Hyung Seok Kim Naehyuck Chang Wook Hyun Kwon A Translation Method for Ladder Diagram with Application to a Manufacturing Process. 793-798 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-1.html#KimCK99 http://dx.doi.org/10.1109/ROBOT.1999.770071