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Lin, Qiao and Burdick, Joel W. and Rimon, Elon (2006) Constructing minimum deflection fixture arrangements using frame invariant norms. IEEE Transactions on Automation Science and Engineering, 3 (3). pp. 272-286. ISSN 1545-5955. doi:10.1109/TASE.2006.872104. https://resolver.caltech.edu/CaltechAUTHORS:LINieeetase06

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