Keeping the Analog Genie in the Bottle: A Case for Digital Robots. - Ian D. Walker; Joseph R. Cavallaro; Martin L. Leuschen (ICRA, 1999)

Evaluating the reliability of prototype degradable systems. - Martin L. Leuschen; Ian D. Walker; Joseph R. Cavallaro (Reliab. Eng. Syst. Saf., 2001)

Robotic Fault Detection using Nonlinear Analytical Redundancy. - Martin L. Leuschen; Joseph R. Cavallaro; Ian D. Walker (ICRA, 2002)

Fault residual generation via nonlinear analytical redundancy. - Martin L. Leuschen; Ian D. Walker; Joseph R. Cavallaro (IEEE Trans. Control. Syst. Technol., 2005)