Non singular transition between solutions of the direct position problem in the reduced configuration space
Transición no singular entre soluciones del problema de posición directo en el espacio de configuración reducido

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Non singular transition between solutions of the direct position problem in the reduced configuration space using a helicoidal folding

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DMG-Lib		https://www.dmg-lib.org/dmglib/handler?image=12241023
Europeana		http://www.europeana.eu/portal/record/2020801/dmglib_handler_image_12241023.html

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