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MR793239 (86k:46049) 46E35 (26D10 32F20 35H05 46N05 58G05)
Nagel, Alexander; Stein, Elias M.; Wainger, Stephen Balls and metrics defined by vector fields. I. Basic properties. Acta Math. 155 (1985), no. 1-2, 103–147.
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