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"ControlShell: A Real-Time Software Framework",
Proceedings of the AIAA/NASA Conference on Intelligent Robots in Field, Factory, Service and Space, vol. 2, Houston, TX, AIAA, pp. 870-877, March, 1994.
"ControlShell: A Real-Time Software Framework",
Proceedings of the 1991 IEEE International Conference on Systems Engineering, Dayton, OH, August, 1991.
"Stanford aerospace robotics laboratory research overview",
Proceedings of the Space Operations, Applications and Research Symposium, Houston, TX, August, 1992.