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IEEE Transactions on Automation Science and Engineering > 2014 > 11 > 3 > 818 - 827
IEEE Transactions on Cybernetics > 2014 > 44 > 12 > 2719 - 2732
2013 IEEE RO-MAN > 126 - 132
IEEE Transactions on Signal Processing > 2013 > 61 > 10 > 2572 - 2587