The Flat Earth, the Firmament, and the Three Storied Hebrew Universe
The first four are written by Biblical scholar Dr. Paul Seely:
The Three-Storied Universe.
The Firmament and the Water Above Part 1.
The Firmament and the Water Above Part 2
The Geographical Meaning of "Earth" and "Seas" in Genesis 1:10.
On the the history of the concept of a flat earth see these two books:
Inventing the Flat Earth: Columbus and Modern Historians by Jeffrey Burton Russell.
Flat Earth: The History of an Infamous Idea by Christine Garwood
[Thanks to Anthony for these great resources].
Ed Babinski has also done some nice work in this same area:
Flat Earth Assumptions of the Biblical Authors
Flat Earth and Flood Geology
You can see a diagram of how the Hebrews thought of their universe here:
A Diagram of the Hebrew Universe