Xinghuo Yu

Suiyang Khoo, Juliang Yin, Zhihong Man, Xinghuo Yu: Finite-time stabilization of stochastic nonlinear systems in strict-feedback form. Automatica 49(5): 1403-1410 (2013)

Jiandong Zhu, Jinhu Lu, Xinghuo Yu: Flocking of Multi-Agent Non-Holonomic Systems With Proximity Graphs. IEEE Trans. on Circuits and Systems 60-I(1): 199-210 (2013)

Jun Yang, Shihua Li, Xinghuo Yu: Sliding-Mode Control for Systems With Mismatched Uncertainties via a Disturbance Observer. IEEE Transactions on Industrial Electronics 60(1): 160-169 (2013)

Ajendra Dwivedi, Xinghuo Yu: A Maximum-Flow-Based Complex Network Approach for Power System Vulnerability Analysis. IEEE Trans. Industrial Informatics 9(1): 81-88 (2013)

Longkun Tang, Junan Lu, Jinhu Lü, Xinghuo Yu: Bifurcation Analysis of Synchronized Regions in Complex Dynamical Networks. I. J. Bifurcation and Chaos 22(11) (2012)

Simin Yu, Jinhu Lu, Xinghuo Yu, Guanrong Chen: Design and Implementation of Grid Multiwing Hyperchaotic Lorenz System Family via Switching Control and Constructing Super-Heteroclinic Loops. IEEE Trans. on Circuits and Systems 59-I(5): 1015-1028 (2012)

Zbigniew Galias, Xinghuo Yu: Dynamical Behaviors of Discretized Second-Order Terminal Sliding-Mode Control Systems. IEEE Trans. on Circuits and Systems 59-II(9): 597-601 (2012)

Xinghuo Yu, Bin Wang, Xiangjun Li: Computer-Controlled Variable Structure Systems: The State-of-the-Art. IEEE Trans. Industrial Informatics 8(2): 197-205 (2012)

Xinghuo Yu, Okyay Kaynak, Milos Manic: Guest Editorial Special Section on Soft Computing in Industrial Informatics. IEEE Trans. Industrial Informatics 8(4): 731-732 (2012)

Yong Feng, Bo Wang, Fengling Han, Xinghuo Yu, Zahir Tari: Chattering-Free Terminal Sliding-Mode Observer for Anomaly Detection. CSS 2012: 57-65

Yong Feng, Fengling Han, Xinghuo Yu, Zahir Tari, Lilin Li, Jiankun Hu: High-Order Terminal Sliding-Mode Observers for Anomaly Detection. ICIC (1) 2012: 497-504

Yong Feng, Minghao Zhou, Xinghuo Yu: Sliding-Mode Observer Based Flux Estimation of Induction Motors. ICIRA (2) 2012: 530-539

Shaolin Tan, Jinhu Lu, Xinghuo Yu, David J. Hill: Exploring evolutionary dynamics in a class of structured populations. ISCAS 2012: 169-172

Christian Van der Velden, Cees Bil, Xinghuo Yu: Application of AMAAD Methodology to KBS Development: A Case Study. ISPE CE 2012: 243-254

Juliang Yin, Suiyang Khoo, Zhihong Man, Xinghuo Yu: Finite-time stability and instability of stochastic nonlinear systems. Automatica 47(12): 2671-2677 (2011)

Charlotte Yuk-Fan Ho, Bingo Wing-Kuen Ling, Joshua D. Reiss, Xinghuo Yu: Global stability, Limit cycles and Chaotic Behaviors of Second Order interpolative Sigma Delta modulators. I. J. Bifurcation and Chaos 21(6): 1755-1772 (2011)

Pei Wang, Damei Li, Xiaoqun Wu, Jinhu Lü, Xinghuo Yu: Ultimate Bound Estimation of a Class of High Dimensional Quadratic Autonomous Dynamical Systems. I. J. Bifurcation and Chaos 21(9): 2679-2694 (2011)

Monzurur Rahman, Xinghuo Yu, F. A. Siddiky: An unsupervised neural network approach to predictive data mining. IJDMMM 3(1): 1-17 (2011)

Xinghuo Yu, Bin Wang, Batsukh Batbayar, Liuping Wang, Zhihong Man: An improved training algorithm for feedforward neural network learning based on terminal attractors. J. Global Optimization 51(2): 271-284 (2011)

Chaoxu Mu, Changyin Sun, Xinghuo Yu: Internal model control based on a novel least square support vector machines for MIMO nonlinear discrete systems. Neural Computing and Applications 20(8): 1159-1166 (2011)

Yao Chen, Jinhu Lü, Fengling Han, Xinghuo Yu: On the cluster consensus of discrete-time multi-agent systems. Systems & Control Letters 60(7): 517-523 (2011)

Wanli Guo, Jinhu Lü, Shihua Chen, Xinghuo Yu: Second-order tracking control for leader-follower multi-agent flocking in directed graphs with switching topology. Systems & Control Letters 60(12): 1051-1058 (2011)

Simin Yu, Jinhu Lu, Guanrong Chen, Xinghuo Yu: Generating Grid Multiwing Chaotic Attractors by Constructing Heteroclinic Loops Into Switching Systems. IEEE Trans. on Circuits and Systems 58-II(5): 314-318 (2011)

Zbigniew Galias, Xinghuo Yu: Study of Periodic Solutions in Discretized Two-Dimensional Sliding-Mode Control Systems. IEEE Trans. on Circuits and Systems 58-II(6): 381-385 (2011)

Zhengya Xu, Hong Ren Wu, Xinghuo Yu, Kathryn Horadam, Bin Qiu: Robust Shape-Feature-Vector-Based Face Recognition System. IEEE T. Instrumentation and Measurement 60(12): 3781-3791 (2011)

Xianwei Li, Huijun Gao, Xinghuo Yu: A Unified Approach to the Stability of Generalized Static Neural Networks With Linear Fractional Uncertainties and Delays. IEEE Transactions on Systems, Man, and Cybernetics, Part B 41(5): 1275-1286 (2011)

Qingmai Wang, Xinghuo Yu: Reasoning over OWL/SWRL Ontologies under CWA and UNA for Industrial Applications. Australasian Conference on Artificial Intelligence 2011: 789-798

Zhengya Xu, Hong Ren Wu, Xinghuo Yu, Zhihong Man: Adaptive surveillance video noise suppression. CCECE 2011: 985-988

Huijun Gao, Xianwei Li, Xinghuo Yu: Finite frequency approaches to H∞ filtering for continuous-time state-delayed systems. CDC-ECE 2011: 2583-2588

Zbigniew Galias, Xinghuo Yu: Periodic behaviors in discretized second-order terminal sliding mode control systems. ECCTD 2011: 636-639

Simin Yu, Jinhu Lu, Guanrong Chen, Xinghuo Yu: Design of grid multi-wing butterfly chaotic attractors from piecewise Lü system based on switching control and heteroclinic orbit. ISCAS 2011: 1335-1338

Jinhu Lu, Guanrong Chen, Xinghuo Yu: Modelling, analysis and control of multi-agent systems: A brief overview. ISCAS 2011: 2103-2106

Chaoxu Mu, Changyin Sun, Xinghuo Yu: State Feedback Control Based on Twin Support Vector Regression Compensating for a Class of Nonlinear Systems. ISNN (2) 2011: 515-524

Chee Pin Tan, Xinghuo Yu, Zhihong Man: Terminal sliding mode observers for a class of nonlinear systems. Automatica 46(8): 1401-1404 (2010)

Simin Yu, Jinhu Lu, Guanrong Chen, Xinghuo Yu: Design and Implementation of Grid Multiwing Butterfly Chaotic Attractors From a Piecewise Lorenz System. IEEE Trans. on Circuits and Systems 57-II(10): 803-807 (2010)

Zhengya Xu, Hong Ren Wu, Xinghuo Yu, Bin Qiu: Colour image enhancement by virtual histogram approach. IEEE Trans. Consumer Electronics 56(2): 704-712 (2010)

Yinsong Wang, Xinghuo Yu: New Coordinated Control Design for Thermal-Power-Generation Units. IEEE Transactions on Industrial Electronics 57(11): 3848-3856 (2010)

Xiangjun Li, Xinghuo Yu, Qing-Long Han: Chattering analysis of time-delayed second-order sliding mode control systems using Poincaré map. CDC 2010: 5144-5149

Yu-Long Wang, Qing-Long Han, Xinghuo Yu: Packet dropout separation-based networked control systems quantitative synthesis. CDC 2010: 5875-5880

Yu-Long Wang, Qing-Long Han, Xinghuo Yu: Performance optimization for networked control systems with limited channels and data drift. CDC 2010: 6704-6709

Hao Lan Zhang, Clement H. C. Leung, Xinghuo Yu, Jing He: An Optimised Design for Agent Capability Reuse. Web Intelligence/IAT Workshops 2010: 231-234

Bin Wang, Xinghuo Yu, Liuping Wang: Convergence accuracy analysis of discretized sliding mode control systems. ICARCV 2010: 1370-1374

Bingxiong Shi, Junan Lu, Jinhu Lu, Xinghuo Yu: Adaptive and impulsive cluster synchronization of a general complex dynamical network. ICNSC 2010: 704-709

Hao Lan Zhang, Gitesh K. Raikundalia, Yanchun Zhang, Xinghuo Yu: Application of Multi-agent Technology to Information Systems: An Agent-based Design Architecture for Decision Support Systems. Australasian J. of Inf. Systems 15(2) (2009)

Bin Wang, Xinghuo Yu, Guanrong Chen: ZOH discretization effect on single-input sliding mode control systems with matched uncertainties. Automatica 45(1): 118-125 (2009)

Jiankun Hu, Xinghuo Yu, D. Qiu, Hsiao-Hwa Chen: A simple and efficient hidden Markov model scheme for host-based anomaly intrusion detection. IEEE Network 23(1): 42-47 (2009)

Xiangjun Li, Xinghuo Yu, Changhong Wang, Bingo Wing-Kuen Ling: Periodic Input Response of a Second-Order Digital Filter With Two's Complement Arithmetic. IEEE Trans. on Circuits and Systems 56-II(3): 225-229 (2009)

Xinghuo Yu, Okyay Kaynak: Sliding-Mode Control With Soft Computing: A Survey. IEEE Transactions on Industrial Electronics 56(9): 3275-3285 (2009)

Yong Feng, Jianfei Zheng, Xinghuo Yu, Nguyen Vu Truong: Hybrid Terminal Sliding-Mode Observer Design Method for a Permanent-Magnet Synchronous Motor Control System. IEEE Transactions on Industrial Electronics 56(9): 3424-3431 (2009)

Zhengya Xu, Hong Ren Wu, Bin Qiu, Xinghuo Yu: Geometric Features-Based Filtering for Suppression of Impulse Noise in Color Images. IEEE Transactions on Image Processing 18(8): 1742-1759 (2009)

Wanli Guo, Shihua Chen, Jinhu Lu, Xinghuo Yu: Consensus of multi-agent systems with an active leader and asymmetric adjacency matrix. CDC 2009: 3697-3702

Bin Wang, Xinghuo Yu: Euler discretization of second-order terminal sliding mode control systems. CDC 2009: 6697-6702

Yuequan Yang, Xinghuo Yu, Tianping Zhang: Synchronization Behavior Analysis for Coupled Lorenz Chaos Dynamic Systems via Complex Networks. ICIC (1) 2009: 870-879

Yuequan Yang, Xinghuo Yu: Weighted Small World Complex Networks: Smart Sliding Mode Control. ICIC (2) 2009: 935-944

Carlos Queiroz, Abdun Naser Mahmood, Jiankun Hu, Zahir Tari, Xinghuo Yu: Building a SCADA Security Testbed. NSS 2009: 357-364

Lily D. Li, Xinghuo Yu, Xiaodong Li, William Guo: A Modified PSO Algorithm for Constrained Multi-objective Optimization. NSS 2009: 462-467

Wei Peng, Qingmai Wang, Bin Wang, Xinghuo Yu: Putting Simple Hierarchy into Ant Foraging: Cluster-Based Soft-Bots. NSS 2009: 484-488

Roland Dodd, Andrew Chiou, Xinghuo Yu, Ross Broadfoot: Industrial Process Model Integration Using a Blackboard Model within a Pan Stage Decision Support System. NSS 2009: 489-494

Roland Dodd, Andrew Chiou, Xinghuo Yu, Ross Broadfoot: Functional Characteristics and Proposed Deployment Infrastructure of an Industrial Decision Support System within a Sugar Mill Crystallisation Stage. NSS 2009: 495-500

Xinghuo Yu, Bin Wang, Zbigniew Galias, Guanrong Chen: Discretization Effect on Equivalent Control-Based Multi-Input Sliding-Mode Control Systems. IEEE Trans. Automat. Contr. 53(6): 1563-1569 (2008)

Zbigniew Galias, Xinghuo Yu: Analysis of Zero-Order Holder Discretization of Two-Dimensional Sliding-Mode Control Systems. IEEE Trans. on Circuits and Systems 55-II(12): 1269-1273 (2008)

Bin Wang, Xinghuo Yu, Xiangjun Li: ZOH Discretization Effect on Higher-Order Sliding-Mode Control Systems. IEEE Transactions on Industrial Electronics 55(11): 4055-4064 (2008)

Lily D. Li, Xiaodong Li, Xinghuo Yu: A multi-objective constraint-handling method with PSO algorithm for constrained engineering optimization problems. IEEE Congress on Evolutionary Computation 2008: 1528-1535

Zbigniew Galias, Xinghuo Yu: Study of zero-order holder discretization in single input sliding mode control systems. ISCAS 2008: 1320-1323

Zhengya Xu, Bin Qiu, Hong Ren Wu, Xinghuo Yu: Adaptive geometric features based filtering impulse noise in colour images. MMSP 2008: 247-251

Zhengya Xu, Hong Ren Wu, Xinghuo Yu: Colour image enhancement by hybrid approach. MMSP 2008: 252-256

Fengling Han, Jiankun Hu, Xinghuo Yu, Yi Wang: Fingerprint images encryption via multi-scroll chaotic attractors. Applied Mathematics and Computation 185(2): 931-939 (2007)

Xinghuo Yu, Jian-Xin Xu, Yiguang Hong, Shuanghe Yu: Analysis of a class of discrete-time systems with power rule. Automatica 43(3): 562-566 (2007)

Amin Z. Sadik, Zahir M. Hussain, Xinghuo Yu, Peter O'Shea: An approach for stability analysis of a single-bit high-order digital sigma-delta modulator. Digital Signal Processing 17(6): 1040-1054 (2007)

Christian Van der Velden, Cees Bil, Xinghuo Yu, Adrian Smith: An intelligent system for automatic layout routing in aerospace design. ISSE 3(2): 117-128 (2007)

Khalid Abidi, Jian-Xin Xu, Xinghuo Yu: On the Discrete-Time Integral Sliding-Mode Control. IEEE Trans. Automat. Contr. 52(4): 709-715 (2007)

Zbigniew Galias, Xinghuo Yu: Euler's Discretization of Single Input Sliding-Mode Control Systems. IEEE Trans. Automat. Contr. 52(9): 1726-1730 (2007)

Fengling Han, Xinghuo Yu, Majid Al-Dabbagh, Yi Wang: Locating Phase-to-Ground Short-Circuit Faults on Radial Distribution Lines. IEEE Transactions on Industrial Electronics 54(3): 1581-1590 (2007)

Peter J. Radcliffe, Xinghuo Yu: A New Time Independent Asynchronous Protocol and Its Applications. IEEE Trans. Industrial Informatics 3(2): 143-153 (2007)

Zbigniew Galias, Xinghuo Yu: Equivalence of two discretization schemes in a simple sliding mode control system. ISCAS 2007: 1677-1680

Zhihong Man, Hong Ren Wu, Sophie Liu, Xinghuo Yu: A New Adaptive Backpropagation Algorithm Based on Lyapunov Stability Theory for Neural Networks. IEEE Transactions on Neural Networks 17(6): 1580-1591 (2006)

Fengling Han, Jiankun Hu, Xinghuo Yu, Yong Feng, Jie Zhou: A Novel Hybrid Crypto-Biometric Authentication Scheme for ATM Based Banking Applications. ICB 2006: 675-681

Fengling Han, Jiankun Hu, Xinghuo Yu: A Biometric Encryption Approach Incorporating Fingerprint Indexing in Key Generation. ICIC (3) 2006: 342-351

William Becker, Xinghuo Yu, Jiyuan Tu, Eric Lee: Single compartment fire risk analysis using a fuzzy neural network. IJCNN 2006: 4111-4117

Christian Van der Velden, Cees Bil, Xinghuo Yu, Adrian Smith: Towards A Knowledge Based Cable Router for Aerospace Vehicles. IKE 2006: 95-101

Shuanghe Yu, Xinghuo Yu, Bijan Shirinzadeh, Zhihong Man: Continuous finite-time control for robotic manipulators with terminal sliding mode. Automatica 41(11): 1957-1964 (2005)

Charlotte Yuk-Fan Ho, Bingo Wing-Kuen Ling, Joshua D. Reiss, Xinghuo Yu: Occurrence of Elliptical Fractal Patterns in Multi-Bit bandpass Sigma Delta modulators. I. J. Bifurcation and Chaos 15(10): 3377-3380 (2005)

Lily D. Li, Wei Li, Russel J. Stonier, Xinghuo Yu: Breaking the Constraints to a High Performance Metacomputing System: A System Approach. Computers and Their Applications 2005: 379-384

Andrew Chiou, Xinghuo Yu: Thematic Fuzzy Prediction of Weed Dispersal Using Spatial Dataset. Computational Intelligence for Modelling and Prediction 2005: 147-162

Andrew Chiou, Xinghuo Yu: P-Expert: Implementation and Deployment of Large Scale Fuzzy Expert Advisory System. Classification and Clustering for Knowledge Discovery 2005: 159-173

Mehmet Önder Efe, Cem Ünsal, Okyay Kaynak, Xinghuo Yu: Variable structure control of a class of uncertain systems. Automatica 40(1): 59-64 (2004)

Jinhu Lu, Fengling Han, Xinghuo Yu, Guanrong Chen: Generating 3-D multi-scroll chaotic attractors: A hysteresis series switching method. Automatica 40(10): 1677-1687 (2004)

Shuanghe Yu, Xinghuo Yu, Zhihong Man: A fuzzy neural network approximator with fast terminal sliding mode and its applications. Fuzzy Sets and Systems 148(3): 469-486 (2004)

Yu-Ping Tian, Xinghuo Yu, Leon O. Chua: Time-Delayed impulsive Control of Chaotic Hybrid Systems. I. J. Bifurcation and Chaos 14(3): 1091-1104 (2004)

Qing-Long Han, Xinghuo Yu, Keqin Gu: On computing the maximum time-delay bound for stability of linear neutral systems. IEEE Trans. Automat. Contr. 49(12): 2281-2285 (2004)

Geoffrey I. Webb, Xinghuo Yu (Eds.): AI 2004: Advances in Artificial Intelligence, 17th Australian Joint Conference on Artificial Intelligence, Cairns, Australia, December 4-6, 2004, Proceedings. Lecture Notes in Computer Science 3339, Springer 2004, isbn 3-540-24059-4

Yu-Ping Tian, Xinghuo Yu: Robust learning control for a class of nonlinear systems with periodic and aperiodic uncertainties. Automatica 39(11): 1957-1966 (2003)

Qing-Long Han, Keqin Gu, Xinghuo Yu: An improved estimate of the robust stability bound of time-delay systems with norm-bounded uncertainty. IEEE Trans. Automat. Contr. 48(9): 1629-1633 (2003)

Xinghuo Yu, Guanrong Chen: Discretization behaviors of equivalent control based sliding-mode control systems. IEEE Trans. Automat. Contr. 48(9): 1641-1646 (2003)

Wei Li, Xinghuo Yu: Modeling Volunteer Computing Grid on the Web by Socially Intelligent Agents. Computers and Their Applications 2003: 450-455

Fengling Han, Xinghuo Yu, Guanrong Chen, Wenbo Liu, Yong Feng: Generation of multi-scroll chaos using second-order linear systems with hysteresis. ISCAS (3) 2003: 84-87

Zhi-Hong Guan, Guanrong Chen, Xinghuo Yu, Yi Qin: Robust decentralized stabilization for a class of large-scale time-delay uncertain impulsive dynamical systems. Automatica 38(12): 2075-2084 (2002)

Yong Feng, Xinghuo Yu, Zhihong Man: Non-singular terminal sliding mode control of rigid manipulators. Automatica 38(12): 2159-2167 (2002)

Yanxing Song, Xinghuo Yu, Guanrong Chen, Jian-Xin Xu, Yu-Ping Tian: Time Delayed Repetitive Learning Control for Chaotic Systems. I. J. Bifurcation and Chaos 12(5): 1057-1065 (2002)

Yufan Zheng, Cishen Zhang, Xinghuo Yu: Invariant Structure of Nonlinear Systems with Application to Chaos Control. I. J. Bifurcation and Chaos 12(5): 1149-1157 (2002)

Xinghuo Yu, Mehmet Önder Efe, Okyay Kaynak: A general backpropagation algorithm for feedforward neural networks learning. IEEE Transactions on Neural Networks 13(1): 251-254 (2002)

Andrew Chiou, Xinghuo Yu: P-EXPERT: Framework for Fuzzy Advisory System for the Control and Management of Parthenium Weed. FSKD 2002: 136-140

Andrew Chiou, Xinghuo Yu: Prediction of Weed Dispersal using Fuzzy Logic n Spatial Image. FSKD 2002: 524-528

Wei Li, Xinghuo Yu: Applying an Evolutionary Algorithm to Web Search: The Methodology of Evagent. IC-AI 2002: 927-

Fengling Han, Xinghuo Yu, Yong Feng, Huifeng Dong: Phase-to-Phase Wave Parameters Measurement of Distribution Lines Based on BP Networks. IEA/AIE 2002: 284-292

Fae Martin, Arthur Pinkney, Xinghuo Yu: Cane Railway Scheduling via Constraint Logic Programming: Labelling Order and Constraints in a Real-Life Application. Annals OR 108(1-4): 193-209 (2001)

Jun He, Xinghuo Yu: Conditions for the convergence of evolutionary algorithms. Journal of Systems Architecture 47(7): 601-612 (2001)

Andrew Chiou, Xinghuo Yu: Prediction of Parthenium Weed Infestation Using Fuzzy Logic Aplied to Geographic Information System (GIS) Spatial Image. FUZZ-IEEE 2001: 1363-1366

Yong Feng, Xinghuo Yu, Zhihong Man: Non-singular terminal sliding mode control and its application for robot manipulators. ISCAS (3) 2001: 545-548

Xinghuo Yu, Mehmet Önder Efe, Okyay Kaynak: A backpropagation learning framework for feedforward neural networks. ISCAS (3) 2001: 700-702

Xinghuo Yu, Baolin Wu: An Adaptive Penalty Function Method for Constrained Optimization with Evolutionary Programming. JACIII 4(2): 164-170 (2000)

Yuqiang Wu, Xinghuo Yu: Variable structure control design for uncertain dynamic systems with disturbances in input and output channels. Automatica 35(2): 311-319 (1999)

Xinghuo Yu, Zhihong Man: Fuzzy Sliding Mode Control Systems with Adaptive Estimation. Cybernetics and Systems 30(7): 663-680 (1999)

Zhihong Man, Mike O'Day, Xinghuo Yu: A Robust Adaptive Terminal Sliding Mode Control for Rigid Robotic Manipulators. Journal of Intelligent and Robotic Systems 24(1): 23-41 (1999)

Monzurur Rahman, Xinghuo Yu, Bala Srinivasan: A Neural Networks Based Approach for Fast Mining Characteristic Rules. Australian Joint Conference on Artificial Intelligence 1999: 36-47

Xinghuo Yu, Zhihong Man: Multi-input uncertain linear systems with terminal sliding-mode control. Automatica 34(3): 389-392 (1998)

Xinghuo Yu, Weixing Zheng, Baolin Wu, Xin Yao: A Novel Penalty Function Approach to Constrained Optimization Problems with Genetic Algorithms. JACIII 2(6): 208-213 (1998)

Zhihong Man, Xinghuo Yu: An Adaptive Control Using Fuzzy Basis Function Expansions for a Class of Nonlinear Systems. Journal of Intelligent and Robotic Systems 21(3): 257-275 (1998)

Zhihong Man, Hong Ren Wu, Xinghuo Yu: A RBF Neural Network-based Adaptive Control for SISO Linearisable Nonlinear Systems. Neural Computing and Applications 7(1): 71-77 (1998)

Zhenwei Cao, Xinghuo Yu: Switching-based signal estimation with digital implementation. Signal Processing 65(1): 135-141 (1998)

Sze San Chong, Xinghuo Yu, Zhihong Man: Robust adaptive sliding mode control with modified regressor matrix and composite adaptation for robotic manipulators. Advanced Robotics 12(1): 53-66 (1997)