http://erewhon.superkuh.com/library/Electronics/A%20miniature%20pan-tilt%20actuator_%20the%20spherical%20pointing%20motor_%20B%20B%20Bederson_%20R%20S%20Wallace_%20E%20L%20Schwartz_%20IEEE%20Trans%20Robo%20Autom%201994.pdf

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