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MR1953340 58E10 (53A04 57M25)
Sullivan, John M. Approximating ropelength by energy functions. Physical knots: knotting, linking, and folding geometric objects in $\Bbb R^3$ (Las Vegas, NV, 2001), 181–186, Contemp. Math., 304, Amer. Math. Soc., Providence, RI, 2002.
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