The hierarchy of communication networks in the programmable assembly cell: an experimental framework. - Pertti Puusaari; Leo Sintonen; Tapio Virvalo (IEEE Netw., 1988)

Developing intelligent actuator systems: experimenting with Bitbus and the 8096. - Tapio Virvalo; Pertti Puusaari (Microprocess. Microsystems, 1989)

Development of a command language for programming a robotic actuator. - Mikko Lehtinen; Pertti Puusaari; Tapio Virvalo (Microprocess. Microsystems, 1990)