Vol. Vol. 17, No.1. Annals of DAAAM for 2006 & Proceedings of the 17th International DAAAM Symposium "Intelligent Manufacturing & Automation: Focus on Mechatronics and Robotics" : 8-11th November 2006, Vienna, Austria. -- 2006. -- ISBN : 3-901509-57-7. -- 978-3-901509-57-5.