- Process-Oriented Intelligent Planning for the Fabrication and Placement of Concrete Reinforcement,
M. Salim and L.E. Bernold
Paper 3.2 from CCP: 17, ISBN 0-948749-19-9 (1993)
- Adaptive Control for Construction Robotics,
L.E. Bernold
Paper 14.1 from CCP: 14, ISBN 0-948749-16-4 (1993)