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IEEE Transactions on Professional Communication > 2009 > 52 > 3 > 243 - 253
IEEE Robotics & Automation Magazine > 2009 > 16 > 2 > 116 - 118
IEEE Computational Intelligence Magazine > 2008 > 3 > 4 > 35 - 38
IEEE Internet Computing > 2007 > 11 > 5 > 77 - 81