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@ARTICLE{,
    author = {Fernández-Madrigal, Juan-Antonio and Gonzalez-Jimenez, Javier},
     title = {The NEXUS Open System for Integrating Robotic Software},
   journal = {Robotics and Computer Integrated Manufacturing},
    volume = {15},
    number = {6},
      year = {1999},
       doi = {10.1016/S0736-5845(99)00037-X},
     pages = {431--440}
}