Graduate School of Engineering and Science

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  • 2012

    Marker-directed optimization of UnCAL graph transformations

    Hidaka, S., Hu, Z., Inaba, K., Kato, H., Matsuda, K., Nakano, K. & Sasano, I., 2012, Logic-Based Program Synthesis and Transformation - 21st International Symposium, LOPSTR 2011, Revised Selected Papers. p. 123-138 16 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 7225 LNCS).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    11 Citations (Scopus)
  • Measurement and analysis of SSN and Jitter of FPGA

    Fujita, H., Iijima, Y. & Sudo, T., 2012 Dec 1, EMC EUROPE 2012 - International Symposium on Electromagnetic Compatibility, Proceedings. 6396872. (IEEE International Symposium on Electromagnetic Compatibility).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Measurement of SSO noise and PDN impedance of 3D SiP with 4k-IO widebus structure

    Tanaka, Y., Takatani, H., Fujita, H., Oizono, Y., Nabeshima, Y., Sudo, T., Sakai, A., Uchiyama, S. & Ikeda, H., 2012 Dec 1, 2012 IEEE 21st Conference on Electrical Performance of Electronic Packaging and Systems, EPEPS 2012. p. 91-94 4 p. 6457850. (2012 IEEE 21st Conference on Electrical Performance of Electronic Packaging and Systems, EPEPS 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Mechanism of Vfb shift in HfO2 gate stack by Al diffusion from (TaC)1-xAlx gate electrode

    Nabatame, T., Kimura, M., Yamada, H., Ohi, A., Ohishi, T. & Chikyow, T., 2012, Dielectrics for Nanosystems 5: Materials Science, Processing, Reliability, and Manufacturing -and- Tutorials in Nanotechnology: More than Moore - Beyond CMOS Emerging Materials and Devices. 3 ed. Electrochemical Society Inc., p. 49-59 11 p. (ECS Transactions; vol. 45, no. 3).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Micro fabrication of poly L lacid and its application

    Koike, Y., Takeuchi, H., Hagiwara, H., Ogura, T., Aoki, D., Kumagai, K., Ishikawa, T. & Nishikawa, H., 2012, 1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012. p. 60-61 2 p. 6379929. (1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Micro-pattern imprinting onto aluminum thin sheet by CNC-controlled stamping

    Aizawa, T. & Fukuda, T., 2012 Jan 1, Proceedings of the 14th International Conference on Metal Forming, METAL FORMING 2012. Wiley-VCH Verlag, Vol. SPL. ISSUE. p. 739-742 4 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Modified self-adaptive strategy for controlling parameters in differential evolution

    Bui, T., Pham, H. & Hasegawa, H., 2012 Nov 7, AsiaSim 2012 - Asia Simulation Conference 2012, Proceedings. PART 2 ed. p. 370-378 9 p. (Communications in Computer and Information Science; vol. 324 CCIS, no. PART 2).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Multi-hop Reed-Solomon encoding scheme for image transmission on wireless sensor networks

    Huu, P. N., Vinh, T. Q. & Miyoshi, T., 2012 Nov 22, 2012 4th International Conference on Communications and Electronics, ICCE 2012. p. 74-79 6 p. 6315874. (2012 4th International Conference on Communications and Electronics, ICCE 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    11 Citations (Scopus)
  • Natural ventilation effects for environmentally symbiotic house with double layer veranda in summer

    Akimoto, T., Watanuki, Y., Kimura, F. & Nakajima, K., 2012 Dec 1, 10th International Conference on Healthy Buildings 2012. p. 2672-2677 6 p. (10th International Conference on Healthy Buildings 2012; vol. 3).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Neighbour traffic-aware load balancing method in ad hoc networks

    Yamamoto, R., Miyoshi, T. & Tanaka, Y., 2012 Dec 12, Proceedings of the 2012 4th International Conference on Intelligent Networking and Collaborative Systems, INCoS 2012. p. 193-197 5 p. 6337919. (Proceedings of the 2012 4th International Conference on Intelligent Networking and Collaborative Systems, INCoS 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Network power saving by group control method with sensing data characteristic

    Arai, A., Takeda, Y., Nakamura, M. & Inoue, M., 2012 Dec 1, 1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012. p. 612-613 2 p. 6379930. (1st IEEE Global Conference on Consumer Electronics 2012, GCCE 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • New carbon material derived from mixture with lubricating oil and sulfuric acid and its electric property for EDLC

    Sugawara, S., Noorden, Z. A., Okaoto, R. & Matsumoto, S., 2012 Dec 1, Proceedings of 2012 IEEE International Conference on Condition Monitoring and Diagnosis, CMD 2012. p. 350-352 3 p. 6416451. (Proceedings of 2012 IEEE International Conference on Condition Monitoring and Diagnosis, CMD 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Nonlinear control of DFIG under symmetrical voltage dips with demagnetizing current solution

    Nguyen, T. D. V. & Fujita, G., 2012, 2012 IEEE International Conference on Power System Technology, POWERCON 2012. 6401383. (2012 IEEE International Conference on Power System Technology, POWERCON 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    7 Citations (Scopus)
  • On-chip high speed microrobot made of Ni-Si composite structure with three-dimensionally patterned surface

    Hagiwara, M., Kawahara, T., Iijima, T., Masuda, T., Yamanishi, Y. & Arai, F., 2012 Jul 6, 2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation". p. 108-112 5 p. 6102169. (2011 Int. Symp. on Micro-NanoMechatronics and Human Science, Symp. on "COE for Education and Research of Micro-Nano Mechatronics", Symposium on "Hyper Bio Assembler for 3D Cellular System Innovation").

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • On-chip manipulation and sensing of microorganisms by magnetically driven microtools with a force sensing structure

    Kawahara, T., Sugita, M., Hagiwara, M., Yamanishi, Y., Arai, F., Kawano, H., Shihira-Ishikawa, I. & Miyawaki, A., 2012 Jan 1, 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., p. 4112-4117 6 p. 6224966. (Proceedings - IEEE International Conference on Robotics and Automation).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • On-die PDN design and analysis for minimizing power supply noise

    Otsuka, H., Kubo, G., Kobayashi, R., Mido, T., Kobayashi, Y., Fujii, H. & Sudo, T., 2012 Dec 1, 2012 IEEE Electrical Design of Advanced Packaging and Systems Symposium, EDAPS 2012. p. 17-20 4 p. 6469418. (2012 IEEE Electrical Design of Advanced Packaging and Systems Symposium, EDAPS 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • On FNM-based and RFCM-based fuzzy co-clustering algorithms

    Kanzawa, Y. & Endo, Y., 2012 Oct 23, 2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012. 6250781. (IEEE International Conference on Fuzzy Systems).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)
  • Optimization technique of queries with plural predicates for a topic map database

    Ogata, A. & Kimura, M., 2012 Dec 1, Proceedings 2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012. p. 2365-2370 6 p. 6378096. (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • PDN characteristics of 3D-SiP with a wide-bus structure under 4k-IO operations

    Sakai, A., Yamada, S., Kariya, T., Uchiyama, S., Ikeda, H., Fujita, H., Takatani, H., Tanaka, Y., Oizono, Y., Nabeshima, Y. & Sudo, T., 2012 Dec 1, 2012 2nd IEEE CPMT Symposium Japan, ICSJ 2012. 6523460. (2012 2nd IEEE CPMT Symposium Japan, ICSJ 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)
  • PDN impedance and noise simulation of 3D SiP with a widebus structure

    Takatani, H., Tanaka, Y., Oizono, Y., Nabeshima, Y., Okumura, T., Sudo, T., Sakai, A., Uchiyama, S. & Ikeda, H., 2012 Oct 4, 2012 IEEE 62nd Electronic Components and Technology Conference, ECTC 2012. p. 673-677 5 p. 6248904. (Proceedings - Electronic Components and Technology Conference).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    11 Citations (Scopus)
  • Physics-based simulation of field-plate effects on breakdown characteristics in AlGaN/GaN HEMTs

    Onodera, H. & Horio, K., 2012 Dec 1, European Microwave Week 2012: "Space for Microwaves", EuMW 2012, Conference Proceedings - 7th European Microwave Integrated Circuits Conference, EuMIC 2012. p. 401-404 4 p. 6483821. (European Microwave Week 2012: "Space for Microwaves", EuMW 2012, Conference Proceedings - 7th European Microwave Integrated Circuits Conference, EuMIC 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Picking up operation of thin objects by robot arm with two-fingered parallel soft gripper

    Yoshimi, T., Iwata, N., Mizukawa, M. & Ando, Y., 2012 Jul 16, 2012 IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO 2012. p. 7-12 6 p. 6213390. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    28 Citations (Scopus)
  • Potential topics discovery from topic frequency transition with semi-supervised learning

    Yasumura, Y., Takahashi, H. & Uehara, K., 2012 Mar 27, Intelligent Information and Database Systems - 4th Asian Conference, ACIIDS 2012, Proceedings. PART 2 ed. p. 477-486 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 7197 LNAI, no. PART 2).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)
  • Power supply noise suppression by optimizing on-die PDN impedance

    Kobayashi, Y., Kobayashi, R., Mido, T., Kubo, G., Otsuka, H., Fujii, H. & Sudo, T., 2012 Dec 1, 2012 2nd IEEE CPMT Symposium Japan, ICSJ 2012. 6523443. (2012 2nd IEEE CPMT Symposium Japan, ICSJ 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Predictive model of thermal sensation for heating systems considering contact with the floor

    Kubo, H., Tanabe, S. I., Yokoyama, T., Omori, T., Ohira, N., Tominaga, R. & Akimoto, T., 2012 Dec 1, 10th International Conference on Healthy Buildings 2012. p. 1052-1057 6 p. (10th International Conference on Healthy Buildings 2012; vol. 2).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Proposal for driver distraction indexes using biological signals

    Ohkura, M., Uchiumi, K., Saito, Y. & Hasegawa, K., 2012, ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2012. PARTS A AND B ed. p. 603-610 8 p. (Proceedings of the ASME Design Engineering Technical Conference; vol. 2, no. PARTS A AND B).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Proposal of active information supplement platform based on 4W information

    Nakamura, Y., Muto, S., Motegi, M. & Mizukawa, M., 2012, 2012 IEEE/SICE International Symposium on System Integration, SII 2012. p. 951-956 6 p. 6427284. (2012 IEEE/SICE International Symposium on System Integration, SII 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Proposal of a topic map database indexing method

    Ota, R. & Kimura, M., 2012 Dec 1, Proceedings 2012 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2012. p. 2650-2655 6 p. 6378147. (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Proposal of new module-style power system training device

    Hitotsumatsu, Y. & Fujita, G., 2012 Dec 1, Proceedings - 2012 47th International Universities Power Engineering Conference, UPEC 2012. 6398680. (Proceedings of the Universities Power Engineering Conference).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Proton beam writer (PBW) for novel processing tool to increase surface utility of flexible printed circuits (FPC)

    Hayashi, H. & Nishikawa, H., 2012 Dec 1, Electronics Goes Green 2012+, ECG 2012 - Joint International Conference and Exhibition, Proceedings. 6360550. (Electronics Goes Green 2012+, ECG 2012 - Joint International Conference and Exhibition, Proceedings).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Quality improvement of requirements specification using model checking technique

    Aoki, Y., Ogata, S., Okuda, H. & Matsuura, S., 2012 Sep 10, ICEIS 2012 - Proceedings of the 14th International Conference on Enterprise Information Systems. SAIC/- ed. p. 401-406 6 p. (ICEIS 2012 - Proceedings of the 14th International Conference on Enterprise Information Systems; vol. 2 ISAS, no. SAIC/-).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Quaternary alloy of Ni-Zn-Cu-P from hypophosphite based electroless deposition method

    Zaimi, M. & Noda, K., 2012, Corrosion (General) - 221st ECS Meeting. 19 ed. Electrochemical Society Inc., p. 3-16 14 p. (ECS Transactions; vol. 45, no. 19).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)
  • Rare earth reduction using a novel variable magnetomotive force, flux intensified IPM machine

    Kato, T., Limsuwan, N., Yu, C., Akatsu, K. & Lorenz, R. D., 2012 Dec 17, 2012 IEEE Energy Conversion Congress and Exposition, ECCE 2012. p. 4346-4353 8 p. 6342231. (2012 IEEE Energy Conversion Congress and Exposition, ECCE 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    14 Citations (Scopus)
  • Reflection properties of Brillouin dynamic gratings in coiled single-mode fibers

    Takigawa, S. & Horiguchi, T., 2012 Dec 1, 22nd International Conference on Optical Fiber Sensors. 84219U. (Proceedings of SPIE - The International Society for Optical Engineering; vol. 8421).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Relational fuzzy c-lines derived from kernel fuzzy c-lines

    Kanzawa, Y., 2012 Dec 1, 6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012. p. 1561-1566 6 p. 6505052. (6th International Conference on Soft Computing and Intelligent Systems, and 13th International Symposium on Advanced Intelligence Systems, SCIS/ISIS 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Reliable impedance islanding detection for power distribution systems with high motor penetration

    Tuyen, N. D., Fujita, G., Funabashi, T. & Nomura, M., 2012, APPEEC 2012 - 2012 Asia-Pacific Power and Energy Engineering Conference, Proceedings. 6306888. (Asia-Pacific Power and Energy Engineering Conference, APPEEC).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Removal of surface-related current slump in field-plate GaAs FETs

    Hafiz, F., Kumeno, M., Tanaka, T. & Horio, K., 2012 Dec 1, 2012 International Conference on Compound Semiconductor Manufacturing Technology, CS MANTECH 2012. (2012 International Conference on Compound Semiconductor Manufacturing Technology, CS MANTECH 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Robotic-investigators for microorganisms in a microfluidic chip

    Sugita, M., Kawahara, T., Hagiwara, M., Yamanishi, Y. & Arai, F., 2012 May 7, 2012 IEEE 25th International Conference on Micro Electro Mechanical Systems, MEMS 2012. p. 1177-1180 4 p. 6170373. (Proceedings of the IEEE International Conference on Micro Electro Mechanical Systems (MEMS)).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Seamless navigation using various sensors: An overview of the seamless navigation campaign

    Nakagawa, M., Yamada, Y., Namie, H., Ebinuma, T., Kubo, N., Kawaguchi, T., Yoshida, M. & Yasuda, A., 2012, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences - ISPRS Archives. International Society for Photogrammetry and Remote Sensing, Vol. 39. p. 35-38 4 p.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Selectivity of multimple indoor positioning sensors

    Nakanishi, A., Yamada, Y., Yamada, S. & Nakagawa, M., 2012 Dec 1, 33rd Asian Conference on Remote Sensing 2012, ACRS 2012. p. 1558-1561 4 p. (33rd Asian Conference on Remote Sensing 2012, ACRS 2012; vol. 2).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Semi-supervised Gaussian process regression and its feedback design

    Guo, X., Yasumura, Y. & Uehara, K., 2012 Dec 1, Advanced Data Mining and Applications - 8th International Conference, ADMA 2012, Proceedings. p. 353-366 14 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 7713 LNAI).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)
  • Simple adaptive control of water hydraulic servo cylinder system

    Yamada, T. & Ito, K., 2012 Oct 23, 2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012. p. 1044-1049 6 p. 6283394. (2012 IEEE International Conference on Mechatronics and Automation, ICMA 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)
  • Simple unipolar excitations for SR motors considering fundamental component of self-inductance distribution

    Nakao, N. & Akatsu, K., 2012 Dec 1, ICEMS 2012 - Proceedings: 15th International Conference on Electrical Machines and Systems. 6402011. (ICEMS 2012 - Proceedings: 15th International Conference on Electrical Machines and Systems).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    4 Citations (Scopus)
  • Simulation of removal of surface-state-related lag and current slump in GaAs FETs

    Hafiz, H., Kumeno, M. & Horio, K., 2012 Aug 17, Nanotechnology 2012: Electronics, Devices, Fabrication, MEMS, Fluidics and Computational - 2012 NSTI Nanotechnology Conference and Expo, NSTI-Nanotech 2012. p. 582-585 4 p. (Technical Proceedings of the 2012 NSTI Nanotechnology Conference and Expo, NSTI-Nanotech 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Single cell surgery with monodispersed microbubbles generated by a pulsed discharge of microelectric knife

    Kuriki, H., Yamanishi, Y., Sakuma, S., Akagi, S. & Arai, F., 2012 Jan 1, Proceedings of the 16th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2012. Chemical and Biological Microsystems Society, p. 183-185 3 p. (Proceedings of the 16th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Spectrum sensor for distributed spectrum sensing

    Kim, H., Suzuki, M., Minami, M. & Morikawa, H., 2012, 2012 IEEE Consumer Communications and Networking Conference, CCNC'2012. p. 44-45 2 p. 6181043. (2012 IEEE Consumer Communications and Networking Conference, CCNC'2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    3 Citations (Scopus)
  • Stepwise sleep depth control for run-time leakage power saving

    Takeda, S., Miwa, S., Usami, K. & Nakamura, H., 2012 May 22, GLSVLSI'12 - Proceedings of the Great Lakes Symposium on VLSI 2012. p. 233-238 6 p. (Proceedings of the ACM Great Lakes Symposium on VLSI, GLSVLSI).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    2 Citations (Scopus)
  • Strip-loaded waveguide optical isolator employing nonreciprocal guided-radiation mode conversion

    Yokoi, H. & Takaki, K., 2012, Integrated Optoelectronics 6. 33 ed. Electrochemical Society Inc., p. 61-66 6 p. (ECS Transactions; vol. 45, no. 33).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Strong coupled fluid-structure interaction simulation of cerebrovascular system using multi-scale model

    Katagiri, K., Krdey, A., Yamamoto, S. & Oshima, M., 2012 Dec 1, ASME 2012 Summer Bioengineering Conference, SBC 2012. p. 835-836 2 p. (ASME 2012 Summer Bioengineering Conference, SBC 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

  • Study of desktop type external shoulder prosthesis control with bilateral servo system

    Higashihara, T., Ohnishi, K., Komeda, T., Saito, Y. & Ohshima, T., 2012 Dec 1, 2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012. p. 225-230 6 p. 6451013. (2012 9th France-Japan and 7th Europe-Asia Congress on Mechatronics, MECATRONICS 2012 / 13th International Workshop on Research and Education in Mechatronics, REM 2012).

    Research output: Chapter in Book/Report/Conference proceedingConference contribution