Yongseon Moon Nak Yong Ko Kwang-Seok Lee Youngchul Bae Jongkyu Park Real-time EtherCAT Master Implementation on Xenomai for a Robot System. 244-248 2009 9 Int. J. Fuzzy Log. Intell. Syst. 3 https://doi.org/10.5391/IJFIS.2009.9.3.244 db/journals/ijflis/ijflis9.html#MoonKLBP09