SPARTA: Multiple Signal Processors for High-Performance Robotic Control. Ish-Shalom, J. & Kazanzides, P. IEEE Trans. on Robotics and Automation, Special Issue on Robot Manipulators: Algorithms and Architectures, Oct, 1989.
bibtex   
@article{Ish-Shalom1989b,
  author = {Ish-Shalom, Jehuda and Kazanzides, Peter},
  title = {{SPARTA}: Multiple Signal Processors for High-Performance Robotic Control},
  journal = {IEEE Trans. on Robotics and Automation, Special Issue on Robot Manipulators: Algorithms and Architectures},
  volume = {5},
  number = {5},
  month = {Oct},
  year = {1989}
}

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