Copyright (c) 2013, Regents of the University of California
Copyright (c) 2013, Alexander Afanasyev
Copyright (c) 2013, Zhenkai Zhu
                    
All rights reserved.
Written by: Alexander Afanasyev <alexander.afanasyev@ucla.edu>
            Zhenkai Zhu <zhenkai@cs.ucla.edu>

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