Processor and method for developing a set of admissible fixture designs for a workpiece
Randolph C. Brost, Kenneth Y. Goldberg, John Canny and Aaron S. Wallack
U.S. Patent 5,856,924. January 1999

Processor and method for developing a set of admissible fixture designs for a workpiece
Randolph C. Brost, Kenneth Y. Goldberg, Aaron S. Wallack and John Canny
U.S. Patent 5,546,314. August 1996