Donghun Lee, Doyoung Chang, Young-Il Shin, Donghoon Son, Tae-wan Kim, Kyu-Yeul Lee, JongWon Kim: Design and Application of a Wire-Driven Bidirectional Telescopic Mechanism for Workspace Expansion with a Focus on Shipbuilding Tasks. Adv. Robotics 25(6-7): 699-715 (2011)