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)

The synchronizing of loosely coupled distributed real time system. - Pasi Tuominen; Tapio Virvalo (ISADS, 1995)

Energy-Efficient Motion Control of a Hydraulic Manipulator. - Jouni Mattila; Tapio Virvalo (ICRA, 2000)

Hardware-in-the-loop environment for servo system controller design, tuning and testing. - Matti Linjama; Tapio Virvalo; Jouni Gustafsson; Juha Lintula; Vesa Aaltonen; Markku Kivikoski (Microprocess. Microsystems, 2000)