Andy D. Pimentel Louis O. Hertzberger Paul Lieverse Pieter van der Wolf Ed F. Deprettere 57-63 2001 34 Computer 11 https://doi.org/10.1109/2.963445 http://doi.ieeecomputersociety.org/10.1109/2.963445 db/journals/computer/computer34.html#PimentelHLWD01