Gandalf
http://real.cs.tsukuba.ac.jp/index.php?plugin=attach&refer=CS%20Seminar&openfile=CS_Seminar.pdf
http://real.cs.tsukuba.ac.jp/index.php?plugin=attach&refer=CS%20Seminar&openfile=CSseminar07.pdf
http://paper.ijcsns.org/07_book/200605/200605A22.pdf
http://spa.jssst.or.jp/2006/papers/poster-abs/06037.pdf
http://dspace.wul.waseda.ac.jp/dspace/bitstream/2065/5245/1/A02-00-04-report.pdf