Wei-Tek Tsai Qian Huang Xin Sun A Collaborative Service-Oriented Simulation Framework with Microsoft Robotic StudioĒ. 263-270 2008 Annual Simulation Symposium http://doi.ieeecomputersociety.org/10.1109/ANSS-41.2008.32 conf/anss/2008 db/conf/anss/anss2008.html#TsaiHS08