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Submitted on: 05 March 2011.
Revised on: 10 May 2011.
Accepted on: 02 June 2011.
___________________IET Cyber-Physical Systems: Theory & Applications
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Submitted on: 31 May 1998.
Revised on: 12 July 1998.
Accepted on: 07 August 1998.
___________________IET Cyber-Physical Systems: Theory & Applications
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