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JOURNAL OF ROBOTIC SYSTEMS, vol. 22, no. 2, page. 111 - 121, 2005-02

Computers & Education, vol. 51, no. 1, page. 318 - 336, 2008-08

ROBOTICA, vol. 27, no. 7, page. 1091 - 1102, 2009-12

COMPUTERS & EDUCATION, vol. 53, no. 4, page. 1120 - 1132, 2009-12

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, vol. 7, no. 5, page. 809 - 816, 2009-10

ISIJ INTERNATIONAL, vol. 49, no. 8, page. 1174 - 1183, 2009-01

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES, vol. E84A, no. 2, page. 597 - 603, 2001-02

OCEAN SCIENCE JOURNAL, vol. 42, no. 2, page. 129 - 134, 2007-06

SYSTEMS ANALYSIS MODELLING SIMULATION, vol. 43, no. 5, page. 557 - 561, 2003-05

OCEAN AND POLAR RESEARCH, vol. 30, no. 3, page. 303 - 312, 2008-09