Derek L. Schwenke Anthony Vetro Toshihiko Hata Naoki Kuwahara 1437-1440 2006 conf/icmcs/2006 ICME http://doi.ieeecomputersociety.org/10.1109/ICME.2006.262811 db/conf/icmcs/icme2006.html#SchwenkeVHK06