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• Conference contribution

  Asymptotic property of sufficient statistic codes

  Matsushima, T. & Hirasawa, S., 1997 Dec 1, Proceedings - 1997 IEEE International Symposium on Information Theory, ISIT 1997. 1 p. 613358. (IEEE International Symposium on Information Theory - Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Asymptotics of Bayesian estimation for nested models under misspecification

  Miya, N., Suko, T., Yasuda, G. & Matsushima, T., 2012 Dec 1, 2012 International Symposium on Information Theory and Its Applications, ISITA 2012. p. 86-90 5 p. 6401057. (2012 International Symposium on Information Theory and Its Applications, ISITA 2012).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Asymptotic solutions for large time of Hamilton-Jacobi equations

  Ishii, H., 2006, International Congress of Mathematicians, ICM 2006. Vol. 3. p. 213-227 15 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  10 Citations (Scopus)

• Asymptotic upper bound on the packet propagation speed in WANETs with directional antennas

  Chen, Y., Liu, J., Jiang, X., Takahashi, O. & Shiratori, N., 2013, 2013 IEEE/CIC International Conference on Communications in China, ICCC 2013. p. 571-576 6 p. 6671179

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A Synchronization Feedback System to Improve Interaction Correlation in Subjects with Autism Spectrum Disorder

  Ma, Y. H., Han, Y., Lin, J. Y., Cosentino, S., Nishio, Y., Oshiyama, C. & Takanishi, A., 2018 Oct 31, 2018 9th International Conference on Awareness Science and Technology, iCAST 2018. Institute of Electrical and Electronics Engineers Inc., p. 285-290 6 p. 8517233. (2018 9th International Conference on Awareness Science and Technology, iCAST 2018).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• Asynchronous ADMM HEMS aggregation scheme in smart grid

  Yoshida, A., Fujimoto, Y., Amano, Y. & Hayashi, Y., 2018, ECOS 2018 - Proceedings of the 31st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems. University of Minho, (ECOS 2018 - Proceedings of the 31st International Conference on Efficiency, Cost, Optimization, Simulation and Environmental Impact of Energy Systems).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• Asynchronous agent teams for collaborative tasks based on bottom-up alliance formation and adaptive behavioral strategies

  Hayano, M., Iijima, N. & Sugawara, T., 2018 Mar 29, Proceedings - 2017 IEEE 15th International Conference on Dependable, Autonomic and Secure Computing, 2017 IEEE 15th International Conference on Pervasive Intelligence and Computing, 2017 IEEE 3rd International Conference on Big Data Intelligence and Computing and 2017 IEEE Cyber Science and Technology Congress, DASC-PICom-DataCom-CyberSciTec 2017. Institute of Electrical and Electronics Engineers Inc., p. 589-596 8 p. (Proceedings - 2017 IEEE 15th International Conference on Dependable, Autonomic and Secure Computing, 2017 IEEE 15th International Conference on Pervasive Intelligence and Computing, 2017 IEEE 3rd International Conference on Big Data Intelligence and Computing and 2017 IEEE Cyber Science and Technology Congress, DASC-PICom-DataCom-CyberSciTec 2017; vol. 2018-January).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A systematic theoretical study of explosion energies in Core Collapse Supernovae

  Yamamoto, Y. & Yamada, S., 2014, Proceedings of Science. Proceedings of Science (PoS), Vol. 07-11-July-2015. 176

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A System for Cultivating Exploration Skills by Presenting Clues Based on the Analysis of Page Selection Behaviors

  Kawawa, Y., Onuma, R., Nakayama, H., Kaminaga, H., Miyadera, Y. & Nakamura, S., 2019 Nov 23, Proceedings of the 2019 2nd International Conference on Computational Intelligence and Intelligent Systems, CIIS 2019. Association for Computing Machinery, p. 134-139 6 p. (ACM International Conference Proceeding Series).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A system for mining generalized association rules with ontology using genetic network programming

  Yang, G., Shimada, K., Mabu, S., Hirasawa, K. & Hu, J., 2007 Jan 1, Second International Conference on Innovative Computing, Information and Control, ICICIC 2007. IEEE Computer Society, 4427823. (Second International Conference on Innovative Computing, Information and Control, ICICIC 2007).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A system for seamless support from security requirements analysis to security design using a software security knowledge base

  Hazeyama, A., Miyahara, H., Tanaka, T., Washizaki, H., Kaiya, H., Okubo, T. & Yoshioka, N., 2019 Sep, Proceedings - 2019 IEEE 27th International Requirements Engineering Conference Workshops, REW 2019. Institute of Electrical and Electronics Engineers Inc., p. 134-140 7 p. 8933789. (Proceedings - 2019 IEEE 27th International Requirements Engineering Conference Workshops, REW 2019).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A System for Visualizing the Relationships between Pages and Involved Factors across the Gap of Local Area and the Web

  Arakawa, D., Nakayama, H., Onuma, R., Amano, T., Kaminaga, H., Miyadera, Y. & Nakamura, S., 2018 Dec 4, Proceedings - 2017 International Conference on Computational Science and Computational Intelligence, CSCI 2017. Tinetti, F. G., Tran, Q-N., Deligiannidis, L., Yang, M. Q., Yang, M. Q. & Arabnia, H. R. (eds.). Institute of Electrical and Electronics Engineers Inc., p. 858-863 6 p. 8560908

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A system to help amateurs take pictures of delicious looking food

  Kakimori, T., Okabe, M., Yanai, K. & Onai, R., 2016 Aug 16, Proceedings - 2016 IEEE 2nd International Conference on Multimedia Big Data, BigMM 2016. Institute of Electrical and Electronics Engineers Inc., p. 456-461 6 p. 7545068

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• A system to support the amateurs to take a delicious-looking picture of foods

  Kakimori, T., Okabe, M., Yanai, K. & Onai, R., 2015 Nov 2, SIGGRAPH Asia 2015 Mobile Graphics and Interactive Applications, SA 2015. Association for Computing Machinery, Inc, 2818451

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  5 Citations (Scopus)

• A tactile sensor for the fingertips of the humanoid robot iCub

  Schmitz, A., Maggiali, M., Natale, L., Bonino, B. & Metta, G., 2010, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. p. 2212-2217 6 p. 5648838. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  81 Citations (Scopus)

• A tagger-aided language model with a stack decoder

  Zhang, R., Black, E., Finch, A. & Sagisaka, Y., 2000, 6th International Conference on Spoken Language Processing, ICSLP 2000. International Speech Communication Association, (6th International Conference on Spoken Language Processing, ICSLP 2000).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A taking robot for the vocal communication by the mimicry of human voice

  Kitani, M., Hara, T., Hanada, H. & Sawada, H., 2010, 3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings. p. 728-733 6 p. 5514489. (3rd International Conference on Human System Interaction, HSI'2010 - Conference Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A talking and singing robot based on the mechanical construction of human vocal system

  Sawada, H. & Nakamura, M., 2004, Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation. p. 89-94 6 p. (Proceedings - 2004 International Conference on Intelligent Mechatronics and Automation).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A talking robot and its human-like expressive speech production

  Kitani, M., Hara, T., Hanada, H. & Sawada, H., 2011, 4th International Conference on Human System Interaction, HSI 2011. p. 203-208 6 p. 5937367. (4th International Conference on Human System Interaction, HSI 2011).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A talking robot and its singing skill acquisition

  Nakamura, M. & Sawada, H., 2005, Knowledge-Based Intelligent Information and Engineering Systems - 9th International Conference, KES 2005, Proceedings. Springer Verlag, p. 898-907 10 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 3683 LNAI).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• A target detection algorithm for hierarchical area monitoring wireless sensor networks

  Chen, J. & Matsumoto, M., 2010, IEEE International Conference on Industrial Informatics (INDIN). p. 980-985 6 p. 5549607

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A task cluster size determination in heterogeneous distributed systems

  Kanemitsu, H., 2012, International Conference on Advanced Communication Technology, ICACT. p. 1070-1075 6 p. 6174852

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A taxonomy for program metamodels in program reverse engineering

  Washizaki, H., Guéhéneuc, Y. G. & Khomh, F., 2017 Jan 12, Proceedings - 2016 IEEE International Conference on Software Maintenance and Evolution, ICSME 2016. Institute of Electrical and Electronics Engineers Inc., p. 44-55 12 p. 7816453. (Proceedings - 2016 IEEE International Conference on Software Maintenance and Evolution, ICSME 2016).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  4 Citations (Scopus)

• ATC improvement by phase shifter application considering dynamic rating

  Satoh, T., Tanaka, H. & Iwamoto, S., 2007, 2007 39th North American Power Symposium, NAPS. p. 528-533 6 p. 4402361

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  5 Citations (Scopus)

• A technique for boosting the security of cryptographic systems with one-way hash functions

  Koshiba, T., 2000, Information Security and Cryptology - ICISC 1999 - 2nd International Conference, Proceedings. Springer Verlag, Vol. 1787. p. 76-81 6 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 1787).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A technique for displaying presence information on a live camera image using 3-D mask objects

  Higuchi, J., Takahashi, S. & Tanaka, J., 2008, Computer-Human Interaction - 8th Asia-Pacific Conference, APCHI 2008, Proceedings. p. 213-221 9 p. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); vol. 5068 LNCS).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• A technique for optimal shunt capacitor reallocation considering voltage stability in N-1 contingencies

  Ohtake, H., Kimura, K. & Iwamoto, S., 2007, 2007 IEEE Power Engineering Society General Meeting, PES. 4275653

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  3 Citations (Scopus)

• A technique for SC renewal planning considering optimal allocation and life cycle cost

  Kimura, K., Tanaka, Y. & Iwamoto, S., 2010, 2010 9th International Power and Energy Conference, IPEC 2010. p. 1-6 6 p. 5697120

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A technique to evaluate on-orbit thermal deformation for large precise structures in ASTRO-H

  Kawano, T., Ishimura, K., Minesugi, K., Omagari, K. & Tanaka, K., 2015 Jan 1, 56th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference. American Institute of Aeronautics and Astronautics Inc.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  4 Citations (Scopus)

• A temporal model of research work tracking and assessing for an individual and a group

  Liang, W., Lu, Z., Jin, Q., Xiong, Y. & Wu, M., 2016 May 2, Proceedings - 2015 IEEE International Conference on Smart City, SmartCity 2015, Held Jointly with 8th IEEE International Conference on Social Computing and Networking, SocialCom 2015, 5th IEEE International Conference on Sustainable Computing and Communications, SustainCom 2015, 2015 International Conference on Big Data Intelligence and Computing, DataCom 2015, 5th International Symposium on Cloud and Service Computing, SC2 2015. Institute of Electrical and Electronics Engineers Inc., p. 440-445 6 p. 7463764

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• A terahertz source with high frequency accuracy using a mach-zehnder-modulator-based flat comb generator for high resolution spectroscopy

  Morohashi, I., Irimajiri, Y., Sakamoto, T., Sekine, N., Kawanishi, T., Yasui, M. & Hosako, I., 2013 Oct 4, PIERS 2013 Stockholm - Progress in Electromagnetics Research Symposium, Proceedings. p. 1447-1450 4 p. (Progress in Electromagnetics Research Symposium).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A testbed for agent-based multi-purpose extensible active measurement

  Zhanikeev, M. & Tanaka, Y., 2006, 2nd International Conference on Testbeds and Research Infrastructures for the Development of Networks and Communities, TRIDENTCOM 2006. p. 498-506 9 p. 1649189. (2nd International Conference on Testbeds and Research Infrastructures for the Development of Networks and Communities, TRIDENTCOM 2006; vol. 2006).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• A Theoretical Analysis on Dynamic and Static Characteristics of Control Strategies for Wayside Energy Storage System in DC-electrified Railway

  Kobayashi, H., Kondo, K. & Iannuzzi, D., 2019 Jan 9, 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2018. Institute of Electrical and Electronics Engineers Inc., 8607332. (2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles and International Transportation Electrification Conference, ESARS-ITEC 2018).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  4 Citations (Scopus)

• A Theoretical Analysis on Static Characteristics of Voltage Based Control Method and Current Based Control Method for the Wayside Energy Storage System in DC-electrified Railway

  Kobayashi, H., Kondo, K. & Iannuzzi, D., 2018 Oct 22, 2018 International Power Electronics Conference, IPEC-Niigata - ECCE Asia 2018. Institute of Electrical and Electronics Engineers Inc., p. 2527-2533 7 p. 8507526

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• A Theoretical review of network effects on platform products

  Kato, K. & Negoro, T., 2007 Dec 1, International Society for the Systems Sciences - 51st Annual Meeting of the International Society for the Systems Sciences, ISSS 2007. p. 229-234 6 p. (International Society for the Systems Sciences - 51st Annual Meeting of the International Society for the Systems Sciences, ISSS 2007).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A thermal deformation test technique robust to change in room temperature using multiple periodic heating

  Shibata, T., Ishimura, K. & Miyashita, T., 2021, AIAA Scitech 2021 Forum. American Institute of Aeronautics and Astronautics Inc, AIAA, p. 1-8 8 p. (AIAA Scitech 2021 Forum).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Athermalization of deformable reflector’s actuators for radio astronomy satellites

  Kashiyama, R., Sakamoto, H., Okuma, M., Tanaka, H. & Ishimura, K., 2018, AIAA Spacecraft Structures. American Institute of Aeronautics and Astronautics Inc, AIAA, (AIAA Spacecraft Structures Conference, 2018).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A thermal-neutron detector with a phoswich system of LiCaAlF₆ and BGO crystal scintillators onboard PoGOLite

  Takahashi, H., Yonetani, M., Matsuoka, M., Mizuno, T., Fukazawa, Y., Yanagida, T., Fujimoto, Y., Yokota, Y., Yoshikawa, A., Kawaguchi, N., Ishizu, S., Fukuda, K., Suyama, T., Watanabe, K., Tajima, H., Kanai, Y., Kawai, N., Kataoka, J., Katsuta, J., Takahashi, T., & 16 othersGunji, S., Axelsson, M., Jackson, M., Kiss, M., Klamra, W., Kole, M., Larsson, S., Mallol, P., Pearce, M., Ryde, F., Rydstrom, S., Olofsson, G., Floren, H. G., Kamae, T., Madejski, G. & Varner, G., 2010, IEEE Nuclear Science Symposuim and Medical Imaging Conference, NSS/MIC 2010. p. 32-37 6 p. 5873712. (IEEE Nuclear Science Symposium Conference Record).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  7 Citations (Scopus)

• Athermal Silicon Ring Resonators with TiO₂ Hybrid-Polymer Claddings

  Kita, T., Mendez-Astudillo, M., Masaka, M., Tan, F. S. & Sugihara, O., 2019 Nov, MOC 2019 - 24th Microoptics Conference. Institute of Electrical and Electronics Engineers Inc., p. 134-135 2 p. 8982881. (MOC 2019 - 24th Microoptics Conference).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A thermodynamic description of the Al-Ir system

  Abe, T., Ode, M., Murakami, H., Oh, C. S., Kocer, C., Yamabe-Mitarai, Y. & Onodera, H., 2007, Supplement to THERMEC 2006, 5th International Conference on PROCESSING and MANUFACTURING OF ADVANCED MATERIALS, THERMEC 2006. PART 3 ed. Trans Tech Publications Ltd, p. 2389-2394 6 p. (Materials Science Forum; vol. 539-543, no. PART 3).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  5 Citations (Scopus)

• A third-party extension support framework using patterns

  Hao, Y., Washizaki, H. & Fukazawa, Y., 2016 May 9, Proceedings - 22nd Asia-Pacific Software Engineering Conference, APSEC 2015. Sun, J., Reddy, Y. R., Bahulkar, A. & Pasala, A. (eds.). IEEE Computer Society, p. 198-205 8 p. 7467301. (Proceedings - Asia-Pacific Software Engineering Conference, APSEC; vol. 2016-May).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A Threshold-Free Random Access Preamble Detection Method Based on Joint Clustering for 6G NTN

  Zhen, L., Wang, Y., Sun, T., Wang, W., Yu, K. & Kharel, R., 2021, 2021 IEEE Globecom Workshops, GC Wkshps 2021 - Proceedings. Institute of Electrical and Electronics Engineers Inc., (2021 IEEE Globecom Workshops, GC Wkshps 2021 - Proceedings).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A Time-based Leakage-aware Algorithm for Task Placement and Scheduling Problem on Dynamic Reconfigurable FPGA

  Zhou, T., Pan, T., Bao, Z. & Watanabe, T., 2019 Jan 2, 2018 5th International Conference on Systems and Informatics, ICSAI 2018. Institute of Electrical and Electronics Engineers Inc., p. 501-506 6 p. 8599330. (2018 5th International Conference on Systems and Informatics, ICSAI 2018).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  2 Citations (Scopus)

• A time-series descriptive model of competitive advantage trajectory: Building intermittent competitive advantage in hypermoving market

  Negoro, T. & Wakabayashi, M., 2007 Dec 1, International Society for the Systems Sciences - 51st Annual Meeting of the International Society for the Systems Sciences, ISSS 2007. p. 801-818 18 p. (International Society for the Systems Sciences - 51st Annual Meeting of the International Society for the Systems Sciences, ISSS 2007).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• A time-varying elasticity production function model with urbanization endogenous growth: Evidence of China

  Xu, B. & Watada, J., 2008, Second International Conference on Innovative Computing, Information and Control, ICICIC 2007. 4428017

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Atmo refractor: Spatial display by controlling heat haze

  Kawanabe, T. & Hashida, T., 2015 Jul 31, ACM SIGGRAPH 2015 Posters, SIGGRAPH 2015. Association for Computing Machinery, Inc, a59

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Atmosphere effects on ductile-brittle transition for ductile regime machining of glass

  Kaneeda, T., Nishioka, T. & Anthony, L., 2006 Dec 1, ICPMT2006 - Progress of Machining Technology - Proceedings of the 8th International Conference on Progress of Machining Technology. p. 381-384 4 p. (ICPMT2006 - Progress of Machining Technology - Proceedings of the 8th International Conference on Progress of Machining Technology).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  1 Citation (Scopus)

• Atmospheric corrosion of copper in an indoor environment with a high H ₂S concentration

  Watanabe, M., Hirota, H., Handa, T., Kuwaki, N. & Sakai, J., 2008, 17th International Corrosion Congress 2008: Corrosion Control in the Service of Society. Vol. 1. p. 619-626 8 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
  4 Citations (Scopus)

• Atmospheric gamma-ray observation over 100GeV with PPB-BETS by long duration balloon flight in Antarctica

  Yoshida, K., Kitamura, H., Torii, S., Tamura, T., Kasahara, K., Chang, J., Iijima, I., Kadokura, A., Katayose, Y., Kobayashi, T., Komori, Y., Matsuzaka, Y., Mizutani, K., Murakami, H., Namiki, M., Nishimura, J., Ohta, S., Saito, Y., Shibata, M., Tateyama, N., & 3 othersYamagami, T., Yamagishi, H. & Yuda, T., 2005, 29th International Cosmic Ray Conference, ICRC 2005. Tata Institute of Fundamental Research, Vol. 9. p. 53-56 4 p.

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

• Atomic contribution to valence band density of states in gallium oxide and silicon oxide nano layered films

  Takeuchi, T., Nishinaga, J., Kawaharazuka, A. & Horikoshi, Y., 2010, Defect and Diffusion Forum. Vol. 297-301. p. 849-852 4 p. (Defect and Diffusion Forum; vol. 297-301).

  Research output: Chapter in Book/Report/Conference proceeding › Conference contribution