Masatomo Inui Masahiro Miura Fumihiko Kimura Analysis of position uncertainties of parts in an assembly using configuration space in octree representation. 73-82 1995 conf/sma/1995 Symposium on Solid Modeling and Applications https://doi.org/10.1145/218013.218035 db/conf/sma/sma1995.html#InuiMK95