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adaptive control robot Ajania quercifolia amyous banded coal CC-BY-NC ccri dphil guarded experimental subassembly Hofmann Josef invariant of strain tensor lime bright annealed wire middle hemorrhoidal artery pressure waveform prorogates psychology of legality separation of abdominal rectus muscle sirupus ferri jodati spherocytic jaundice Touba Fal United Nations Industrial Development Organization