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Cadman L, Tjahjadi T.Cadman L, et al. Among authors: tjahjadi t.IEEE Trans Syst Man Cybern B Cybern. 2004 Apr;34(2):856-76. doi: 10.1109/tsmcb.2003.817103.IEEE Trans Syst Man Cybern B Cybern. 2004.PMID: 15376835