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Weston, R H; Moore, P R; Thatcher, T W; Morgan, G . (1984). Computer controlled pneumatic servo drives. ARCHIVE: Proceedings of the Institution of Mechanical Engineers, Part B: Management and Engineering Manufacture 1983-1988 (vols 197-202), 198(14), 275–281. doi:10.1243/PIME_PROC_1984_198_079_02 
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