Conceptual level design for assembly analysis using state transitional approach

Wynne Hsu, Andrew Lim, and C. S. George Lee
Proc. Int. Conf. Robotics and Automation (ICRA 1996), IEEE, Apr 1996, vol. 4, pp. 3355–3360
http://www.iscs.nus.edu.sg/~whsu/publication/raconf96.ps

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