Open access peer-reviewed chapter
By Kenji Sorimachi and Takaaki Nakamoto
Submitted: November 13th 2010Reviewed: June 3rd 2011Published: December 9th 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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