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Mair, G.M.; Koshal, D and Koshal, D., eds. (1991) Industrial robotics and automation. In: Manufacturing Engineer's Reference Book. Butterworth - Heinemann, UK, pp. 73-87. ISBN 0 7506 1154 5
Mair, G.M.; (1993) Machine tool control elements. In: Manufacturing Engineer's Reference Book. Butterworth - Heinemann, UK, 12/1-12/20. ISBN 0 7506 1154 5