IBM Journal of Research and Development, 24(1), January 1980

IBM Journal of Research and Development  

Wesley, M. A.; Lozano-Perez, T.; Lieberman, L. I.; (1980) Wesley, M. A.; Lozano-Perez, T.; Lieberman, L. I.; Lavin, M. A. and Grossman, D. D. "A geometric modelling system for automated mechanical assembly"