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![Spherical target and main coordinate system [O]; vector direction r of ...](https://www.researchgate.net/profile/Mauro-Temporal/publication/277446883/figure/download/fig1/AS:642456177610754@1530184897744/Spherical-target-and-main-coordinate-system-O-vector-direction-r-of-a-generic-surface.png)
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