1. R.L. Williams II, P. Gallina, and J. Vadia, 2003, Planar Translational Cable-Direct-Driven Robots, Journal of Robotic Systems, 20(3): 107-120.

2. R.L. Williams II and J. Vadia, Planar Translational Cable-Direct-Driven Robots: Hardware Implementation, CD proceedings of the 2003 ASME Design Technical Conferences, 29^th Design Automation Conference, Chicago, IL, September 2-6, 2003.

3. Master's Thesis on " Planar Translational Cable Direct Driven Robot: Theory and Hardware Implementation", December, 2003, Ohio University, Athens