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Submitted on: 04 October 2007.
Revised on: 23 November 2007.
Accepted on: 20 January 2008.
___________________Journal of Bionic Engineering---SPRINGER SINGAPORE PTE LTD
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Submitted on: 31 May 2013.
Revised on: 04 July 2013.
Accepted on: 22 August 2013.
___________________Journal of Bionic Engineering---SPRINGER SINGAPORE PTE LTD
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