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This work was supported in part by the U.S. Office of Naval Research under the Joint Services Electronics Program by Contract N00014-67-A-0298-0006, while the author was with the Division of Engineering and Applied Physics, Harvard University, Camberidge, Mass.
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Ting-Ho Lo, J. Representation of continuous curves on the 3-dimensional rotation group. Math. Systems Theory 8, 368–375 (1974). https://doi.org/10.1007/BF01780583
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DOI: https://doi.org/10.1007/BF01780583