@article{GMB:99,
	author={K. N. Groom and A. A. Maciejewski and V. Balakrishnan},
	title={Real-Time Failure Tolerant Control ofKinematically Redundant Manipulators},
	journal={{IEEE} Trans.\ Robotics and Automation},
	year={1999},
        volume  = {15},
        number  = {6}, 
        pages = {1109-1116},
        month =dec
}