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D. Marioli, C. Narduzzi, C. Offelli, D. Petri, E. Sardini, and A. Taroni, “Digital Time of Flight Measurement for Ultrasonic Sensors,” IEEE Transactions on Instrumentation and Measurement, Vol. 41. No. 1, 1992, pp. 93-97. doi:10.1109/19.126639

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