Lee, Donghun; Chang, Doyoung; Shin, Young-Il; Son, Donghoon; Kim, Tae-Wan; Lee, Kyu-Yeul; Kim, Jongwon, Design and application of wire-driven bi-directional telescopic mechanism for workspace expansion with focus on shipbuilding tasks, Advanced Robotics (SCI), Volume 25, Numbers 6-7, 2011 , pp. 699-715(17)