?url_ver=Z39.88-2004&rft_id=10.1109%2FROMA.2016.7847837&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.aufirst=W.F.&rft.aulast=Tarmizi&rft.au=Tarmizi%2C+W.F.&rft.date=2017&rft.title=A+Particle+Swarm+Optimization-PID+controller+of+a+DC+Servomotor+for+Multi-Fingered+Robot+Hand&rft.isbn=9781509009282&rft.genre=proceeding