| 1st (1991) | Edinburgh (UK) | 2nd (1992) | San-Francisco (USA) |
| 3rd (1993) | Singapore (Singapore) | 4th (1994) | Osaka (Japan) |
| 5th (1995) | Hague (The Netherlands) | 6th (1996) | Los-Angels (USA) |
| 7th (1997) | Honolulu (USA) | 8th (1998) | Montreal (Canada) |
| 9th (1999) | Brest (France) | 10th (2000) | Seattle (USA) |
| 11th (2001) | Stavanger (Norway) | 12th (2002) | Kita-Kyushu (Japan) |
