Henry Y. K. Lau Vicky W. K. Wong Immunologic Control Framework for Automated Material Handling. 57-68 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2787&spage=57 2003 conf/icaris/2003 ICARIS db/conf/icaris/icaris2003.html#LauW03