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@ARTICLE{,
    author = {Saranli, U. and Avci, A. and Ozturk, M.C.},
     title = {A Modular, Real-Time Fieldbus Architecture for Mobile Robotic Platforms},
   journal = {IEEE Trans on Instrumentation and Measurement},
      year = {2010},
      note = {23.11.2011},
       doi = {10.1109/TIM.2010.2078351}
}