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MR2500463 93B25 (14P10 93-04)
de Oliveira, Mauricio C.; Helton, J. William; McCullough, Scott A.; Putinar, Mihai Engineering systems and free semi-algebraic geometry. Emerging applications of algebraic geometry, 17--61, IMA Vol. Math. Appl., 149, Springer, New York, 2009.
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