Universal communication architecture for high-dynamic robot systems using QNX. - Nnamdi Kohn; J. Uwe Varchmin; Jens Steiner; Ursula Goltz (ICARCV, 2004)

Middleware zur Realisierung offener Steuerungssoftware für hochdynamische Prozesse (Realizing Open Control Software for High Dynamic Processes with a Middleware). - Karsten Diethers; Bernd Finkemeyer; Nnamdi Kohn (it Inf. Technol., 2004)

Networked Architecture for Distributed PC-based Robot Control Systems. - Yannick Dadji; Jochen Maaß; Harald Michalik; Tobias Möglich; Nnamdi Kohn; J. Uwe Varchmin (ARCS, 2008)

A Communication Architecture for Distributed Real-Time Robot Control. - Yannick Dadji; Harald Michalik; Nnamdi Kohn; Jens Steiner; Guido Beckmann; Tobias Möglich; J. Uwe Varchmin (Robotic Systems for Handling and Assembly, 2011)