SiLVIA - A Simulation Library for Virtual Reality Applications. - Günter Hotz; Andreas Kerzmann; Christian Lennerz; Rainer Schmid; Elmar Schömer; Thomas Warken (VR, 1999)

Calculation of contact forces. - Günter Hotz; Andreas Kerzmann; Christian Lennerz; Rainer Schmid; Elmar Schömer; Thomas Warken (VRST, 1999)

Combining Models of Physical Effects for Describing Complex Electromechanical Devices. - Lars M. Voßkämper; Rainer Schmid; Georg Pelz (BMAS, 2000)