Solving for manipulator joint rates in singular positions. - Zuheir S. Tumeh; Cecil O. Alford (ICRA, 1988)

A direct method in discrete decentralized time-varying control of robot manipulators. - Zuheir S. Tumeh (ICRA, 1989)

Decentralized discrete model referenced adaptive manipulator control. - Zuheir S. Tumeh (ICRA, 1990)