial Intelligence, Robotics, and Automation in Space, vol. 2, Toulouse, France, October, 1992.
"Generalized Object Control and Assembly for Space Robots", Proceedings of the ASCE: Robotics for Challenging Environments, Albuquerque, NM, February, 1994.
"An Operational Space Formulation for a Free-Flying, Multi-Arm Space Robot", Proc. of the 4th Int'l Symp. on Experimental Robotics (ISER), Stanford, CA, June, 1995.
"Development of a Programmable Rotational Motion Laboratory Demonstrator", Proceedings of AIAA Modeling and Simulation Technologies Conference: AIAA, August, 2010.
"Particle Filtering Range Data for Pose Estimation under Torque-Free Motion", IASTED International Conference on Robotics and Applications, Boston, MA, November, 2009.