Zeng99: RoboCup Simulation Team with Hierarchical Fuzzy Intelligent Control and Cooperative Development. - Junji Nishino; Tomomi Kawarabayashi; Takuya Morishita; Takenori Kubo; Hiroki Shimora; Hironori Aoyagi; Kyoichi Hiroshima; Hisakazu Ogura (RoboCup, 1999)