Interactive graphical mobile robot programming. - Jari Ojala; Kenji Inoue; Ken Sasaki; Masaharu Takano (IROS, 1991)

Development of an Intelligent Wheelchair Using Computer Graphics Animation and Simulation. - Jari Ojala; Kenji Inoue; Ken Sasaki; Masaharu Takano (Comput. Graph. Forum, 1991)

Adaptive behavior with protozoa-inspired dynamics. - Jari Ojala (Biol. Cybern., 1998)