As a follow-up, I've found two OLD documents that contain the early work from Taylor. It's amazing to think that the work he has been doing since these late 80s douments were published are just now beginning to make their way into the market.
http://www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA221950
http://www.dtic.mil/cgi-bin/GetTRDoc?AD=ADA349797
These look like old scans, but they are searchable. If you want to find Geoff's work, search in the document for Taylor (ignore the "other" taylor and the mathematical Taylor series) or search for "DOES device" to reach the relevent parts.