Tangle: a Flexible Framework for Performance with Advanced Robotic Musical Instruments. - Paul Mathews; Ness Morris; Jim W. Murphy; Ajay Kapur; Dale A. Carnegie (NIME, 2014)

MalletOTon and the Modulets: Modular and Extensible Musical Robots. - Ajay Kapur; Jim W. Murphy; Michael Darling; Eric Heep; Bruce Lott; Ness Morris (NIME, 2016)