Title: Kornbluh & Ziemba  
Author: Jennifer Hicks Aug 27, 2013
Last Changed by: Aaron Wayne Aug 30, 2013
Tiny Link: (useful for email) https://simtk-confluence.stanford.edu:8443/x/7w9O
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    Page: Advanced User Workshop August 2013
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OpenSim Documentation (1)     Page: Kornbluh & Ziemba