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This paper appeared in: Princeton Companion to Applied Mathematics, (N.J.Higham, ed.), Princeton University Press 2015, 804-807

This paper appeared in: Princeton Companion to Applied Mathematics, (N.J.Higham, ed.), Princeton University Press 2015, 804-807

This paper appeared in: Princeton Companion to Applied Mathematics, (N.J.Higham, ed.), Princeton University Press 2015, 804-807

This paper appeared in: Princeton Companion to Applied Mathematics, (N.J.Higham, ed.), Princeton University Press 2015, 804-807

This paper appeared in: Princeton Companion to Applied Mathematics, (N.J.Higham, ed.), Princeton University Press 2015, 804-807

This paper appeared in: Princeton Companion to Applied Mathematics, (N.J.Higham, ed.), Princeton University Press 2015, 804-807

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