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IEEE Transactions on Biomedical Engineering > 1970 > BME-17 > 1 > 37 - 43
IEEE Transactions on Aerospace and Electronic Systems > 1966 > AES-2 > 3 > 291 - 302
IEEE Transactions on Aerospace and Navigational Electronics > 1963 > Technical Paper > 0 > 3.6.3-1 - 3.6.3-12