Computationally efficient two-regime flow orifice model for real-time simulation. - Rafael Åman; Heikki Handroos; Tero Eskola (Simul. Model. Pract. Theory, 2008)

Deformable Terrain Model for the Real-Time Multibody Simulation of a Tractor With a Hydraulically Driven Front-Loader. - Suraj Jaiswal; Pasi Korkealaakso; Rafael Åman; Jussi T. Sopanen; Aki Mikkola (IEEE Access, 2019)

Real-Time Multibody Model-Based Heads-Up Display Unit of a Tractor. - Suraj Jaiswal; Rafael Åman; Jussi T. Sopanen; Aki Mikkola (IEEE Access, 2021)