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Gary R. Bertoline Nathan W. Hartman Nicoletta Adamo-Villani Computer-Aided Design, Computer-Aided Engineering, and Visualization. 639-652 2009 Handbook of Automation https://doi.org/10.1007/978-3-540-78831-7_37 reference/auto/2009 db/reference/auto/auto2009.html#BertolineHA09