Licheng Jiao Yangyang Li Maoguo Gong Xiangrong Zhang 1234-1253 2008 38 IEEE Transactions on Systems, Man, and Cybernetics, Part B 5 http://dx.doi.org/10.1109/TSMCB.2008.927271 db/journals/tsmc/tsmcb38.html#JiaoLGZ08