A Fast Reading Spatial Knowledge System by Ultrasonic Sound Beams. - Taizo Miyachi; Jens J. Balvig; Jiang Shen Bo; Ipei Kuroda (KES (3), 2007)

Structuring Spatial Knowledge and Fail-Safe Expression for Directive Voice Navigation. - Taizo Miyachi; Jens J. Balvig; Ipei Kuroda; Takeshi Suzuki (KES (3), 2008)