INTERNATIONAL JOURNAL OF INTELLIGENT SYSTEMS, vol. 18, no. 11, page. 1145 - 1153, 2003-11
SYSTEMS ANALYSIS MODELLING SIMULATION, vol. 43, no. 5, page. 557 - 561, 2003-05
JOURNAL OF ROBOTIC SYSTEMS, vol. 20, no. 2, page. 79 - 91, 2003-02
ISIJ INTERNATIONAL, vol. 43, no. 2, page. 230 - 237, 2003-01