William Leigh Cheryl J. Frohlich Steven Hornik Russell L. Purvis Tom L. Roberts 93-104 2008 38 IEEE Transactions on Systems, Man, and Cybernetics, Part A 1 http://dx.doi.org/10.1109/TSMCA.2007.909508 db/journals/tsmc/tsmca38.html#LeighFHPR08