An Ultrasonic Vehicle Guidance System. - W. S. H. Munro; Simon Pomeroy; M. Rafiq; H. R. Williams; M. D. Wybrow; Catherine Wykes (IROS, 1989)

Evaluation of ultrasonic inspection and imaging systems for robotics using TLM modelling. - S. C. Pomeroy; H. R. Williams; P. Blanchfield (Robotica, 1991)