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Univ Montpellier 2, Lab Informat Robot & Microelect Montpellier, UMR 9928, CNRS, F-34392 Montpellier 05, France Univ Montpellier 2, Lab Informat Robot & Microelect Montpellier, UMR 9928, CNRS, F-34392 Montpellier 05, France