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IEEE Transactions on Systems, Man, and Cybernetics, Part C (Applications... > 2011 > 41 > 4 > 520 - 532
IEEE Transactions on Industrial Electronics > 2009 > 56 > 10 > 3964 - 3974
IEEE Transactions on Industrial Electronics > 2009 > 56 > 1 > 54 - 61
IEEE Transactions on Robotics > 2008 > 24 > 4 > 917 - 925