An Iterative Solution to the Hand-Eye and Base-World Calibration Problem. - Robert L. Hirsh; Guilherme N. DeSouza; Avinash C. Kak (ICRA, 2001)

Requirements-based execution time prediction of a partitioned real-time system using I/O and SLOC estimates. - Lorraine E. Prokop; Robert L. Hirsh; Carlos Pagan (Innov. Syst. Softw. Eng., 2012)