Soko Aoki Jin Nakazawa Hideyuki Tokuda Spinning Sensors: A Middleware for Robotic Sensor Nodes with Spatiotemporal Models. 89-98 2008 RTCSA http://dx.doi.org/10.1109/RTCSA.2008.37 conf/rtcsa/2008 db/conf/rtcsa/rtcsa2008.html#AokiNT08