update: auto commit
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\end{pmatrix} \qc
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S=0,
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\end{equation}
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where $\tensor{e}{^i}$ is the standard column vector basis of $\mathbb{R}^3$, while $\tensor{e}{_i}$ is the standard row vector basis of $(\mathbb{R}^3)^*$.
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where $\tensor{e}{^i}$ is the standard column vector basis of $\setR^3$, while $\tensor{e}{_i}$ is the standard row vector basis of $(\setR^3)^*$.
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\end{frame}
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\begin{frame}{Existing first order formulations}
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