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. 2018 Mar 3;18(3):771. doi: 10.3390/s18030771

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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Z-Y-X Euler angles: (a) rotation around ${\hat{Z}}_{C}$ ; (b) rotation around ${\hat{Y'}}_{S}$ ; (c) rotation around ${\hat{X}}_{S}$ .