selected publications

• academic article

  • Open Modular Robot Control Architecture for Assembly Using the Task Frame Formalism.  International Journal of Advanced Robotic Systems.  3:2-2. 2006

• chapter

  • Software System Architecture for Control of Tethered Kites.  Springer eBooks. 599-611. 2013

• conference paper

  • Networked Architecture for Distributed PC-based Robot Control Systems..  Automation, Robotics and Control Systems. 204-211. 2008
  • Self Management in a Control Architecture for Parallel Kinematic Robots.  . 2008