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Publicaties

European Robotic Arm

  • R. Boumans, C. Heemskerk, E. Holweg, S. Kampen, M. van Lent, A. Pouw: “ERA: Baseline Capabilities and Future Perspectives. In: Proceedings of the ASTRA conference, ESTEC, The Netherlands, 6-7 November 1996
  • C. Heemskerk, P. Schoonejans: “Overview of Software Engineering Applications in the European Robotic Arm”, in: Proceedings of the Data Systems in Aerospace Conference, DASIA ‘97, Sevilla, Spain, May, 1997
  • R. Boumans, C. Heemskerk: “The European Robotic Arm for the International Space Station”, in: Robotics and Autonomous Systems, 23, Elsevier Science, 1998, pp. 17-27
  • C. Heemskerk, F. Didot: “ERA Evolution: Possibilities Overview”, in: Proceedings of the 5th ESA workshop on Advanced Space Technologies for Robotic Applications ASTRA ‘98, WPP-154, Noordwijk, The Netherlands, December 1998
  • C. Heemskerk, H. Petersen, L. Aris, R. Stott, F. Didot: “ERA Operations Verification: Results and Lessons Learned”, 8th ESA workshop on Advanced Space Technologies for Robotic Applications ASTRA 2004, Noordwijk, The Netherlands, November 2004
  • R. Stott, P. Schoonejans, F. Didot, C. Heemskerk, M. Rog, Current Status of the European Robotic Arm (ERA), its Launch on the Russian Multi-purpose Laboratory Module (MLM) and its Operation on the ISS, in Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation ‘ASTRA 2006’, ESTEC, Noordwijk, The Netherlands, 28-30 November 2006
  • C.J.M. Heemskerk, M. Visser, D. Dal Zot, J. Gancet, F. Wokke, Demonstrating the feasibility of ERA Operations from Ground, in Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation ‘ASTRA 2006’, ESTEC, Noordwijk, The Netherlands, 28-30 November 2006
  • C.J.M. Heemskerk, M. Visser, D. Vrancken, Extending ERA s capabilities to capture and transport large payloads, in Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation ‘ASTRA 2006’, ESTEC, Noordwijk, The Netherlands, 28-30 November 2006
  • C. Heemskerk, “Man Machine Interfaces in the European Robotic Arm”, IOP Mens-Machine Interactie, Project Day Invited Lecture”, Utrecht, The Netherlands, 17 October 2007

Virtual Reality

  • P. Bouchon, C. Gautier, C.J.M. Heemskerk: “The use of VR in Cosmonaut Training for Robotic Cooperation”, in Proceedings of the 5th International Workshop on Simulation for European Space Programmes SESP ’98, ESTEC, Noordwijk, The Netherlands, November 1998
  • B. Elzendoorn, M. de Baar, R. Chavan, C. Heemskerk, R.Heidinger, K. Kleefeldt, J. Koning, S. Sanders, D. Strauss, P. Spaeh, A. Verhoeven, F. de Vreede, G. Weder, “Analysis of the ITER ECH upper port launcher remote maintenance using virtual reality”, Fusion Engineering and Design, Volume 84, Issues 2–6, June 2009
  • C.J.M. Heemskerk, M.R. de Baar, H. Boessenkool, B. Graafland, M. Haye, J.F. Koning, M. Vahedi, M. Visser, “Extending Virtual Reality Simulation of ITER Maintenance Operations with dynamic effects”, Fusion Engineering and Design, Volume 86, Issues 9–11, 2011
  • B.S.Q. Elzendoorn, M. de Baar, D. Hamilton, C.J.M. Heemskerk, J.F. Koning, D.M.S. Ronden, “Analysis and validation center for ITER RH maintenance scenarios in a virtual environment”, Fusion Engineering and Design, 87 (3) 2012
  • H.Boessenkool, D.A. Abbink, C.J.M. Heemskerk, M. Steinbuch, M. de Baar, J.G.W.Wildenbeest, D.M.S. Ronden, J.F. Koning, “Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 2164-2167

Maintenance Analysis

  • J.F.T. Bos, C. Heemskerk, M. Verhaegen: “A concept for a predictive maintenance facility for the European Robotic Arm”, in Proceedings of the DAta Systems In Aerospace Conference, DASIA ’99, Lisbon, May 1999
  • C.J.M. Heemskerk, H. Petersen: “International Robot Co-operation to Assemble a Large Space Telescope”, in: Proceedings of the 31st International Symposium on Robotics (ISR 2000), Montréal, Québec, Canada, May 2000
  • C. Heemskerk, M. Visser TAR: A Twin Arm Robot for Dexterous Assembly and Maintenance Tasks on ISS”, in: Proceedings of the 6th ESA workshop on Advanced Space Technologies for Robotic Applications ASTRA 2000, Noordwijk, The Netherlands, December 2000
  • A. Cozzani, B. Sarti, C. Heemskerk, A. van Swieten: “Investigation On The Feasibility Of An Advanced System For Teletesting And Remote Observations Inside The Estec Large Space Simulator”, 5th International Symposium on Environmental Testing for Space Programmes, Noordwijk, The Netherlands, June 2004
  • C. Heemskerk, B. Sarti and A. Cozzani: “Astro: An Advanced System For Teletesting And Remote Observations Inside The Estec Large Space Simulator”, The 22nd Aerospace Testing Seminar, Test Relevance into the Next Generation, Manhattan Beach, USA, March 2005
  • C. Heemskerk, M. de Baar, B. Elzendoorn, J. Koning, A. Verhoeven, F. de Vreede, “Applying principles of design for assembly to ITER maintenance operations”, Fusion Engineering and Design, Volume 84, Issues 2–6, June 2009, Pages 911–914
  • C. Heemskerk, R. de Vos, B. Elzendoorn, M. de Baar, J. Buskop, F. de Vreede “Analysis of Port Plug maintenance procedures in the ITER Hot Cell Facility using Virtual Reality, HOTLAB conference 2009, Prague, Czech Republic 20-23 September 2009
  • J.W. Pustjens, J.P. Friconneau, C.J.M. Heemskerk, J.F. Koning, J.P. Martins, P.C.J.N. Rosielle, M. Steinbuch, “Upper Port Plug Handling Cask System Assessment And Design Proposals”, Fusion Engineering and Design, Volume 86, Issues 9–11, 2011
  • C.J.M. Heemskerk, B.S.Q. Elzendoorn, A.J. Magielsen, “Verifying elementary ITER maintenance actions with the MS2 benchmark product”, Fusion Engineering and Design, Volume 86, Issues 9–11, 2011
  • G.Y.R. Schropp, C.J.M. Heemskerk, A.M.L. Kappers, W.M. Bergmann Tiest, B.S.Q. Elzendoorn, “Influence of Visual Feedback on Human Task Performance in Remote Handling”, Fusion Engineering and Design, March 2012
  • C.J.M. Heemskerk, P.T. Eendebak, G.Y.R. Schropp, H.V. Hermes, B.S.Q. Elzendoorn, A.J. Magielsen, “Introducing artificial depth cues to improve task performance in ITER maintenance actions”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 1969–1972
  • J.F. Koning, C.J.M. Heemskerk, P. Schoen, D. Smedinga, A.H. Boode, D.T. Hamilton, “Evaluating ITER remote handling middleware concepts”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 2146–2150
  • D.M.S. Ronden, A. Dammann, B. Elzendoorn, T. Giacomin, C. Heemskerk, D. Loesser, P. Maquet, J. van Oosterhout, S. Pak, C.S. Pitcher, M. Portales, M. Proust, V.S. Udintsev, M.J. Walsh , “The remote handling compatibility analysis of the ITER generic upper port plug structure”, Fusion Engineering and Design, Volume 89, Issues 7–8, October 2014, Pages 1009-1013
  • J. van Oosterhout, C.J.M. Heemskerk, J.F. Koning, D.M.S. Ronden, M. de Baar, “Interactive virtual mock-ups for Remote Handling compatibility assessment of heavy components”, Fusion Engineering and Design, Volume 89, Issues 9–10, October 2014, Pages 2294-2298
  • H. Boessenkool, J. Thomas, C.J.M. Heemskerk, M.R. de Baar, M. Steinbuch, D.A. Abbink, UK JET EFDA contributors, “Task analysis of human-in-the-loop tele-operated maintenance: What can be learned from JET?” Fusion Engineering and Design, Volume 89, Issues 9–10, October 2014, Pages 2283-2288
  • P.W. Schoen, J. Thomas, C.J.M. Heemskerk, JET EFDA contributors, “Measuring robustness of maintenance schedules in Fusion Remote Handling”, presented as poster at SOFT 2014, San Sebastian, submitted to Fusion Engineering and Design

FlexArrayer

  • Nederlandse Octrooiaanvrage, Patent No. 1020066: Inrichting voor het vervaardigen van een DNA –testarray, February 2002. A derived European patent was granted in 2005.
  • C.J.M. Heemskerk, J.T. den Dunnen, J.H. van den Boom, “Apparatus for treatment of light-sensitive biopolymers”, US2005079601 (A1), 2005-04-14
  • C.J.M. Heemskerk, J.M.L.M. van Helvoort, “METHOD AND SYSTEM FOR CALIBRATING LASER FOCUS AND POSITION IN MICRO-ARRAYS”, WO2008049795 (A1), 2008-05-02
  • C.J.M. Heemskerk, S.M. Matysiak, J.M.L.M. van Helvoort, “Apparatus for treatment of light-sensitive biopolymers”, US2011065611 (A1), 2011-03-17

System Engineering, mechatronics

  • C. Heemskerk, M. Ellenbroek: “Mechatronics in Space Robotics”, keynote lecture, in Proceedings of the Mechatronics 2002 Conference, Enschede, The Netherlands, May 2002
  • M. Visser, S.Stramigioli, C. Heemskerk: “Screw bondgraph contact dynamics”, in Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, October 2002
  • C. Heemskerk, M. Ellenbroek: “Mechatronic design challenges in Space Robotics”, Mechatronics Forum Prestige Lecture, The Institution of Mechanical Engineers, London, UK, June, 2005
  • C. Heemskerk: “Mechatronic design challenges in the European Robotic Arm”, Mechatronic Systems Knowledge Exchange, Dutch Space, Leiden The Netherlands, February 10, 2006
  • C. Heemskerk: “Mechatronic design challenges in the European Robotic Arm”, Guest Lecture, TU-Delft, fac. 3mE, dep. PME, section PMA, 23 May, 2006
  • C. Heemskerk: “Mechatronics in the European Robotic Arm”, Invited lecture, Symposium Robotica, WSV Simon Stevin, Eindhoven, The Netherlands, 31 May, 2006
  • M. Visser, S. Stramigioli, C. Heemskerk: “Cayley Hamilton for roboticists”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, Oct. 2006
  • C. Heemskerk, “Robotics in Space: System Engineering in the European Robotic Arm”, Moon4You Workshop on Space Systems Engineering, TU-Delft, Delft, the Netherlands, 16 April 2009
  • J.H.M. van der Drift, C.J.M. Heemskerk, “Propagation of spatial uncertainties between assembly primitives”, Information Control Problems in Manufacturing Technology 1989, 1990, Pages 677-681
  • C.J.M. Heemskerk, L.N. Reijers, H.J.J. Kals, “A Concept for Computer-Aided Process Planning of Flexible Assembly”, CIRP Annals – Manufacturing Technology, Volume 39, Issue 1, 1990, Pages 25-28
  • C.J.M. Heemskerk, C.A. Van Luttervelt, “The Use of Heuristics in Assembly Sequence Planning”, CIRP Annals – Manufacturing Technology, Volume 38, Issue 1, 1989, Pages 37-40
  • N. Boneschanscher, C.J.M. Heemskerk, “Grouping parts to reduce the complexity of assembly sequence planning”, Information Control Problems in Manufacturing Technology 1989, 1990, Pages 233-238
  • L.P.M. Duisings, S. van Til, A.J. Magielsen, D.M.S. Ronden, B.S.Q. Elzendoorn, C.J.M. Heemskerk, “Applying HAZOP analysis in assessing remote handling compatibility of ITER port plugs”, Volume 88, Issues 9–10, October 2013, Pages 2688–2693

SSBB

  • C. Cougnet , B. Gerber, C. Heemskerk, K. Kapellos, G. Visentin, On-Orbit Servicing System of a Geo Satellite Fleet, in Proceedings of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation ‘ASTRA 2006’, ESTEC, Noordwijk, The Netherlands, 28-30 November 2006
  • C. Heemskerk, C. Cougnet, K. Kapellos, H. Bruyninckx, G. Visentin, “Ground Tests for On-Orbit Servicing of a GEO Satellite Fleet” , in Proceedings of the 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation ‘ASTRA 2008’, ESTEC, Noordwijk, The Netherlands, 11-13 November 2008

ITER CXRS

  • J. Koning, J. Doornink, F. Klinkhamer, B. Snijders, R. Jaspers, S. Sadakov, C. Heemskerk, “Maintenance implications of critical components in ITER CXRS upper port plug design”, Fusion Engineering and Design, Volume 84, Issues 7–11, June 2009
  • S. Sadakov, T. Baross, W. Biel, V. Borsuk, N. Hawkes, M. von Hellermann, P. Gille, G. Kiss, J. Koning, M. Knaup, F. Klinkhamer, Yu. Krasikov, A. Litnovsky, O. Neubauer, A. Panin, “Conceptual design of the ITER upper port plug for charge exchange diagnostic”, Fusion Engineering and Design, Volume 84, Issues 7–11, June 2009
  • J.F. Koning, B.S.Q. Elzendoorn, D.M.S. Ronden, J.F.F. Klinkhamer, W. Biel, Y. Krasikov, C.I. Walker, “Feasibility of Upper Port Plug tube handling”, Fusion Engineering and Design, Volume 86, Issues 9–11, October 2011
  • W. Biel, T. Baross, P. Bourauel, D. Dunai, M. Durkut, G. Erdei, N. Hawkes, M.v. Hellermann, A. Hogenbirk, R. Jaspers, G. Kiss, F. Klinkhamer, J.F. Koning, V. Kotov, Y. Krasikov, A. Krimmer, O. Lischtschenko, A. Litnovsky, O. Marchuk, O. Neubauer, et al, “Overview on R&D and design activities for the ITER core charge exchange spectroscopy diagnostic system”, Fusion Engineering and Design, Volume 86, Issues 6–8, October 2011
  • A. Krimmer, F. Klinkhamer, W. Biel, N. Hawkes, G. Kiss, J.F. Koning, Yu. Krasikov, O. Neubauer, “Alternative system design concepts for the ITER core CXRS upper port plug front end”, Fusion Engineering and Design, Volume 86, Issues 6–8, October 2011
  • Yu. Krasikov, T. Baross, W. Biel, A. Litnovsky, N. Hawkes, G. Kiss, J.F.F. Klinkhamer, J.F. Koning, A. Krimmer, O. Neubauer, A. Panin , “Development of design options for the port plug components of the ITER core CXRS diagnostic”, Fusion Engineering and Design, Volume 86, Issues 9–11, October 2011
  • F. Klinkhamer, A. Krimmer, W. Biel, N. Hawkes, G. Kiss, J. Koning, Yu. Krasikov, O. Neubauer, B. Snijders, “Optimization of the availability of the core CXRS diagnostics for ITER”, Fusion Engineering and Design, Volume 86, Issues 6–8, October 2011

ITER Generic Upper Port Plug

  • Ronden D.M.S., Dammann A., Elzendoorn B., Giacomin T., Heemskerk C., D. Loesser D., Maquet P., van Oosterhout J., Pak S., Pitcher C.S., M. Portales M., M. Proust M., Udintsev V.S., Walsh M.J., “The Remote Handling Compatibility Analysis of the ITER Generic Upper Port Plug structure”, Fusion Engineering and Design (Volume 89, Issues 7–8, October 2014, Pages 1009-1013).

ITER ECH Upper Launcher

  • F. de Vreede, M. de Baar, B. Elzendoorn, C. Heemskerk, J. Koning, A. Verhoeven, “Analysis of acceptance and accessibility of the ECH upper port launcher in the hot cell”, 25th Symposium on Fusion Technology, September 2008, Rostock, Germany
  • B. Elzendoorn, M. de Baar, R. Chavan, C. Heemskerk, R.Heidinger, K. Kleefeldt, J. Koning, S. Sanders, D. Strauss, P. Spaeh, A. Verhoeven, F. de Vreede, G. Weder, “Analysis of the ITER ECH upper port launcher remote maintenance using virtual reality”, Volume 84, Issues 2–6, June 2009, Pages 733–735
  • D.M.S. Ronden, M. de Baar, R. Chavan, B.S.Q. Elzendoorn, K.K. Gotewal, T. Goodman, C.J.M. Heemskerk, M.A. Henderson, J.F. Koning, G. Saibene, P. Spaeh, D. Strauss, A. Tesini, “The ITER EC H&CD Upper Launcher: Analysis of Remote Handling compatibility”, Fusion Engineering and Design, Volume 86, Issues 6–8, 2011
  • J.F. Koning, M. de Baar, B.S.Q. Elzendoorn, C.J.M. Heemskerk, D.M.S. Ronden, W.J. Schuth, “Analysis of ITER Upper Port Plug Maintenance Scenarios”, Fusion Engineering and Design, Volume 87, Issues 5–6, August 2012
  • D.M.S. Ronden, M. de Baar, R. Chavan, B.S.Q. Elzendoorn, G. Grossetti, C.J.M. Heemskerk, J.F. Koning, J.-D. Landis, P. Spaeh, D. Strauss, “The ITER EC H&CD Upper Launcher: Maintenance concepts”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 1982–1986
  • G. Grossetti, G. Aiello, R. Chavan, R. Geßner, T. Goodman, C. Heemskerk, A. Meier, D. Ronden, T. Scherer, P. Späh, S. Schreck,
  • Grossetti, G.; Aiello, G.; Chavan, R.; Geßner, R.; Goodmann, T.; Heemskerk, C.; Meier, A.; Ronden, D.; Scherer, T.; Schreck, S.; Späh, P.; Strauß, D.; Vaccaro, A.; Van Oosterhout, J., “ITER EC H&CD Upper Launcher: Design Options and Remote Handling Issues of the Waveguide Assembly”, Fusion Engineering and Design (Volume 89, Issues 9–10, October 2014, Pages 2415-2418)
  • D. Strauss, G. Aiello, A. Bruschi, R. Chavan, D. Farina, L. Figini, M. Gagliardi, V. Garcia, T.P. Goodman, G. Grossetti, C. Heemskerk, M.A. Henderson, W. Kasparek, A. Krause, J.-D. Landis, A. Meier, A. Moro, P. Platania, B. Plaum, E. Poli, D. Ronden, et al., “Progress of the ECRH Upper Launcher design for ITER”, Fusion Engineering and Design, Volume 89, Issues 7–8, October 2014, Pages 1669-1673
  • C.J.M. Heemskerk, D.M.S. Ronden, B.S.Q. Elzendoorn, G. Grossetti J.F. Koning, J. van Oosterhout. “Mapping ITER Port Plug maintenance workflow”, Poster P2.105, SOFT 2014 conference, San Sebastian, Spain
  • F.  Albajar, et al., “Status of Europe’s contribution to the ITER EC system” EPJ Web of Conferences 87 04004 (2015)
  • D.M.S. Ronden, A. Dammann, B. Elzendoorn, T. Giacomin, C. Heemskerk, D. Loesser , P. Maquet, J. van Oosterhout, S. Pak, C.S. Pitcher, M. Portales, M. Proust, V.S. Udintsev, M.J. Walsh, “The Remote Handling Compatibility Analysis of the ITER Generic Upper Port Plug structure”, 11th International Symposium on Fusion Nuclear Technology (ISFNT-11), September 16-20, 2013, Barcelona, Spain. -> Poster presentation
  • Grossetti, G.; Aiello, G.; Chavan, R.; Geßner, R.; Goodmann, T.; Heemskerk, C.; Meier, A.; Ronden, D.; Scherer, T.; Schreck, S.; Späh, P.; Strauß, D.; Vaccaro, A.; Van Oosterhout, J., “ITER EC H&CD Upper Launcher: Design Options and Remote Handling Issues of the Waveguide Assembly”, poster presentation, 11th International Symposium on Fusion Nuclear Technology (ISFNT-11), September 16-20, 2013, Barcelona, Spain

EFDA GOT RH

  • H. Boessenkool, D. A. Abbink, C. J. M. Heemskerk, and F. C. T. Van der Helm, “Haptic Shared Control Improves Tele-Operated Task Performance towards Performance in Direct Control”, in proceedings of the World Haptics Conference, Istanbul, Turkey, pages 433–438, 2011
  • H. Boessenkool, D.A. Abbink, M.R. de Baar, M. Steinbuch, C.J.M.Heemskerk, “Task performance analysis of planned tele-operated maintenance at fusion plant ITER”, submitted to IEEE Haptics Symposium 2012, March 2012, Vancouver, Canada
  • Boessenkool, H.; Abbink, D.A.; Heemskerk, C.J.M.; van der Helm, F.C.T.; Wildenbeest, J.G.W., “A Task-Specific Analysis of the Benefit of Haptic Shared Control During Telemanipulation,” Haptics, IEEE Transactions on , vol.6, no.1, Q1 2013
  • J. van Oosterhout, J. Wildenbeest, H Boessenkool, C. Heemskerk, M de Baar, F. van der Helm, D. Abbink, “Haptic Shared Control in Tele-manipulation: Effects of Inaccuracies in Guidance on Task Execution,” in IEEE Trans Haptics, pp. 1-12, 2015
  • J. van Oosterhout, C. Heemskerk, M. de Baar, F. van der Helm, D. Abbink,  “Performing Tele-manipulated Tasks with Two Asymmetric Slaves”, Work in Progress paper at the World Haptics Conference Chicago, 2015
  • J. van Oosterhout, D.A. Abbink, C.J.M. Heemskerk, J.G.W. Wildenbeest, H. Boessenkool, J.F. Koning, “Haptic Shared Control Improves Hot Cell Remote Handling Despite Controller Inaccuracies”, poster presentation, 27th Symposium on Fusion Technology (SOFT), September 24-28, 2012, Liège, Belgium.
  • J. van Oosterhout, C.J.M. Heemskerk, J.F. Koning, D.M.S. Ronden, M. de Baar,  “Interactive Virtual Mock-ups for Remote Handling Compatibility Assessment of Heavy Components,” poster presentation, 11th International Symposium on Fusion Nuclear Technology (ISFNT-11), September 16-20, 2013, Barcelona, Spain.
  • J. van Oosterhout, C. Heemskerk, M. de Baar, F. van der Helm, D. Abbink,  “Performing Tele-manipulated Tasks with Two Asymmetric Slaves”, Poster presentation, World Haptics Conference Chicago, June 21-26, 2015, Evenston IL, USA.

H-Haptics

  • Wildenbeest, J.; Abbink, D.; Heemskerk, C.; van der Helm, F.; Boessenkool, H., “The Impact of Haptic Feedback Quality on the Performance of Teleoperated Assembly Tasks,” Haptics, IEEE Transactions on , vol.PP, no.99, 2012
  • J. van Oosterhout, D.A. Abbink, J.F. Koning, H. Boessenkool, J.G.W. Wildenbeest, C.J.M. Heemskerk, “Haptic shared control improves hot cell remote handling despite controller inaccuracies”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 2119–2122
  • D.J.F. Heck, C.J.M. Heemskerk, J.F. Koning, A. Abbasi, H. Nijmeijer, “Robust haptic large distance telemanipulation for ITER”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 1997–2000
  • J.G.W. Wildenbeest, D.A. Abbink, H. Boessenkool, C.J.M. Heemskerk, J.F. Koning, “How operator admittance affects the response of a teleoperation system to assistive forces – A model analytic study and simulation”, Fusion Engineering and Design, Volume 88, Issues 9–10, October 2013, Pages 2001–2005

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