Submitted on: 06 November 2003.
Revised on: 15 January 2004.
Accepted on: 18 February 2004.
___________________International Journal of Intelligent Robotics and Applications
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Submitted on: 13 August 2004.
Revised on: 07 December 2004.
Accepted on: 28 January 2005.
___________________International Journal of Intelligent Robotics and Applications
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