Fumihiro Maruyama Youji Kohda Tsuneo Katsuyama 489-490 2007 conf/wecwis/2007 CEC/EEE http://doi.ieeecomputersociety.org/10.1109/CEC-EEE.2007.57 db/conf/wecwis/cec2007.html#MaruyamaKK07