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D.T. Pham[a], Z. Wang[a], S. Su[a], P.T.N. Pham[a], M. Yang[a], S. Fatikow[b]
[a] Manufacturing Engineering Centre, Cardiff University, Cardiff, UK
[b] Abteilung für Mikrorobotik und Regelungstechnik, Universität Oldenburg, Oldenburg, Germany