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Andyoffarecomputedusingqr=vcos(qvr)k;(12)qvr=w�vsin(qvr)k;(13)yoff=vsin(qvr):(14)usingthebackwardeulerrulewithsamplingtimedtandassumingthattheevolutionofthecurvatureisdriven published presentations and documents on DocSlides.
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