Causal inverse dynamics of a flexible hub-arm system through Liapunov's second method. - Atef A. Ata; Salwa M. ElKhoga; Mohamed Shalaby; Shihab S. Asfour (Robotica, 1996)

Effects of tip mass and actuator inertia on the behavior of a flexible arm robot. - Atef A. Ata; Salwa M. ElKhoga (IROS, 1998)