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homepages/73/233 journals/ieicet/HaraguchiOYMMMOA09 conf/apccas/YamazakiYS06 journals/ieicet/YamazakiMWAHNHDAWOY05 conf/cars/ArimotoYMINS01 journals/amc/YamazakiIN00 conf/icail/NittaSYY99
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