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Erschienen in: 2008 7th World Congress on Intelligent Control and Automation : [WCICA 2008] ; Chongqing, China, 25 - 27 June 2008. Piscataway, NJ: IEEE Service Center, 2008, pp. 1060-1065. ISBN 978-1-4244-2113-8. Available under: doi: 10.1109/WCICA.2008.4593068