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Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol. 7, pp. 63-68, July 1970. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the products or services of the University of North Carolina at Chapel Hill. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee. org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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Page 1: Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol ...welch/kalman/media/pdf/Sorenson1970.pdfvol. 7, pp. 63-68, July 1970. IEEE spectrum JULY 1970 tations made concerning concrete

Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol. 7, pp. 63-68, July 1970. This material is posted here with permission of the IEEE. Such permission ofthe IEEE does not in any way imply IEEEendorsement of any of the products or services of the University of North Carolina at Chapel Hill. Internal or personal use of this material is permitted. However,permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resaleor redistribution must be obtained from the IEEE by writing to [email protected]. By choosing to view this document, you agree to all provisions of the copyrightlaws protecting it.

Page 2: Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol ...welch/kalman/media/pdf/Sorenson1970.pdfvol. 7, pp. 63-68, July 1970. IEEE spectrum JULY 1970 tations made concerning concrete
Page 3: Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol ...welch/kalman/media/pdf/Sorenson1970.pdfvol. 7, pp. 63-68, July 1970. IEEE spectrum JULY 1970 tations made concerning concrete
Page 4: Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol ...welch/kalman/media/pdf/Sorenson1970.pdfvol. 7, pp. 63-68, July 1970. IEEE spectrum JULY 1970 tations made concerning concrete
Page 5: Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol ...welch/kalman/media/pdf/Sorenson1970.pdfvol. 7, pp. 63-68, July 1970. IEEE spectrum JULY 1970 tations made concerning concrete
Page 6: Copyright (c) 2004 IEEE. Reprinted from IEEE Spectrum, vol ...welch/kalman/media/pdf/Sorenson1970.pdfvol. 7, pp. 63-68, July 1970. IEEE spectrum JULY 1970 tations made concerning concrete

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