B. Erik Ydstie - Publications

Affiliations: 
1982-1992 Chemical Engineering University of Massachusetts, Amherst, Amherst, MA 
 1992- Chemical Engineering Carnegie Mellon University, Pittsburgh, PA 
Area:
Process Control, Adaptive Control, Passivity Based Control, Batch Control, Plantwide Control
Website:
https://engineering.cmu.edu/directory/bios/ydstie-b-erik.html

104 high-probability publications. We are testing a new system for linking publications to authors. You can help! If you notice any inaccuracies, please sign in and mark papers as correct or incorrect matches. If you identify any major omissions or other inaccuracies in the publication list, please let us know.

Year Citation  Score
2020 Rawlings BC, Lafortune S, Ydstie BE. Supervisory Control of Labeled Transition Systems Subject to Multiple Reachability Requirements via Symbolic Model Checking Ieee Transactions On Control Systems and Technology. 28: 644-652. DOI: 10.1109/Tcst.2018.2877621  0.364
2020 Romo-Hernández A, Hudon N, Ydstie BE, Dochain D. Thermodynamic Analysis and Feedback Stabilization for Irreversible Liquid–Vapor Systems Industrial & Engineering Chemistry Research. 59: 2252-2260. DOI: 10.1021/Acs.Iecr.9B04869  0.395
2019 Fang Z, Ydstie BE, Gao C. Thermodynamic Potentials from Stationary Probabilities Ifac-Papersonline. 52: 96-102. DOI: 10.1016/J.Ifacol.2019.07.017  0.36
2019 Özkan L, Ydstie BE. Towards A General Stability Analysis of Process Network Systems Ifac-Papersonline. 52: 39-44. DOI: 10.1016/J.Ifacol.2019.07.007  0.356
2019 Romo-Hernandez A, Hudon N, Ydstie BE, Dochain D. On the Positivity of Entropy Production in Multiphase Thermodynamic Systems Ifac-Papersonline. 52: 13-18. DOI: 10.1016/J.Ifacol.2019.07.003  0.351
2019 McGuffin DL, Ydstie BE, Adams PJ. Distributed input observers to integrate satellite data with 3-D atmospheric models Computers & Chemical Engineering. 130: 106525. DOI: 10.1016/J.Compchemeng.2019.106525  0.337
2019 McGuffin DL, Ydstie BE, Adams PJ. Integrating atmospheric models and measurements using passivity-based input observers Computers & Chemical Engineering. 129: 106501. DOI: 10.1016/J.Compchemeng.2019.06.026  0.339
2018 Zhao Z, Ydstie BE. Passivity-based Input Observer Ifac-Papersonline. 51: 821-826. DOI: 10.1016/J.Ifacol.2018.09.258  0.351
2018 Rawlings BC, Wassick JM, Ydstie BE. Application of formal verification and falsification to large-scale chemical plant automation systems Computers & Chemical Engineering. 114: 211-220. DOI: 10.1016/J.Compchemeng.2017.11.004  0.37
2017 Ke J, Khair AS, Ydstie BE. The effects of impurity on the stability of Horizontal Ribbon Growth Journal of Crystal Growth. 480: 34-42. DOI: 10.1016/J.Jcrysgro.2017.09.034  0.315
2017 Zhao Z, Capparella T, Ferrio J, Wassick JM, Ydstie BE. Passivity-based Backstepping Control of a Semi-batch Reactor * *The authors acknowledge The Dow Chemical Company for providing financial support for this work. Ifac-Papersonline. 50: 13741-13746. DOI: 10.1016/J.Ifacol.2017.08.2559  0.39
2017 Heirung TAN, Ydstie BE, Foss B. Dual adaptive model predictive control Automatica. 80: 340-348. DOI: 10.1016/J.Automatica.2017.01.030  0.413
2017 Rawlings BC, Ydstie BE. Falsification of combined invariance and reachability specifications in hybrid control systems Discrete Event Dynamic Systems. 27: 463-479. DOI: 10.1007/S10626-017-0241-1  0.381
2016 Romo-Hernandez A, Dochain D, Ydstie BE, Hudon N. A Non-equilibrium Approach to Model Dynamic Composite Systems with Interface Transport**The research presented in this paper was supported by the Institute of Information and Communication Technologies, Electronics and Applied Mathematics (ICTEAM) at Universit catholique de Louvain, the Belgian Interuniversity Attraction Poles "Dynamical systems, control and optimization" (DYSCO) and the Mexican Council for Science and Technology (CONACYT). Ifac-Papersonline. 49: 76-81. DOI: 10.1016/J.Ifacol.2016.10.758  0.38
2016 Zhao Z, Wassick JM, Ferrio J, Ydstie BE. Reaction variants and invariants based observer and controller design for CSTRs Ifac-Papersonline. 49: 1091-1096. DOI: 10.1016/J.Ifacol.2016.07.348  0.342
2016 Ydstie BE. Stability of Multi-Phase Systems Evolving on an Equilibrium Manifold Ifac-Papersonline. 49: 943-948. DOI: 10.1016/J.Ifacol.2016.07.321  0.368
2016 Morinelly JE, Ydstie BE. Dual MPC with Reinforcement Learning Ifac-Papersonline. 49: 266-271. DOI: 10.1016/J.Ifacol.2016.07.276  0.406
2015 Zhao J, Lam KP, Ydstie BE, Karaguzel OT. EnergyPlus model-based predictive control within design–build–operate energy information modelling infrastructure Journal of Building Performance Simulation. 8: 121-134. DOI: 10.1080/19401493.2014.891656  0.323
2015 Heirung TAN, Foss B, Ydstie BE. MPC-based dual control with online experiment design Journal of Process Control. 32: 64-76. DOI: 10.1016/J.Jprocont.2015.04.012  0.378
2015 Oliveros GA, Sridhar S, Ydstie BE. Existence and static stability of the meniscus in horizontal ribbon growth Journal of Crystal Growth. 411: 96-105. DOI: 10.1016/J.Jcrysgro.2014.09.036  0.324
2015 Heirung TAN, Ydstie BE, Foss B. Dual MPC for FIR Systems: Information Anticipation∗ Ifac-Papersonline. 48: 1033-1038. DOI: 10.1016/J.Ifacol.2015.09.104  0.394
2014 Fahrenkopf MA, Mukherjee T, Ydstie BE, Schneider JW. Optimization of ELFSE DNA sequencing with EOF counterflow and microfluidics. Electrophoresis. 35: 3408-14. PMID 25154385 DOI: 10.1002/Elps.201400266  0.749
2014 Fahrenkopf MA, Ydstie BE, Mukherjee T, Schneider JW. Modeling and Global Optimization of DNA separation. Computers & Chemical Engineering. 64: 63-70. PMID 24764606 DOI: 10.1016/J.Compchemeng.2014.01.012  0.749
2014 Hoang NH, Dochain D, Ydstie BE. Partial inventory control of the CSTR via reaction-dependent generalized inventories Ifac Proceedings Volumes (Ifac-Papersonline). 19: 9123-9128. DOI: 10.3182/20140824-6-Za-1003.01951  0.365
2014 Rawlings BC, Christenson B, Wassick JM, Ydstie BE. Supervisor synthesis to satisfy safety and reachability requirements in chemical process control Ifac Proceedings Volumes (Ifac-Papersonline). 9: 195-200. DOI: 10.3182/20140514-3-Fr-4046.00127  0.374
2014 Gjerstad K, Time RW, Ydstie BE, Bjørkevoll KS. An explicit and continuously differentiable flow equation for non-newtonian fluids in pipes Spe Journal. 19: 78-87. DOI: 10.2118/165930-Pa  0.36
2014 Rawlings BC, Kim J, Moon I, Ydstie BE. Symbolic verification of control systems and operating procedures Industrial and Engineering Chemistry Research. 53: 5299-5310. DOI: 10.1021/Ie402998G  0.308
2013 Heirung TAN, Ydstie BE, Foss B. An MPC approach to dual control Ifac Proceedings Volumes (Ifac-Papersonline). 10: 69-74. DOI: 10.3182/20131218-3-In-2045.00151  0.398
2013 Fahrenkopf MA, Schneider JW, Ydstie BE. Projective integration with an adaptive projection horizon Ifac Proceedings Volumes (Ifac-Papersonline). 10: 721-725. DOI: 10.3182/20131218-3-In-2045.00104  0.731
2013 Fahrenkopf MA, Ydstie BE, Mukherjee T, Schneider JW. Optimal design of microfluidic devices for rapid DNA separations Ifac Proceedings Volumes (Ifac-Papersonline). 12: 137-142. DOI: 10.3182/20131216-3-In-2044.00032  0.736
2013 Heirung TAN, Ydstie BE, Foss B. An adaptive model predictive dual controller ? Ifac Proceedings Volumes (Ifac-Papersonline). 11: 62-67. DOI: 10.3182/20130703-3-Fr-4038.00098  0.354
2013 Oliveros GA, Liu R, Sridhar S, Ydstie BE. Silicon wafers for solar cells by horizontal ribbon growth Industrial and Engineering Chemistry Research. 52: 3239-3246. DOI: 10.1021/Ie301857P  0.314
2013 Hioe D, Bao J, Ydstie BE. Dissipativity analysis for networks of process systems Computers and Chemical Engineering. 50: 207-219. DOI: 10.1016/J.Compchemeng.2012.11.010  0.373
2013 Baldea M, El-Farra NH, Ydstie BE. Dynamics and control of chemical process networks: Integrating physics, communication and computation Computers and Chemical Engineering. 51: 42-54. DOI: 10.1016/J.Compchemeng.2012.05.016  0.396
2013 Ha Hoang N, Couenne F, Le Gorrec Y, Chen CL, Ydstie BE. Passivity-based nonlinear control of CSTR via asymptotic observers Annual Reviews in Control. 37: 278-288. DOI: 10.1016/J.Arcontrol.2013.09.007  0.413
2013 Aggarwal M, Ydstie BE. Note on flash and distillation systems Aiche Journal. 59: 3322-3332. DOI: 10.1002/Aic.14201  0.376
2012 Heirung TAN, Ydstie BE, Foss B. Towards dual MPC Ifac Proceedings Volumes (Ifac-Papersonline). 4: 502-507. DOI: 10.3182/20120823-5-Nl-3013.00070  0.392
2012 Hoang H, Couenne F, Le Gorrec Y, Chen C, Ydstie BE. Passivity based controller and observer of exothermic chemical reactors* Ifac Proceedings Volumes. 45: 377-384. DOI: 10.3182/20120710-4-Sg-2026.00051  0.423
2011 Heirung TAN, Wartmann MR, Jansen JD, Ydstie BE, Foss BA. Optimization of the water-flooding process in a small 2D horizontal oil reservoir by direct transcription Ifac Proceedings Volumes (Ifac-Papersonline). 18: 10863-10868. DOI: 10.3182/20110828-6-It-1002.03503  0.41
2011 Aggarwal M, Balaji S, Ydstie BE. Invariant based modeling and control of multi-phase reactor systems Journal of Process Control. 21: 1390-1406. DOI: 10.1016/J.Jprocont.2011.07.008  0.403
2011 Ranjan S, Balaji S, Panella RA, Ydstie BE. Silicon solar cell production Computers and Chemical Engineering. 35: 1439-1453. DOI: 10.1016/J.Compchemeng.2011.04.017  0.351
2011 Liu R, Oliveros G, Sridhar S, Ydstie BE. Multiscale Modeling of a Silicon Solar Wafer Manufacturing Process Computer-Aided Chemical Engineering. 29: 156-160. DOI: 10.1016/B978-0-444-53711-9.50032-8  0.395
2010 Du J, Balaji S, Laird CM, Ydstie BE. Multi-scale modeling and inventory control of particle growth processes Ifac Proceedings Volumes (Ifac-Papersonline). 9: 421-426. DOI: 10.3182/20100705-3-Be-2011.00070  0.313
2010 Aggarwal M, Balaji S, Ydstie BE. Modeling, Control and Inversion of Multi-Phase Equilibrium Reactor Systems Ifac Proceedings Volumes. 43: 1-6. DOI: 10.3182/20100705-3-Be-2011.00001  0.395
2010 Balaji S, Ilic J, Ydstie BE, Krogh BH. Control-based modeling and simulation of the chemical-looping combustion process Industrial and Engineering Chemistry Research. 49: 4566-4575. DOI: 10.1021/Ie901540M  0.365
2010 Balaji S, Du J, White CM, Ydstie BE. Multi-scale modeling and control of fluidized beds for the production of solar grade silicon Powder Technology. 199: 23-31. DOI: 10.1016/J.Powtec.2009.04.022  0.331
2010 Li K, Chan KH, Ydstie BE, Bindlish R. Passivity-based adaptive inventory control Journal of Process Control. 20: 1126-1132. DOI: 10.1016/J.Jprocont.2010.06.024  0.383
2009 Wartmann MR, Ydstie BE. Optimality of Process Networks.* *This work was supported by the Center for Integrated Operations in the Petroleum Industry, Trondheim, Norway. Ifac Proceedings Volumes. 42: 613-618. DOI: 10.3182/20090712-4-Tr-2008.00099  0.343
2009 Jillson KR, Chapalamadugu V, Ydstie BE. Inventory and flow control of the IGCC process with CO2 recycles Journal of Process Control. 19: 1470-1485. DOI: 10.1016/J.Jprocont.2009.06.004  0.376
2009 Wen C, Ydstie BE, Ma X. Stochastic mixed integer nonlinear programming using rank filter and ordinal optimization Aiche Journal. 55: 2873-2882. DOI: 10.1002/Aic.11901  0.309
2008 Wen C, Ydstie BE. Passivity based control of power plants Ifac Proceedings Volumes (Ifac-Papersonline). 17. DOI: 10.3182/20080706-5-Kr-1001.01188  0.344
2008 Ydstie BE. Availability and dissipativity in networks: Foundations of process control Aip Conference Proceedings. 1033: 350-355. DOI: 10.1063/1.2979058  0.312
2008 Bogle DL, Ydstie BE. Equipment and Process Design Computer Aided Process and Product Engineering. 1: 383-418. DOI: 10.1002/9783527619856.ch12  0.32
2007 Dozal-Mejorada EJ, Thakker P, Ydstie BE. Supervised Adaptive Predictive Control Using Dual Models Ifac Proceedings Volumes. 40: 107-112. DOI: 10.3182/20070606-3-Mx-2915.00136  0.357
2007 Dozal-Mejorada EJ, Ydstie BE. Stability of supervised adaptive control Proceedings of the Ieee Conference On Decision and Control. 1288-1293. DOI: 10.3182/20070606-3-Mx-2915.00131  0.348
2007 Bao J, Jillson KR, Ydstie BE. Passivity based control of process networks Ifac Proceedings Volumes. 40: 65-70. DOI: 10.3182/20070606-3-Mx-2915.00129  0.348
2007 Jillson KR, Ydstie BE. Process networks with decentralized inventory and flow control Journal of Process Control. 17: 399-413. DOI: 10.1016/J.Jprocont.2006.12.006  0.402
2006 Ydstie BE, Jillson KR, Dozal-Mejorada EJ. Distributed Decision Making In Supply Chain Networks Ifac Proceedings Volumes. 39: 929-935. DOI: 10.3182/20060402-4-Br-2902.00929  0.317
2005 Jillson K, Ydstie BE. Complex process networks: Passivity and optimality Ifac Proceedings Volumes (Ifac-Papersonline). 16: 543-548. DOI: 10.3182/20050703-6-Cz-1902.01664  0.347
2005 Ruszkowski M, Read M, Kaiser R, Richardson P, Kern T, Ydstie BE. Passivity based control and optimization of a silicon process Ifac Proceedings Volumes (Ifac-Papersonline). 16: 345-350. DOI: 10.3182/20050703-6-Cz-1902.01633  0.749
2005 Gerogiorgis DI, Ydstie BE. Multiphysics CFD modelling for design and simulation of a multiphase chemical reactor Chemical Engineering Research and Design. 83: 603-610. DOI: 10.1205/Cherd.04364  0.648
2005 Ruszkowski M, Garcia-Osorio V, Ydstie BE. Passivity based control of transport reaction systems Aiche Journal. 51: 3147-3166. DOI: 10.1002/Aic.10543  0.755
2005 Ydstie BE. Integrating physics and process control Aiche Annual Meeting, Conference Proceedings. 6158.  0.378
2005 Gerogiorgis DI, Ydstie BE. Three-dimensional steady state multiphysics CFD modeling of a novel aluminium reactor Aiche Annual Meeting, Conference Proceedings. 6707.  0.593
2005 Gerogiorgis DI, Ydstie BE. Multiphase flow CFD modeling of carbothermic aluminium reactors Proceedings - European Metallurgical Conference, Emc 2005. 3: 1337-1348.  0.638
2005 Gerogiorgis DI, Ydstie BE. Extended irreversible thermodynamics (E.I.T.) for chemical reactor stability analysis Aiche Annual Meeting, Conference Proceedings. 6100.  0.576
2004 Ydstie BE. Distributed decision making in complex organizations: The adaptive enterprise Computers and Chemical Engineering. 29: 11-27. DOI: 10.1016/J.Compchemeng.2004.08.023  0.32
2004 Garcia-Osorio V, Ydstie BE. Vapor recovery reactor in carbothermic aluminum production: Model verification and sensitivity study for a fixed bed column Chemical Engineering Science. 59: 2053-2064. DOI: 10.1016/J.Ces.2004.01.020  0.355
2004 Garcia-Osorio V, Ydstie BE. Distributed, asynchronous and hybrid simulation of process networks using recording controllers International Journal of Robust and Nonlinear Control. 14: 227-248. DOI: 10.1002/Rnc.871  0.341
2004 Hill JH, Ydstie BE. Adaptive control with selective memory International Journal of Adaptive Control and Signal Processing. 18: 571-587. DOI: 10.1002/Acs.819  0.311
2004 Gerogiorgis DI, Ydstie BE. Integrated multiphysics and computational fluid dynamics modeling of a carbothermic aluminium reactor Tms Light Metals. 309-314.  0.644
2003 Ydstie BE, Jiao Y. The distributed enterprize integrates business, IT and process systems engineering Computer-Aided Chemical Engineering. 15: 12-27. DOI: 10.1016/S1570-7946(03)80524-2  0.36
2003 Gerogiorgis DI, Ydstie BE. An MINLP model for the conceptual design of a carbothermic aluminium reactor Computer Aided Chemical Engineering. 14: 131-136. DOI: 10.1016/S1570-7946(03)80103-7  0.657
2003 Perea-López E, Ydstie BE, Grossmann IE. A model predictive control strategy for supply chain optimization Computers and Chemical Engineering. 27: 1201-1218. DOI: 10.1016/S0098-1354(03)00047-4  0.507
2003 Gerogiorgis DI, Ydstie BE, Bruno MJ, Johansen K. Process systems tools for design and optimization of carbothermic reduction processes Tms Annual Meeting. 289-298.  0.628
2002 Alonso AA, Ydstie BE, Banga JR. From irreversible thermodynamics to a robust control theory for distributed process systems Journal of Process Control. 12: 507-517. DOI: 10.1016/S1474-6670(17)38552-X  0.415
2002 Ydstie BE. Passivity based control via the second law Computers and Chemical Engineering. 26: 1037-1048. DOI: 10.1016/S0098-1354(02)00041-8  0.443
2002 Ydstie BE. New vistas for process control: Integrating physics and communication networks Aiche Journal. 48: 422-426. DOI: 10.1002/Aic.690480302  0.324
2002 Ruszkowski MG, Ydstie BE. Stabilization of reaction-convective systems using inventory control Proceedings of the American Control Conference. 2: 1028-1033.  0.747
2001 Perea-López E, Grossmann IE, Ydstie BE, Tahmassebi T. Dynamic Modeling and Decentralized Control of Supply Chains Industrial & Engineering Chemistry Research. 40: 3369-3383. DOI: 10.1021/Ie000573K  0.485
2001 Coffey DP, Ydstie BE, Andersen TR, Jørgensen SB. Distillation control using passivity Computer Aided Chemical Engineering. 9: 627-632. DOI: 10.1016/S1570-7946(01)80099-7  0.375
2001 Alonso AA, Ydstie BE. Stabilization of distributed systems using irreversible thermodynamics Automatica. 37: 1739-1755. DOI: 10.1016/S0005-1098(01)00140-6  0.395
2001 Gerogiorgis DI, Ydstie BE, Seetharaman SS. A steady state electrothermic simulation analysis of a carbothermic reduction reactor for the production of aluminium Proceedings of the Conference On Computational Modeling of Materials, Minerals and Metals Processing. 273-282.  0.628
2000 Coffey DP, Ydstie BE. Stability of Process Networks Ifac Proceedings Volumes. 33: 425-430. DOI: 10.1016/S1474-6670(17)38577-4  0.412
2000 Coffey DP, Ydstie BE, Farschman CA. Distillation stability using passivity and thermodynamics Computers and Chemical Engineering. 24: 317-322. DOI: 10.1016/S0098-1354(00)00467-1  0.375
1999 Albuquerque J, Gopal V, Staus G, Biegler LT, Ydstie BE. Interior point SQP strategies for large-scale, structured process optimization problems Computers and Chemical Engineering. 23: 543-554. DOI: 10.1016/S0098-1354(98)00292-0  0.364
1999 Radenkovic MS, Ydstie BE. Optimality of a direct adaptive controller in the presence of model mismatch and bounded disturbances Circuits, Systems, and Signal Processing. 18: 205-223. DOI: 10.1007/Bf01225695  0.356
1999 Hangos KM, Alonso AA, Perkins JD, Ydstie BE. Thermodynamic approach to the structural stability of process plants Aiche Journal. 45: 802-816. DOI: 10.1002/Aic.690450414  0.37
1998 Ydstie BE, Coffey DP. Distributed Control and Real-Time Optimization of a Chemical Process Ifac Proceedings Volumes. 31: 691-696. DOI: 10.1016/S1474-6670(17)45006-3  0.459
1998 Farschman CA, Viswanath KP, Ydstie BE. Process systems and inventory control Aiche Journal. 44: 1841-1857. DOI: 10.1002/Aic.690440814  0.433
1997 Ydstie BE, Alonso AA. Process systems and passivity via the Clausius-Planck inequality Systems and Control Letters. 30: 253-264. DOI: 10.1016/S0167-6911(97)00023-6  0.405
1996 Ydstie BE, Wahlberg B. On Iterative/Adaptive Robust Control Ifac Proceedings Volumes. 29: 4028-4033. DOI: 10.1016/S1474-6670(17)58310-X  0.402
1996 Alonso AA, Ydstie BE. Process systems, passivity and the second law of thermodynamics Computers and Chemical Engineering. 20. DOI: 10.1016/0098-1354(96)00194-9  0.377
1995 Radenkovic MS, Ydstie BE. Using Persistent Excitation with Fixed Energy to Stabilize Adaptive Controllers and Obtain Hard Bounds for the Parameter Estimation Error Siam Journal On Control and Optimization. 33: 1224-1246. DOI: 10.1137/S0363012992240308  0.333
1994 Ydstie BE, Wahlberg B. Iterative refinement of model predictive control Ifac Proceedings Volumes. 27: 215-219. DOI: 10.1016/S1474-6670(17)48154-7  0.397
1994 Kusch MG, Ydstie BE. Drift instabilities and chaos in forecasting and adaptive decision theory Physica D: Nonlinear Phenomena. 72: 309-323. DOI: 10.1016/0167-2789(94)90235-6  0.323
1993 Finn CK, Wahlberg B, Ydstie BE. Constrained predictive control using orthogonal expansions Aiche Journal. 39: 1810-1826. DOI: 10.1002/Aic.690391109  0.396
1992 Golden MP, Ydstie BE. Small amplitude chaos and ergodicity in adaptive control Automatica. 28: 11-25. DOI: 10.1016/0005-1098(92)90003-X  0.39
1991 Ydstie BE. Stability of the direct self-tuning regulator Lecture Notes in Control and Information Sciences. 160: 201-237. DOI: 10.1007/Bfb0044776  0.315
1989 Golden MP, Ydstie BE. Adaptive extremum control using approximate process models Aiche Journal. 35: 1157-1169. DOI: 10.1002/Aic.690350711  0.403
1988 Golden MP, Ydstie BE. Bifurcation in model reference adaptive control systems Systems & Control Letters. 11: 413-430. DOI: 10.1016/0167-6911(88)90101-6  0.413
1987 Ydstie BE. Auto tuning of the time horizon Ifac Proceedings Volumes. 20: 391-395. DOI: 10.1016/S1474-6670(17)55993-5  0.399
1987 Ydstie BE, Golden MP. Chaos and Strange Attractors in Adaptive Control Systems Ifac Proceedings Volumes. 20: 133-138. DOI: 10.1016/S1474-6670(17)55490-7  0.375
1986 Farber JN, Ydstie BE. Adaptive compensation for large disturbances in a continuous polymerization reactor Industrial and Engineering Chemistry Fundamentals. 25: 350-356.  0.324
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