The intelligent motion surface: a hardware/software tool for the assembly of meso-scale devices. - Murilo G. Coutinho; Peter M. Will; P. Selvan Viswanathan (ICRA, 1997)

A General Theory for Positioning and Orienting 2D Polygonal or Curved Parts using Intelligent Motion Surfaces. - Murilo G. Coutinho; Peter M. Will (ICRA, 1998)

Guide to Dynamic Simulations of Rigid Bodies and Particle Systems. - Murilo G. Coutinho (Springer, 2013)