Locomotion characteristics of an SMA-actuated micro robot simulating a medicinal leech in a pipeline. - Fang-Hu Liu; Pei-Sun Ma; Jian-Ping Chen; Jie Zhu; Qin Yao (J. Field Robotics, 2002)

The Micro Trolley Based on SMA and its Control System. - Qin Yao; Sheng Jin 005; Pei-Sun Ma (J. Intell. Robotic Syst., 2004)