"Masayuki Arai,Shigeo Hirose","Development of Cable Reel for Spherical Trailer -Uniform Cable Winding",,"Journal of Robotics and Mechatronics","Journal of Robotics and Mechatronics","Vol. 20","No. 4","pp. 533-540",2008,Aug.
"Masayuki Arai,Yoshinori Tanaka,Shigeo Hirose","Development of "Souryu-VI" and "Souryu-V:" Serially Connected Crawler Vehicles for in-Rubble Searching Operations",,"Journal of Field Robotics","Journal of Field Robotics",,,"pp. 31-65",2008,Aug.