Optimized Control Methods for Capturing Flying Objects with a Cartesian Robot. - Heinz Frank; Dennis Barteit; Marcus Meyer; Anton Mittnacht; Gregor Novak; Stefan Mahlknecht (RAM, 2008)

Measuring the intersection of a thrown object with a vertical plane. - Dennis Barteit; Heinz Frank; Martin Pongratz; Friederich Kupzog (INDIN, 2009)