Tanveer Saleh Yap Haw Hann Zhu Zhen Abdullah Al Mamun Prahlad Vadakkepat Design of a gyroscopically stabilized single-wheeled robot. 904-908 2004 RAM http://ieeexplore.ieee.org/xpls/abs_all.jsp?isnumber=30961&arnumber=1438038&count=104&index=50 conf/ram/2004 db/conf/ram/ram2004.html#SalehHZMV04