2015-01-23 https://staff.aist.go.jp/takagi.hiromitsu/paper/pdmemo-20150121.pdf https://staff.aist.go.jp/takagi.hiromitsu/paper/pdmemo-20150121.pdf: January 23, 2015 at 12:53AM from Tumblr http://shiyamaz.tumblr.com/post/108832110533