Quantum orthogonal planes: ISOq,r(N) and SOq,r(N) – bicovariant calculi and differential geometry on quantum Minkowski space P. Aschieri, L. Castellani and A.M. ScarfoneEur. Phys. J. C, 7 1 (1999) 159-175DOI: https://doi.org/epjc/v7/p159(epjc968)