Bottema, O., and Roth, B., 1979, "*Theoretical Kinematics*", North Holland, Amsterdam.

Shoemake, K., 1985, “Animating Rotation With Quaternion Curves,” "*Proceedings of the 12th Annual Conference on Computer Graphics and Interactive Techniques*", ACM, New York, NY, pp. 245–254.

Nielson, G. M., and Heiland, R. W., 1992, “Animated Rotations Using Quaternion and Splines on a 4D Sphere,” "*Programmirovanie*" (Russia), Springer-Verlag, pp. 17–27; English edition, "*Programming and Computer Software*", Plenum, New York, Vol. 18 , pp. 145–154.

Kim, M. S., and Nam, K. W., 1995, “Interpolating Solid Orientations With Circular Blending Quaternion Curves,” Comput.-Aided Des.

[CrossRef], 27 (5), pp. 385–398.

Kim, M.-J., Kim, M.-S., and Shin, S. Y., 1995, “A C2 Continuous B-Spline Quaternion Curve Interpolating a Given Sequence of Solid Orientations,” "*Proceedings of the Computer Animation, Proceedings of the Computer Animation*", IEEE Computer Society, Washington, DC, pp. 19–21.

Ge, Q. J., and Ravani, B., 1994, “Geometric Construction of Bezier Motions,” ASME J. Mech. Des., 116 (3), pp. 749–755.

Ge, Q. J., and Ravani, B., 1994, “Computer-Aided Geometric Design of Motion Interpolants,” ASME J. Mech. Des., 116 (3), pp. 756–762.

Purwar, A., and Ge, Q. J., 2005, “On the Effect of Dual Weights in Computer Aided Design of Rational Motions,” ASME J. Mech. Des.

[CrossRef], 127 (5), pp. 967–972.

Juttler, B., and Wagner, M. G., 1996, “Computer-Aided Design with Spatial Rational B-Spline Motions,” ASME J. Mech. Des., 118 (2), pp. 193–201.

Röschel, O., 1998, “Rational Motion Design—A Survey,” Comput.-Aided Des.

[CrossRef], 30 (3), pp. 169–178.

Purwar, A., 2005, “Design and Fine Tuning of One- and Two-Parameter Rational Motion,” Ph.D. thesis, State University of New York at Stony Brook, Stony Brook, NY.

Srinivasan, L. N., and Ge, Q. J., 1998, “Fine Tuning of Rational B-Spline Motions,” ASME J. Mech. Des., 120 (1), pp. 46–51.

Fang, Y. C., Hsieh, C. C., Kim, M. J., Chang, J. J., and Woo, T. C., 1998, “Real Time Motion Fairing With Unit Quaternions,” Comput.-Aided Des.

[CrossRef], 30 (3), pp. 191–198.

Lee, J., and Shin, S., 1996, “Motion Fairing,” "*Proceedings Computer Animation ’96*", pp. 136–143.

Kim, M. J., Hsieh, C. C., Wang, M. E., Wang, C. K., Fang, Y. C., and Woo, T. C., 1996, “Noise Smoothing for VR Equipment in the Quaternion Space,” "*Proceedings of the Virtual Reality in Manufacturing Research and Education*".

Lee, J., and Shin, S., 2002, “General Construction of Time-Domain Filters for Orientation Data,” IEEE Trans. Vis. Comput. Graph., 8 (2), pp. 119–128.

Hsieh, C. C., 2002, “Motion Smoothing Using Wavelets,” J. Manuf. Sci. Eng., 35 (2), pp. 157–169.

Hsieh, C. C., 2001, “B-Spline Wavelet-Based Motion Smoothing,” Comput. Ind. Eng., 41 (1), pp. 59–76.

Hsieh, C. C., and Chang, T. Y., 2003, “Motion Fairing Using Genetic Algorithms,” Comput.-Aided Des., 35 (8), pp. 739–749.

Ge, Q. J., and Sirchia, M., 1999, “Computer Aided Geometric Design of Two-Parameter Freeform Motions,” ASME J. Mech. Des., 121 (4), pp. 502–506.

Ge, Q. J., 1996, “Kinematics-Driven Geometric Modeling: A Framework for Simultaneous Tool-Path Generation and Sculptured Surface Design,” "*IEEE Robotics and Automation Conference*", Minneapolis, MN, Vol. 2 , pp. 1819–1824.

Kjellander, J. A., 1983, “Smoothing of Bicubic Parametric Surfaces,” Comput.-Aided Des., 15 (5), pp. 289–293.

Nowacki, H., and Reese, D., 1983, “Design and Fairing Ship Surfaces,” "*Surfaces in CAGD*", R.Barnhill, and W.Bohm, eds., North-Holland, Amsterdam, pp. 121–134.

Lott, N. J., and Pullin, D. I., 1988, “Method for Fairing B-Spline Surfaces,” Comput.-Aided Des., 20 (10), pp. 597–604.

Hahmann, S., 1998, “Shape Improvement of Surfaces,” "*Geometric Modelling, Computing*" [Suppl.], G.Farin, H.Bieri, G.Brunett, and T.DeRose, eds., Vol. 13 , Springer-Verlag, pp. 135–152.

McCarthy, J. M., 1990, "*Introduction to Theoretical Kinematics*", MIT, Cambridge, MA.

Ravani, B., and Roth, B., 1984, “Mappings of Spatial Kinematics,” ASME J. Mech., Transm., Autom. Des., 106 (3), pp. 341–347.

Farin, G., 1996, "*Curves and Surfaces for Computer-Aided Geometric Design: A Practical Guide*", 4th ed.Academic, New York.

Piegl, L., and Tiller, W., 1995, "*The Nurbs Book*", Springer, Berlin.

Schumaker, L. L., 1981, "*Spline Functions: Basic Theory*", Wiley, New York.

De Boor, C., 1978, "*A Practical Guide to Splines*", Springer, New York.

Welch, W., and Witkin, A., 1992, “Variational Surface Modeling,” "*SIGGRAPH ’92*", Vol. 26 , Series 2, pp. 157–166.

Wesselink, W., and Veltcamp, R. C., 1995, “Interactive Design of Contrained Variational Curves,” Comput. Aided Geom. Des., 12 (5), pp. 533–546.

Greiner, G., and Seidel, H. P., 1997, “Automatic Modeling of Smooth Spline Surfaces,” "*Winter School of Computer Graphics’97*", N.Magnenat-Thalmann and V.Skala, eds., pp. 665–675.

Hoschek, J., and Lasser, D., 1993, "*Fundamentals of Computer Aided Geometric Design*", A. K. Peters, Wellesley, MA.

Poeschl, T., 1984, “Detecting Surface Irregularities Using Isophotes,” Comput. Aided Geom. Des., 1 (2), pp. 163–168.