Felice Andrea Pellegrino Walter Vanzella Vincent Torre 1500-1518 2004 34 IEEE Transactions on Systems, Man, and Cybernetics, Part B 3 http://doi.ieeecomputersociety.org/10.1109/TSMCB.2004.824147 db/journals/tsmc/tsmcb34.html#PellegrinoVT04