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  1. A. Ansar, D. Rodrigues, J.P. Desai, K. Daniilidis, V. Kumar, M.F.M. Campos, "Visual and Haptic Collaborative Tele-presence," Computers and Graphics, 789-798, 01 January 2001.
  2. A. Ansar, K. Daniilidis, "Linear Solutions for Visual Augmented Reality Registration," IEEE and ACM International Symposium on Augmented Reality, 01 January 2001.
  1. S. Peters, "Robotic Vehicles for Planetary Exploration: Flight Projects and Research at the Jet Propulsion Laboratory," Journal of the Institute of Electrical Engineers of Japan, Volume 120 Number 12, Tokyo, Japan (in Japanese translation), 01 December 2000.
  2. R. Volpe, I.A.D. Nesnas, T. Estlin, D. Mutz, R. Petras, H. Das, "CLARAty: Coupled Layer Architecture for Robotic Autonomy," Technical Report D-19975, 01 December 2000.
  3. C. Padgett, A. Howard, and S. Udomkesmalee, "Shape Based Object Recognition Using a Fast Analog Convolution Processor," NASA/DoD Second Biomorphic Explorers Workshop, Pasadena, California, 01 December 2000.
  4. A. Diaz-Calderon, C. J. J. Paredis and P. K. Khosla, "Organization and selection of reconfigurable models," SCS 2000 Winter Simulation Conference, Orlando, FL, 01 December 2000.
  5. J. Macedo, R. Manduchi, L. Matthies, "Ladar-based discrimination of grass from obstacles for autonomous navigation," Seventh International Symposium of Experimental Robotics (ISER), Honolulu, Hawaii,, 01 December 2000.
  6. A. Castano and P. Will, "Mechanical Design of a Module for Reconfigurable Robots'," Proc. IEEE/RSJ Intl. Conf. Intel. Robots Systems, Takamatsu, pp. 2203-2209, 01 November 2000.
  7. P. Bellutta, R. Manduchi, L. Matthies, K. Owens, A. Rankin, "Terrain perception for Demo III," Proceedings of the 2000 Intelligent Vehicles Conference, Dearborn, MI, 326-331, 01 October 2000.
  8. A. Castano, R. Chokkalingam and P. Will, "Autonomous and Self-Sufficient CONRO Modules for Reconfigurable Robots," Intl. Symp. Distributed Autonomous Robotic Systems, Knoxville, pp. 155-164, 01 October 2000.
  9. C. Bergh, B. Kennedy, L. Matthies, A. Johnson, "A compact and low power two-axis scanning laser rangefinder for mobile robots," 7th Mechatronics Forum International Conference, Atlanta, GA, 01 September 2000.
  10. S. Udomkesmalee, C. Padgett, D. Zhu, G. Lung, A. Howard, D. Ludwig, and G. Moretti, "Tera-OPS Processing for ATR," 9th Annual AIAA/BMDO Technology Conference, San Diego, California, 01 July 2000.
  11. L. Matthies, Y. Xiong,R. Hogg, D. Zhu, A. Rankin, B. Kennedy, "A portable, autonomous, urban reconnaissance robot," Sixth International Conference on Intelligent Autonomous Systems, Venice, Italy, 01 July 2000.
  12. A. Diaz-Calderon, C. J. J. Paredis and P. K. Khosla, "Reconfigurable models: A modeling paradigm to support simulation-based design," SCS 2000 Summer Computer Simulation Conference, Vancouver, B. C. Canada, 01 July 2000.
  13. R. Li, F. Ma, F. Xu, L. Matthies, C. Olson, and Y. Xiong,, "Large scale Mars mapping and rover localization using descent and rover imagery," Proceedings of ISPRS 19th Congress, Amsterdam,, 01 July 2000.
  14. D.S. Clouse, C.W. Padgett, "Small Field-of-View Star Identification using Bayesian Decision Theory," IEEE Transactions on Aerospace and Electronic Systems, Vol. 36, No. 3, 01 July 2000.
  15. A. Castano, W-M. Shen and P. Will, "CONRO: Towards Deployable Robots With Inter-Robot Metamorphic Capabilities'," Journal of Autonomous Robots, (8)3, pp. 309-324, 01 July 2000.
  16. L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, B. Kennedy, M. Hebert, M. Maclachlan, R. Won, C. Frost, G. Sukhatme, M. McHenry, S. Goldberg, "A Portable Autonomous Urban Reconnaissance Robot," Proceedings of the Sixth International Conference on Intelligent Autonomous Systems, Venice, Italy, 01 July 2000.
  17. Ronald C. Arkin, Khaled Ali, Alfredo Weitzenfeld, Francisco Cervantes-Perez, "Behavioral Models of the Praying Mantis as a Basis for Robotic Behavior," Journal of Robotics and Autonomous Systems, Vol. 32, No. 1, 39-60, 01 July 2000.
  18. Clark F. Olson, Larry H. Matthies, Marcel Schoppers, and Mark W. Maimon, "Robust stereo ego-motion for long distance navigation," June 2000 CVPR conference proceedings, Hilton Head, South Carolina, 453-458, 01 June 2000.
  19. R. Li, F. Ma, F. Xu, L. Matthies, C. Olson, and Y. Xiong,, "Mars rover localization using descent and rover imagery ' result of the field test at Silver Lake, CA," ASPRS Annual Conference, Washington, D.C., 01 May 2000.
  20. Invited brief, "Terrain perception for Unmanned Ground Vehicles," U.S. Army Science Board, 01 May 2000.
  21. R. Volpe, T. Estlin, S. Laubach, C. Olson, and J. Balaram, "Enhanced Mars Rover Navigation Techniques," IEEE International Conference on Robotics and Automation (ICRA), San Francisco CA, 24 April 2000.
  22. Paul G. Backes, Kam S. Tso, Jeffrey S. Norris, Gregory K. Tharp, Jeffrey T. Slostad, Robert G. Bonitz, and Khaled S. Ali, "Internet-Based Operations for the Mars Polar Lander Mission," Proc. of the 2000 IEEE International Conference on Robotics & Automation, 01 April 2000.
  23. Y. Xiong and L. Matthies, "Vision-guided autonomous stair climbing," IEEE International Conference on Robotics and Automation (ICRA), San Francisco, CA, 01 April 2000.
  24. Issa Nesnas, Mark Maimone, and Hari Das, "Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation," April 2000 ICRA conference proceedings, San Francisco, California., 01 April 2000.
  25. R. Volpe, E. Baumgartner, P. Schenker, and S. Hayati, "Technology Development and Testing for Enhanced Mars Rover Sample Return Operations," IEEE Aerospace Conference, Big Sky, Montana, 18 March 2000.
  26. R. Bonitz, T. Nguyen, W. Kim, "The Mars Surveyor '01 Rover and Robotic Arm," Proceedings of the IEEE Aerospace Conference (CDROM), paper no. 2.0301, 01 March 2000.
  27. P. G. Backes, K. S. Tso, J. S. Norris, G. K. Tharp, J. T. Slostad, and R. G. Bonitz, "Mars Polar Lander Mission distributed operations," Proceedings of IEEE Aerospace Conference, 01 March 2000.
  28. Y. Bar-Cohen and P. Backes, "Scanning Large Aerospace Structures Using Open-Architecture Crawlers," National Space & Missile Materials Symposium (NSMMS), San Diego, California, 01 February 2000.
  29. H. Seraji, "Fuzzy Traversability Index: A new concept for terrain-based navigation," Journal of Robotic Systems, 17(2), pp. 75-91, 01 January 2000.
  30. 25. P. S. Schenker, P. Pirjanian, B. Balaram, K. S. Ali, A. Trebi-Ollennu, T. L. Huntsberger, H. Aghazarian, B. A. Kennedy and E. T. Baumgartner, Jet Propulsion Laboratory; K. Iagnemma, A. Rzepniewski, and S. Dubowsky, P. C. Leger and D. Apostolopoulos,G. T. McKee, "Reconfigurable robots for all terrain exploration," in Proc. SPIE Vol. 4196, Sensor Fusion and Decentralized Control in Robotic Systems III, Boston, MA, Nov. 5-8, 2000, 01 January 2000.
  31. K. Ali, R. Arkin, "Multiagent Teleautonomous Behavioral Control," Machine Intelligence & Robotic Control, Vol. 2, No. 1, pp. 3-10, 01 January 2000.
  32. Andrew E. Johnson, Yang Cheng and Larry Matthies, "Machine vision for autonomous small body navigation," IEEE Aerospace Conference, 01 January 2000.
  33. H. Seraji, "A new class of nonlinear PID controllers," Proc. IFAC Workshop on Digital Control, Terrassa (Spain), pp. 540-546, 01 January 2000.
  34. H. Seraji, "Traversability Index: A new concept for planetary rovers," Proc. Intern. Conf. on Intelligent Technologies (InTech 2001), Bangkok (Thailand), pp. 261-268, 01 January 2000.
  35. A. Howard, H. Seraji, "Real-time assessment of terrain traversability for autonomous rover navigation," Proc. IEEE/RSJ Intern. Conf. on Intelligent Robots and Systems (IROS 2000), Japan, 01 January 2000.
  36. A. Howard, H. Seraji, "A real-time autonomous rover navigation system," Proc. World Automation Congress (WAC 2000), Hawaii, 01 January 2000.
  37. H. Seraji, "Mobile Dexterous 7 DOF Robot Arm with Real-Time Control System," (Caltech), 01 January 2000.
  38. A. Huertas and R. Nevatia, "Detecting Changes in Aerial Views of Man-Made Structures," Image and Vision Computing Journal Vol. 18, Elsevier Science Publishers, 583-596, 01 January 2000.
  39. A. Huertas, Z. Kim and R. Nevatia, "Multisensor Integration for Building Modeling," Proc. Conf. Computer Vision and Pattern Recognition, 203-210, 01 January 2000.
  40. A. Huertas, S. Lee and R. Nevatia, "Modeling 3-D Complex Buildings With User Assistance," Proc. 5th IEEE Workshop on Applications of Computer Vision, 170-177, 01 January 2000.
  41. P. Pirjanian, T.L. Huntsberger, A. Trebi-Ollennu, H. Aghazarian, H. Das, S. Joshi, and P.S. Schenker, "CAMPOUT: A control architecture for multi-robot planetary outposts," Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 2000, . 221-230, 01 January 2000.
  42. P.S. Schenker, T.L. Huntsberger, P. Pirjanian, A. Trebi-Ollennu, H. Das, S. Joshi, H. Aghazarian, A.J. Ganino, B.A. Kennedy, and M.S. Garrett, "Robot work crews for planetary outposts: Close cooperation and coordination of multiple robots," Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov. 5-8, 2000, 210-220, 01 January 2000.
  43. E.T. Baumgartner, H. Aghazarian, A. Trebi-Ollennu, T.L. Huntsberger, and M.S. Garrett, "State estimation and vehicle localization for the FIDO rover," Proc. SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III, Vol. 4196, Boston, MA, Nov., 329-336, 01 January 2000.
  44. L. Matthies, "Invited speaker," Artificial Intelligence Colloquium, Stanford University, 01 January 2000.
  45. L. Iocchi, K. Konolige, M. Bajracharya, "Visually Realistic Mapping of a Planar Environment with Stereo," Internation Symposium on Experimental Robotics (ISER), 01 January 2000.
  46. S. Singh, R. Simmons, T. Smith, A. Stenz, V. Verma, A. Yahja, K. Schwehr, "Recent Progress in Local and Global Traversability for Planetary Rovers," Proceedings of the IEEE International Conference on Robotics and Automation, 01 January 2000.
  1. L. Matthies, "Invited distinguished lecture," Computer and Information Technology Institute, Rice University, 01 December 1999.
  2. I. Nesnas, M. Maimone, H. Das, "Autonomous Vision-Based Manipulation from a Rover Platform," November 1999 CIRA conference proceedings, Monterey, California., 01 November 1999.
  3. R. Volpe, "Mars Rover Navigation Results Using Sun Sensor Heading Determination," IEEE/RSJ International Conference on Robots and Systems (IROS), Kyongju Korea, 17 October 1999.
  4. P. G. Backes, K. S. Tso, and G. K. Tharp, "The Web Interface for Telescience," Presence: Teleoperators & Virtual Environments, 531-539, 01 October 1999.
  5. A. Diaz-Calderon, C. J. J. Paredis and P. K. Khosla, "A composable simulation environment for mechatronic systems," SCS 1999 European Simulation Symposium, Erlangen, Germany, 01 October 1999.
  6. L. Matthies, "Invited keynote speaker," IASTED Robotics'99 Conference, Santa Barbara, CA, 01 October 1999.
  7. K. S. Tso, G. K. Tharp, W. Zhang, and A. T. Tai, "A multi-agent operator interface for unmanned aerial vehicles," Proceedings of the 18th Digital Avionics Systems Conference, 6A4.1-6A4.8, 01 October 1999.
  8. E. Krotkov, M. Hebert, L. Henriksen, P. Levin, M. Maimone, R. Simmons, J. Teza, "Evolution of a Prototype Lunar Rover: Addition of Laser-Based Hazard Detection, and Results from Field Trials in Lunar Analogue Terrain," Autonomous Robots 7(2), Kluwer Academic Publishers, September 1999., 01 September 1999.
  9. C. Bergh, A. Kita, I. Ume, "Development of Mechatronics Curricula in the School of Mechanical Engineering at Georgia Tech," 1999 IEEE/ASME Conference on Advanced Intelligent Mechatronics, 01 September 1999.
  10. P. Will, A. Castano and W-M. Shen, "Robot Modularity for Self-Reconfiguration," Proc. SPIE Sensor Fusion and Decentralized Control II, Boston, pp. 236-245, 01 September 1999.
  11. C. R. Weisbin, J. Blitch, D. Lavery, E. Krotkov, C. Shoemaker, L. Matthies, and G. Rodriguez, "Miniature robot for space and military missions," IEEE Robotics and Automation Magazine, vol. 6, no. 3, pp. 9-18, 01 September 1999.
  12. A. Jain and G. Rodriguez, "Sensitivity Analysis for Multibody Systems Using Spatial Operators," Sixth Int. Conf. on Methods and Models in Automation and Robotics (Miedzyzdroje, Poland), Aug. 38-31 2000., 01 August 1999.
  13. A. Diaz-Calderon, C. J. J. Paredis and P. K. Khosla, "Combining software components and symbolic equation manipulation in modeling and simulation of mechatronic systems," IEEE 10th International Symposium on Computer-Aided Control System Design, Hawaii, 01 August 1999.
  14. S. Peters, "NASA's Science Rover for MUSES-C," Proceedings of the 9th ISAS Workshop on Astrodynamics and Flight Mechanics, Sagamihara, Japan, 22 July 1999.
  15. Ashitey Trebi-Ollennu and John M. Dolan, "An Autonomous Ground Vehicle for Distributed Surveillance: CyberScout," Tech. report ICES-04-09-99, ICES, Carnegie Mellon University, 01 July 1999.
  16. R. Volpe, "Navigation Results from Desert Field Tests of the Rocky 7 Mars Rover Prototype," International Journal of Robotics Research, <i>Special Issue on Field and Service Robots</i>, 18(7), 01 July 1999.
  17. S. Peters, "The NASA Rover for MUSES-C," ISAS News, Sagamihara, Japan, 01 June 1999.
  18. C. Weisbin, G. Rodriguez, P. Schenker, H. Das, S. Hayati, E. Baumgartner, M. Maimone, I. Nesnas, and R. Volpe, "Autonomous Rover Technology for Mars Sample Return," International Symposium on Artificial Intelligence, Robotics, and Automation in Space (i-SAIRAS), The Netherlands, 01 June 1999.
  19. B. Leroy, G. Medioni, A. Johnson, L. Matthies,, "Crater Detection for Autonomous Landing on Asteroids," IEEE Workshop on Perception for Mobile Agents, Fort Collins, CO, 01 June 1999.
  20. A. Diaz-Calderon, C. J. J. Paredis and P. K. Khosla, "On the synthesis of the system graph for 3D mechanics," American Control Conference, San Diego, CA, 01 June 1999.
  21. K. S. Ali, "Multiagent Telerobotics: Matching Systems to Tasks," Georgia Institute of Technology, College of Computing, 01 June 1999.
  22. W. S. Kim, "Computer Vision Assisted Virtual Reality Calibration," IEEE Trans. on Robotics and Automation, vol. 15, no. 3, pp. 450-464, 01 June 1999.
  23. K. Owens and L. Matthies, "Passive night vision sensor comparison for unmanned ground vehicle stereo vision navigation," IEEE Workshop on Computer Vision Beyond the Visible Spectrum Fort Collins, CO,, 01 June 1999.
  24. M. Maimone, I. Nesnas, H. Das, "Autonomous Rock Tracking and Acquisition from a Mars Rover," June 1999 i-SAIRAS'99 Conference Proceedings, Noordwijk, The Netherlands, 329-334., 01 June 1999.
  25. C. Weisbin, G. Rodriguez, P. Schenker, H. Das, S. Hayati, E. Baumgartner, M. Maimone, I. Nesnas, R. Volpe, "Autonomous Rover Technology for Mars Sample Return,," June 1999 i-SAIRAS99 Conference Proceedings, Noordwijk, The Netherlands, 1-10, 01 June 1999.
  26. J.F. Montgomery, "Learning Helicopter Control Through 'Teaching by Showing," Ph.D. Dissertation, Department of Computer Science, University of Southern California, 01 May 1999.
  27. T. T. Blackmon, L. Ngyuen, C. F. Neveu, D. Rasmussen, E. Zbinden, M. Maimone, L. H. Matthies, et al., "Virtual reality mapping system for Chernobyl accident site assessment," Proc. SPIE vol. 3644, Human Vision and Electronic Imaging IV, pp. 338-345, 01 May 1999.
  28. Y. Bar-Cohen, P. Backes, "Scanning Aircraft Structures Using Open-Architecture Robotic Crawlers as Platforms with NDT Boards and Sensors," Materials Evaluation, 57(3), 361'366, 01 March 1999.
  29. P. Fiorini, S. Hayati, M. Heverly, J. Gensler, "A Hopping Robot for Planentary Exploration," IEEE Aerospace Conference, Volume 2, pp. 153-158, 01 March 1999.
  30. Wettergreen, Bapna, Maimone and Thomas, "Developing Nomad for Robotic Exploration of the Atacama Desert," Robotics and Autonomous Systems Journal, Elsevier publishers, vol 26 numbers 2-3, 127-148, 01 February 1999.
  31. Andrew E. Johnson and Larry H. Matthies, "Precise image-based motion estimation for autonomous small body exploration," 5th Int'l Symp. Artificial Intelligence, Robotics and Automation in Space, 01 January 1999.
  32. T. T. Blackmon, L. Ngyuen, C. F. Neveu, D. Rasmussen, E. Zbinden, M. Maimone, L. H. Matthies, S. Thayer, V. Broz, J. Teza, J. Osborn, M. Hebert, G. Thomas, J. Steele, "Photorealistic virtual reality mapping system for Chornobyl accident site assessment," Human Vision and Electronic Imaging IV, San Jose, CA. 25-28 January, 1999., 01 January 1999.
  33. H. Seraji, "Fuzzy logic-based navigation of field robots: The traversability index approach," Proc. 3rd World Multiconference on Circuits, Systems, Communications and Computers (CSCC'99), Athens (Greece), 01 January 1999.
  34. R. Bonitz and T. Hsia, "Robust Internal Force-based Impedance Control for Coordinating Manipulators - Theory and Experiments," International Journal of Intelligent Mechatronics, Vol. 4, No. 1, pp. 35-67, 01 January 1999.
  35. Andrew E. Johnson and Martial Hebert, "Using Spin-Images for efficient multiple model recognition in cluttered 3-D scenes," IEEE Transactions on Pattern Analysis and Machine Intelligence 21 (5), 433-449, 01 January 1999.
  36. Andrew E. Johnson and Sing Bing Kang, "Registration and Integration of Textured 3-D data," Image and Vision Computing, 135-147, 01 January 1999.
  37. A. Huertas, D. Landgrebe and R. Nevatia, "Use of Hyperspectral Data with Intensity Images for Automatic Building Modeling," Second International Conf. on Information Fusion, 01 January 1999.
  38. A. Soto, M. Saptharishi, A. Trebi-Ollennu, J. Dolan, and P. Khosla, "Cyber-ATVs: Dynamic and Distributed Reconnaissance and Surveillance Using All-Terrain UGVs," Proceedings of the International Conference on Field and Service Robotics, August, 1999, 329-334, 01 January 1999.
  39. John M. Dolan, A. Trebi-Ollennu, Alvaro Soto and Pradeep Khosla, "Distributed Tactical Surveillance with ATVs," Proceedings of SPIE, Vol. 3693, AeroSense, Orlando, FL, 01 January 1999.
  40. T. Estlin. S. Hayati, A. Jain, J. Yen, G. Rabideau, R. Castano, R. Petras, S. Peters, D. Decoste, E. Tunstel, S. Chien, E. Mjolsness, R. Steele, D. Mutz, A. Gray and T. Mann, "An Integrated Architecture for Cooperating Rovers," 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space, Noordwijk, The Netherlands, pp. 255-262, 01 January 1999.
  41. Assad C, Rasnow B, Stoddard PK, "Electric organ discharges and electric images during electrolocation," J Experimental Biology 202(10):1185-1193, 01 January 1999.
  42. Stoddard PK, Rasnow B, Assad C, "The electric organ discharges of the gymnotiform fishes: III. Brachyhypopomus," Journal of Comparative Physiology A, 184(6):609-630, 01 January 1999.
  43. H. Das, X. Bao, Y. Bar-Cohen, R. Bonitz, R. Lendemann, M. Maimone, I. Nesnas, C. Voorhees, "Robot manipulator technologies for planetary exploration," Proceedings of the 6th Annual International Symposium on Smart Structures and Materials, Newport Beach, CA. Paper No. 3668-17., 01 January 1999.
  44. E. Tunstel, "Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers," 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Noordwijk, The Netherlands, pp. 341-346, 01 January 1999.
  45. E. Tunstel, "Fuzzy-Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation," 18th International Conference of the North American Fuzzy Information Processing Society (NAFIPS), New York, NY, pp. 776-780, 01 January 1999.
  46. A. Stoica, "Learning Eye-arm Coordination Using Neural and Fuzzy Neural Techniques," in H.N. Teodorescu, A. Kandel, L. Jain, (Eds.) Soft Computing in Human-Related Sciences, CRC Press, 31-61, 01 January 1999.
  1. M. Seelinger, M. Robinson and S.B. Skaar, "Towards A Robotic Plasma Spraying Operation Using Vision," IEEE Robotics and Automation Magazine, 33-49, 01 December 1998.
  2. M. Robinson, M. Seelinger and S. B. Skaar, "Multiple Laser Spots for Camera-Space Objectives," Sensor Fusion and Decentralized Control in Robotic Systems. Proc. SPIE 3523, Boston, MA, 268-279, 01 November 1998.
  3. Maimone, Matthies, Osborn, Rollins, Teza and Thayer, "A photo-realistic 3-D mapping system for extreme nuclear environments: Chornobyl," October, 1998 IROS Conference Proceedings vol III, Victoria, BC, 1521-1527., 01 October 1998.
  4. P. S. Schenker, E. T. Baumgartner, R. A. Lindemann, H. Aghazarian, D. Q. Zhu, A. J. Ganino, L. F. Sword, M. S. Garrett, B. A. Kennedy, G. S. Hickey, A. S. Lai, L. H. Matthies, B. D. Hoffman, and T. L. Huntsberger, "New planetary rovers for long-range Mars science and sample return," Proc. SPIE Vol. 3522, Intelligent Robots and Computer Vision XVII: Algorithms, Techniques, and Active Vision, pp. 24-36, 01 October 1998.
  5. A. Diaz-Calderon, C. J. J. Paredis and P. K. Khosla, "A modular composable software architecture for the simulation of mechatronic systems," 1998 ASME Design Engineering Technical Conferences, Atlanta, GA, 01 September 1998.
  6. J. Yen, L. R. Petzold, "An Efficient Newton-Type Iteration for the Numerical Solution of Highly Oscillatory Constrained Multibody Dynamic Systems," SIAM J. Sci. Stat. Comput., Vol. 19, No. 5, pp. 1513-1534, 01 September 1998.
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