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IEEE Transactions on Industrial Electronics > 2010 > 57 > 8 > 2815 - 2825
IEEE Transactions on Robotics > 2009 > 25 > 3 > 481 - 491
2008 IEEE Sensors > 419 - 422
SICE 2004 Annual Conference > 2 > 1797 - 1802 vol. 2