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Franklin, Wm. Randolph and Barr, Alan H. (1981) Faster Calculation of Superquadric Shapes. IEEE Computer Graphics and Applications, 1 (3). pp. 41-47. ISSN 0272-1716. doi:10.1109/MCG.1981.1673941. https://resolver.caltech.edu/CaltechAUTHORS:FRAieeecga81

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