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J. Hamkins and K. Zeger, IEEE Trans. on Information Theory, vol. 43, no. 6, pp. 1774-1785, November 1997. J. Hamkins is with the Jet Propulsion Laboratory, Pasadena, CA 91109-8099. K. Zeger is with the Department of Electrical and Computer Engineering, University of California, San Diego, La Jolla, CA 92093-0407. Email: hamkins@lycurgus.jpl.nasa.gov , zeger@ucsd.edu .
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