Kinematics and Sensor and Control Systems of the Fully Automated Facade Cleaning Robot SIRIUSc for Fraunhofer Headquarters in Munich. - Norbert Elkmann; Mario Lucke; Tino Krüger; Dietmar Kunst; Thomas Stürze (FSR, 2007)

Development of Fully Automatic Inspection Systems for Large Underground Concrete Pipes Partially Filled with Wastewater. - Norbert Elkmann; Heiko Althoff; Sven Kutzner; Thomas Stürze; José F. Saenz; Bert Reimann (ICRA, 2007)

Kinematics, sensors and control of the fully automated façade-cleaning robot SIRIUSc for the Fraunhofer headquarters building, Munich. - Norbert Elkmann; Mario Lucke; Tino Krüger; Dietmar Kunst; Thomas Stürze; Justus Hortig (Ind. Robot, 2008)

Design considerations of robotic system for cleaning and inspection of large-diameter sewers. - Christoph Walter; José F. Saenz; Norbert Elkmann; Heiko Althoff; Sven Kutzner; Thomas Stürze (J. Field Robotics, 2012)