Cheng-Chih Wu I-Chih Tseng Shih-Lung Huang Visualization of Program Behaviors: Physical Robots Versus Robot Simulators. 53-62 2008 ISSEP http://dx.doi.org/10.1007/978-3-540-69924-8_5 conf/issep/2008 db/conf/issep/issep2008.html#WuTH08