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Bederson BB, Wallace RS, Schwartz EL.  1994.  A miniature pan-tilt actuator: the spherical pointing motor. IEEE Transactions on Robotics and Automation. 10(3):298-308.
S
Zotkin DN, Duraiswami R, Philomin V, Davis LS.  2000.  Smart videoconferencing. 2000 IEEE International Conference on Multimedia and Expo, 2000. ICME 2000. 3:1597-1600vol.3-1597-1600vol.3.