Open access peer-reviewed chapter
By Nobuyuki Tadokoro
Submitted: November 18th 2010Reviewed: April 25th 2011Published: October 12th 2011
© 2011 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution 3.0 License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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