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homepages/81/2988 journals/pr/ZhaNN98 conf/3dim/ZhaMHN97 conf/icra/OkadaN95 conf/icra/ChungN95 conf/icra/NagataH94 conf/iwar/ShanN92 conf/mva/ZhaN92 journals/pr/NagataZ88 conf/ijcai/NagataYT73
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