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Dept. of Elec. and Syst. Engineering, University of Connecticut, Storrs, CT 06269-3157, United States
U.S. Robotics Access Corporation, Massachusetts R. and D. Laboratory, 4 Technology Drive, Westborough, MA 01581, United States Dept. of Elec. and Syst. Engineering, University of Connecticut, Storrs, CT 06269-3157, United States