Kanakasabapathi Gopalakrishnan Kenneth Y. Goldberg Gary M. Bone Matthew Zaluzec Rama Koganti Rich Pearson Patricia Deneszczuk Unilateral fixtures for sheet-metal parts with holes. 110-120 2004 1 IEEE T. Automation Science and Engineering 2 http://dx.doi.org/10.1109/TASE.2004.835572 db/journals/tase/tase1.html#GopalakrishnanGBZKPD04