The disclosure pertains generally to coding, decoding, or code conversion for error detection or error correction, and more particularly to encoders and decoders using a maximum distance separable (MDS) code.
The decoding circuitry 24 may correct errors, in accordance with one optional technique known in the art, by multiplying the n encoded symbols by a k×n decoder matrix 26 (e.g. the pseudo-inverse of the n×k generator matrix 16), or a k×k submatrix thereof, to produce k data symbols. If the input contained errors, then the resultant data symbols contain those errors as “syndromes” known in the art. The decoding circuitry 24 may analyze these syndromes to determine the number of errors, their positions in the received codeword, and the error symbols at those positions, then subtract the error symbols to obtain an error-free data word. The error-free data word has k data symbols, and is stored in a data output buffer 28 before ultimately being transmitted to the data consumer. Alternately or in addition, the decoding circuitry 24 may correct erasures in reception (that is, receiving in the input buffer less than all n of the encoded symbols) by performing Gaussian elimination on the received encoded symbols.
Encoders and decoders such as those described in connection with
Reed-Solomon codes were proposed for the first time in 1960 as a class of error-correcting codes. Since then, RS codes have been used in a large number of applications from data communication to distributed storage both as an error-correcting code or as an erasure-correcting code and relying on several constructions for RS code generator matrices, e.g., Vandermonde and Cauchy matrices. Although popular, these designs have remained relatively unchanged in the last decades and are typically associated with significant computational costs for encoding (respectively decoding) as the number of symbols (k) increases due to the finite field operation costs and the order O(k2) (respectively O(k3)) scaling. Recent proposals focused on improving the overall scaling of encoders/encoders to O(k log (k)) by using constructions based on the Fast Fourier Transform (FFT). However, their performance for moderate k, e.g., for communications and storage, is yet to be studied.
Given the growing challenges and upcoming demands in communication and distributed storage systems, the development of efficient constructions of RS codes that can (i) seamlessly replace older constructions without modifying the system's operation, and (ii) deliver higher encoding and decoding speeds, becomes increasingly relevant. In the context of older CPUs, Cauchy matrices are known to be faster than Vandermonde matrices. However, the use of hardware acceleration, e.g., single instruction, multiple data (SIMD) operations, in Intel and ARM CPUs has made both approaches faster and reduced the gap between them, making them essentially equivalent in processing performance for the same implementation. Thus, novel solutions that radically redefine the core operations of the finite fields and exploit them are needed to provide the critical speed-ups.
Disclosed embodiments reduce computational costs in practical systems via a new design for Maximum Distance Separable (MDS) codes, based on Reed-Solomon codes. To achieve this design, we use the facts that (i) finite fields of the form 2s for some s can be computed faster for smaller s, and that (ii) it is possible to generate efficient composite extension fields that maintain compatibility in their operations (i.e., products in a smaller field have a direct bit-by-bit mapping to the same products performed in a larger field constructed from that smaller field).
Disclosed embodiments use composite extension finite fields and a deterministic algorithm. The algorithm first maximizes the number of columns in the generator matrix that are composed solely by the smallest finite field. Next, it maximizes the number of columns with the second smallest finite field (an intermediate finite field). The algorithm continues until columns can only be of the largest finite field allowed. Performance gains of as much as two-fold in SIMD capable CPUs obtain for decoding, while using the same decoding algorithm (Gaussian Elimination) as a Vandermonde RS code. Higher gains are expected in devices not capable of SIMD instructions and/or by using a decoding algorithm other than Gaussian Elimination.
Thus, a first embodiment is an apparatus for decoding data according to a maximum distance separable (MDS) code defined over an encoding field having 2s>2 elements. The apparatus has an input buffer configured for receiving a plurality of encoded fragments. The encoded fragments were formed, prior to their receipt by the apparatus, by multiplying a plurality of k data fragments by an n×k generator matrix for the MDS code. Each data fragment and the generator matrix comprise data symbols in the encoding field. The generator matrix has a plurality of columns whose entries each take values in the finite field having two elements. The apparatus also has decoding circuitry configured for decoding any k received encoded fragments as the k data fragments. The apparatus further has an output buffer configured for storing the k data fragments following decoding.
Some embodiments include a storage arrangement configured for storing the plurality of encoded fragments. The input buffer may be configured for receiving, from the storage arrangement, less than all of the plurality of the encoded fragments due to an erasure in the storage arrangement. The storage arrangement may have a plurality of storage devices, and be configured for storing at least two encoded fragments on different storage devices.
In some embodiments, the decoding circuitry is configured for performing Gaussian elimination on the received encoded fragments.
In some embodiments, the decoding circuitry comprises a computer processor. The computer processor may lack circuitry for performing single instruction, multiple data (SIMD) operations.
In some embodiments, the generator matrix has a column whose entries each take values in an intermediate field between the finite field having two elements and the encoding field. The generator matrix also may have a column whose entries each take values in a second intermediate field between the intermediate field and the encoding field.
A further embodiment is a method of decoding data according to a maximum distance separable (MDS) code defined over an encoding field having 2s>2 elements. The method includes receiving, in an input buffer, a plurality of encoded fragments. The encoded fragments were formed, prior to their receipt, by multiplying a plurality of k data fragments by an n×k generator matrix for the MDS code. Each data fragment and the generator matrix comprise data symbols in the encoding field. The generator matrix has a plurality of columns whose entries each take values in the finite field having two elements. The method also includes decoding, by decoding circuitry, any k received encoded fragments as the k data fragments. The method further includes storing, by an output buffer, the k data fragments following decoding.
In some embodiments, receiving comprises receiving, from a storage arrangement, less than all of the plurality of the encoded fragments due to an erasure in the storage arrangement.
In some embodiments, decoding comprises performing Gaussian elimination on the received encoded fragments.
In some embodiments, decoding comprises decoding without using single instruction, multiple data (SIMD) operations.
In some embodiments, the generator matrix has a column whose entries each take values in an intermediate field between the finite field having two elements and the encoding field. The generator matrix also may have a column whose entries each take values in a second intermediate field between the intermediate field and the encoding field.
It is appreciated a person having ordinary skill in the art may contemplate other ways to embody the concepts, structures, and techniques disclosed herein.
The manner and process of making and using the disclosed embodiments may be appreciated by reference to the drawings, in which:
In this specification, including the appended claims, the following quoted terms shall have the indicated meanings that are not limited to specific embodiments, except where expressly indicated otherwise:
“SIMD” is an initialism for “single instruction, multiple data” as known in the art. A “SIMD capable” computer processor has electrical circuitry for performing one or more SIMD operations.
The “base field” or “p” is the finite field having p elements. In what follows, p=2 unless otherwise specified.
The “encoding field” or “q” is the finite field having q=ps elements for some integer s≥1. As is known in the art, the field q may be constructed by adjoining, to the base field, any root of an irreducible polynomial of degree s whose coefficients are in the base field.
An “intermediate field” is a finite field having pr elements, where 1<r<s and r divides s. As is known in the art, intermediate fields exist for every such r.
A “Reed-Solomon code” or “RS code” with dimension k is the vector space Ck⊂qn generated by the evaluation of the monomials 1,X, . . . , Xk-1 at the n=q−1 points of q\{0}. Namely, let α be a primitive element of q and let the “evaluation map” ev: q[X]→qn, be given by ev(f)=(f(α0), f(α1), . . . , f(αq-2)). Then the Reed Solomon code with dimension k is Ck={ev(Xi): i=0, . . . , k−1}. Reed-Solomon codes are maximum distance separable (“MDS”) codes, as that phrase is known in the art.
A “fragment” is a collection of one or more symbols defined over an encoding field.
A “data fragment” is a fragment of data.
An “encoded fragment” is a collection of one or more symbols encoding a data fragment according to an MDS code.
A “generator matrix” for an RS code with dimension k is an n×k matrix Gkv that, when multiplied (on the right) by a k-tuple data fragment, produces an n-tuple encoded fragment that encodes the data fragment. Since the evaluation map ev is injective, a Vandermonde generator matrix as known in the art is obtained by considering as columns the evaluation of the monomials at q\{0}:
Gkv=(α(i-1)(j-1))1≤i≤n,1≤j≤k.
A row in Gkv provides the coefficients for generating an encoded fragment, while a column is associated to the contribution of an original fragment to the different coded fragments generated.
The elements of the above matrix Gkv are in q, and in prior art (binary) code designs only the first column has all elements in 2. Embodiments of the present disclosure provide a different generator matrix for the Reed-Solomon code Ck such that as many columns as possible have all elements in 2 (that is, they consist in zeroes and ones). It is appreciated that the concepts, techniques, and structures disclosed herein may be extended to base fields other than 2 in a routine manner.
To obtain a different generator matrix for the same code, we evaluate a set of polynomials, rather than monomials. In particular, we evaluate linearly independent polynomials of degree lower than k. We consider polynomials that evaluate to 2, i.e., fϵq[X] such that ev(f)ϵ2n, which polynomials are described by cyclotomic cosets and the trace of a polynomial. For an integer 0≤a<q−1, consider the cyclotomic coset modulo q−1 defined by Ia={a2i mod q−1:i=0,1,2, . . . }. Theorem 1 below provides a basis for the polynomials evaluating to 2.
Theorem 1: A basis for the set of polynomials in q[X] evaluating to 2 is
where β=α(2
Consider q=24 as a toy example. The different cyclotomic cosets in q are I0={0}, I1={1,2,4,8}, I3={3,6,12,9}, I5={5,10}, and I7{7,14,13,11}. One has that I1=I2=I4=I8 and so on. Some of the polynomials given by the previous theorem are as follows. One has a cyclotomic coset with one element I0={0} and its associated polynomial is 1=X0, that trivially evaluates to 2. The polynomials associated to the cyclotomic coset I1={1,2,4,8} are {fI
fI
fI
fI
fI
For I5={5,10}, we have that {fI
fI
fI
Continuing this way, we get from I3 four polynomials of degree 12, as I3={3,6,9,12}, and from I7, another four polynomials of degree 14, as I7={7,11,13,14}, all of which evaluate to 2.
With these polynomials, we can construct the Reed-Solomon code C9 with dimension 9 and length 15 over 16. By Theorem 1, evaluate fI
As another example, let C11 be the Reed-Solomon code with dimension 11 and length 15 over 16. The generator matrix of this code can be obtained by considering {ev(Xi): i=0, . . . , 10}. As before, by Theorem 1, we can consider fI
Analogously, for the Reed-Solomon code C13 with dimension 13 and length 15 over 16, we can construct a generator matrix with 11 columns with all elements in 2. In general, for a Reed-Solomon code Ck with dimension k over q, by applying these concepts, structures, and techniques one can obtain a generator matrix with
columns in 2. Note that, by Theorem 1, such a number of columns is optimal. For Reed-Solomon codes over 16, Table 1 below summarizes how many columns can be obtained in 2.
We have described how to construct a generator matrix by evaluating the polynomials given in Theorem 1. Alternatively, one can perform elementary operations in the Vandermonde matrix Gkv: let gi be the column i of the matrix Gkv, for i=1, . . . , k. The polynomial fI
Applying these concepts, structures, and techniques to a practical encoder-decoder system,
The first encoding process 31 involves forming an n×k generator matrix according to the concepts, structures, and techniques described above, that stands in place of generator matrix 16. Thus, unlike the prior art, the generator matrix according to embodiments has a plurality of columns whose entries take values in 2. The second encoding process 32 involves forming n encoded fragments by multiplying the generator matrix by k input data fragments. The process 32 may be performed, for example, by encoding circuitry 14 or by some other, similar hardware or software. It is appreciated that, while not properly part of the decoding method 30, these encoding processes 31 and 32 advantageously are made more computationally efficient due to the use of the special generator matrix. The n encoded fragments may be stored in a storage arrangement, for example in one or more storage devices. To increase resilience against data loss and permit recovery following hardware or software failure in the storage arrangement, different encoded fragments may be stored on different storage devices.
The first decoding process 34 of the method 30 involves receiving at least some of the n encoded fragments in an input buffer, such as input buffer 22. In accordance with erasure-correcting embodiments, at least k of the encoded fragments are received.
The second decoding process 36 of the method 30 involves decoding the received encoded fragments. Such decoding may include, for example, correcting erasures by performing Gaussian elimination on the received encoded fragments, or other operations known in the prior art of decoding Reed-Solomon codes. The decoding process 36 may be performed, for example, by pre-existing decoding circuitry 24, or by some other, similar hardware or software. Advantageously, embodiments may cooperate with encoder-decoder systems without the need for reprogramming pre-existing encoding circuitry 14 or decoding circuitry 24; rather, only the generator matrix 16 and decoder matrix 26 need to be updated, and these matrices may be stored in programmable read-only memory. The third decoding process 38 includes storing the recovered k input data fragments in an output buffer, for subsequent use by the data consumer.
To test the potential benefits of this approach, we used the kodo C++ library by Steinwurf ApS of Aalborg, Denmark in order to implement and measure performance of both RS Vandermonde and RS Cauchy decoding on two different finite fields, and our new constructions with two finite fields. We also used the longhair and leopard libraries by Christopher A. Taylor to compare our performance against an RS Cauchy optimized implementation (SIMD capable) and an FFT-based RS implementation, respectively. For a fair comparison, we considered non-systematic codes; that is, codes in which the data fragment being encoded does not appear verbatim as part of the encoded fragment. This means that the RS Cauchy decoding tests were considered using only encoded packets, which limited the generation size to 128 packets. The performance evaluation was carried out on an OSX machine (2015) with a 2.2 GHz Intel Core i7 processor with single instruction, multiple data (SIMD) support. Specifically, the CPU provided SSSE3, SSSE4, and AVX2 support, which was used to perform hardware acceleration of finite field operations. We measured the decoding speed of both approaches using the same decoding algorithm in order to compare fairly. However, improved algorithms for our construction can be developed due to the problem's structure.
The results for the RS Vandermonde and Cauchy implementations and for disclosed embodiments are not dependent on the loss patterns. However,
As an important remark, these results were obtained for a computer that exploits hardware acceleration (SIMD instructions). As is known in the art, the gap between a hardware-accelerated implementation and an implementation without it is an order of magnitude. This means that the gains are expected to be much larger in devices without these capabilities, e.g. lower end smart phones and IoT devices, as the cost of processing large fields is significantly higher without SIMD functionalities with respect to processing smaller finite fields.
Above, we discussed generator matrices for Reed-Solomon codes with as many columns with all elements in 2 as possible. However, one may modify the approach to construct generator matrices where some of the columns, that do not have all elements in 2, have all their elements in an intermediate field 2
Theorem 2. A basis for the set of polynomials in q[X] evaluating to 2
where β=α(2
For example, with q=24 we have that 2⊂4⊂16. The 4-cyclotomic cosets are I04={0}, I14={1,4}, I24={2,8}, I34={3,12}, I54={5,10}, I64={6,9}, I74={7,13}, and I114={11,14}. Using Theorem 2, one can obtain generator matrices for Reed-Solomon codes with the following number of columns in 2n and 4n†2n, as in Table 2 below.
Thus, the computer 60 is arranged as high-speed components and buses 611-616 and low-speed components and buses 621-629. The high-speed components and buses 611-616 are coupled for data communication using a high-speed bridge 61, also called a “northbridge,” while the low-speed components and buses 621-629 are coupled using a low-speed bridge 62, also called a “southbridge.”
The computer 60 includes a central processing unit (“CPU”) 611 coupled to the high-speed bridge 61 via a bus 612. The CPU 611 is electronic circuitry that carries out the instructions of a computer program. As is known in the art, the CPU 611 may be implemented as a microprocessor; that is, as an integrated circuit (“IC”; also called a “chip” or “microchip”). In some embodiments, the CPU 611 may be implemented as a microcontroller for embedded applications, or according to other embodiments known in the art.
The bus 612 may be implemented using any technology known in the art for interconnection of CPUs (or more particularly, of microprocessors). For example, the bus 612 may be implemented using the HyperTransport architecture developed initially by AMD, the Intel QuickPath Interconnect (“QPI”), or a similar technology. In some embodiments, the functions of the high-speed bridge 61 may be implemented in whole or in part by the CPU 611, obviating the need for the bus 612.
The computer 60 includes one or more graphics processing units (GPUs) 613 coupled to the high-speed bridge 61 via a graphics bus 614. Each GPU 613 is designed to process commands from the CPU 611 into image data for display on a display screen (not shown). In some embodiments, the CPU 611 performs graphics processing directly, obviating the need for a separate GPU 613 and graphics bus 614. In other embodiments, a GPU 613 is physically embodied as an integrated circuit separate from the CPU 611 and may be physically detachable from the computer 60 if embodied on an expansion card, such as a video card. The GPU 613 may store image data (or other data, if the GPU 613 is used as an auxiliary computing processor) in a graphics buffer.
The graphics bus 614 may be implemented using any technology known in the art for data communication between a CPU and a GPU. For example, the graphics bus 614 may be implemented using the Peripheral Component Interconnect Express (“PCI Express” or “PCIe”) standard, or a similar technology.
The computer 60 includes a primary storage 615 coupled to the high-speed bridge 61 via a memory bus 616. The primary storage 615, which may be called “main memory” or simply “memory” herein, includes computer program instructions, data, or both, for use by the CPU 611. The primary storage 615 may include random-access memory (“RAM”). RAM is “volatile” if its data are lost when power is removed, and “non-volatile” if its data are retained without applied power. Typically, volatile RAM is used when the computer 60 is “awake” and executing a program, and when the computer 60 is temporarily “asleep”, while non-volatile RAM (“NVRAM”) is used when the computer 60 is “hibernating”; however, embodiments may vary. Volatile RAM may be, for example, dynamic (“DRAM”), synchronous (“SDRAM”), and double-data rate (“DDR SDRAM”). Non-volatile RAM may be, for example, solid-state flash memory. RAM may be physically provided as one or more dual in-line memory modules (“DIMMs”), or other, similar technology known in the art.
The memory bus 616 may be implemented using any technology known in the art for data communication between a CPU and a primary storage. The memory bus 616 may comprise an address bus for electrically indicating a storage address, and a data bus for transmitting program instructions and data to, and receiving them from, the primary storage 615. For example, if data are stored and retrieved 64 bits (eight bytes) at a time, then the data bus has a width of 64 bits. Continuing this example, if the address bus has a width of 32 bits, then 232 memory addresses are accessible, so the computer 60 may use up to 8*232=32 gigabytes (GB) of primary storage 615. In this example, the memory bus 616 will have a total width of 64+32=96 bits. The computer 60 also may include a memory controller circuit (not shown) that converts electrical signals received from the memory bus 616 to electrical signals expected by physical pins in the primary storage 615, and vice versa.
Computer memory may be hierarchically organized based on a tradeoff between memory response time and memory size, so depictions and references herein to types of memory as being in certain physical locations are for illustration only. Thus, some embodiments (e.g. embedded systems) provide the CPU 611, the graphics processing units 613, the primary storage 615, and the high-speed bridge 61, or any combination thereof, as a single integrated circuit. In such embodiments, buses 612, 614, 616 may form part of the same integrated circuit and need not be physically separate. Other designs for the computer 60 may embody the functions of the CPU 611, graphics processing units 613, and the primary storage 615 in different configurations, obviating the need for one or more of the buses 612, 614, 616.
The depiction of the high-speed bridge 61 coupled to the CPU 611, GPU 613, and primary storage 615 is merely exemplary, as other components may be coupled for communication with the high-speed bridge 61. For example, a network interface controller (“NIC” or “network adapter”) may be coupled to the high-speed bridge 61, for transmitting and receiving data using a data channel, such as data channel 16. The NIC may store data to be transmitted to, and received from, the data channel 16 in a network data buffer.
The high-speed bridge 61 is coupled for data communication with the low-speed bridge 62 using an internal data bus 63. Control circuitry (not shown) may be required for transmitting and receiving data at different speeds. The internal data bus 63 may be implemented using the Intel Direct Media Interface (“DMI”) or a similar technology.
The computer 60 includes a secondary storage 621 coupled to the low-speed bridge 62 via a storage bus 622. The secondary storage 621, which may be called “auxiliary memory”, “auxiliary storage”, or “external memory” herein, stores program instructions and data for access at relatively low speeds and over relatively long durations. Since such durations may include removal of power from the computer 60, the secondary storage 621 may include non-volatile memory (which may or may not be randomly accessible).
Non-volatile memory may comprise solid-state memory having no moving parts, for example a flash drive or solid-state drive. Alternately, non-volatile memory may comprise a moving disc or tape for storing data and an apparatus for reading (and possibly writing) the data. Data may be stored (and possibly rewritten) optically, for example on a compact disc (“CD”), digital video disc (“DVD”), or Blu-ray disc (“BD”), or magnetically, for example on a disc in a hard disk drive (“HDD”) or a floppy disk, or on a digital audio tape (“DAT”). Non-volatile memory may be, for example, read-only (“ROM”), write-once read-many (“WORM”), programmable (“PROM”), erasable (“EPROM”), or electrically erasable (“EEPROM”).
The storage bus 622 may be implemented using any technology known in the art for data communication between a CPU and a secondary storage and may include a host adaptor (not shown) for adapting electrical signals from the low-speed bridge 62 to a format expected by physical pins on the secondary storage 621, and vice versa. For example, the storage bus 622 may use a Universal Serial Bus (“USB”) standard; a Serial AT Attachment (“SATA”) standard; a Parallel AT Attachment (“PATA”) standard such as Integrated Drive Electronics (“IDE”), Enhanced IDE (“EIDE”), ATA Packet Interface (“ATAPI”), or Ultra ATA; a Small Computer System Interface (“SCSI”) standard; or a similar technology.
The computer 60 also includes one or more expansion device adapters 623 coupled to the low-speed bridge 62 via a respective one or more expansion buses 624. Each expansion device adapter 623 permits the computer 60 to communicate with expansion devices (not shown) that provide additional functionality. Such additional functionality may be provided on a separate, removable expansion card, for example an additional graphics card, network card, host adaptor, or specialized processing card.
Each expansion bus 624 may be implemented using any technology known in the art for data communication between a CPU and an expansion device adapter. For example, the expansion bus 624 may transmit and receive electrical signals using a Peripheral Component Interconnect (“PCI”) standard, a data networking standard such as an Ethernet standard, or a similar technology.
The computer 60 includes a basic input/output system (BIOS) 625 and a Super I/O circuit 626 coupled to the low-speed bridge 62 via a bus 627. The BIOS 625 is a non-volatile memory used to initialize the hardware of the computer 60 during the power-on process. The Super I/O circuit 626 is an integrated circuit that combines input and output (“I/O”) interfaces for low-speed input and output devices 628, such as a serial mouse and a keyboard. In some embodiments, BIOS functionality is incorporated in the Super I/O circuit 626 directly, obviating the need for a separate BIOS 625.
The bus 627 may be implemented using any technology known in the art for data communication between a CPU, a BIOS (if present), and a Super I/O circuit. For example, the bus 627 may be implemented using a Low Pin Count (“LPC”) bus, an Industry Standard Architecture (“ISA”) bus, or similar technology. The Super I/O circuit 626 is coupled to the I/O devices 628 via one or more buses 629. The buses 629 may be serial buses, parallel buses, other buses known in the art, or a combination of these, depending on the type of I/O devices 628 coupled to the computer 60 . . . .
The techniques and structures described herein may be implemented in any of a variety of different forms. For example, features in accordance with the concepts, structures, and techniques disclosed herein may be embodied in various forms of communication devices, both wired and wireless; television sets; set top boxes; audio/video devices; laptop, palmtop, desktop, and tablet computers with or without wireless capability; personal digital assistants (PDAs); telephones; pagers; satellite communicators; cameras having communication capability; network interface cards (NICs) and other network interface structures; base stations; access points; integrated circuits; as instructions and/or data structures stored on machine readable media; and/or in other formats. Examples of different types of machine readable media that may be used include floppy diskettes, hard disks, optical disks, compact disc read only memories (CD-ROMs), digital video disks (DVDs), Blu-ray disks, magneto-optical disks, read only memories (ROMs), random access memories (RAMs), erasable programmable ROMs (EPROMs), electrically erasable programmable ROMs (EEPROMs), magnetic or optical cards, flash memory, and/or other types of media suitable for storing electronic instructions or data.
In the foregoing detailed description, various features in accordance with the concepts, structures, and techniques disclosed herein are grouped together in one or more individual embodiments for the purpose of streamlining the disclosure. This method of disclosure is not to be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim. Rather, inventive aspects may lie in less than all features of each disclosed embodiment.
Having described implementations which serve to illustrate various concepts, structures, and techniques which are the subject of this disclosure, it will now become apparent to those of ordinary skill in the art that other implementations incorporating these concepts, structures, and techniques may be used. Accordingly, it is submitted that that scope of the patent should not be limited to the described implementations but rather should be limited only by the spirit and scope of the following claims.
This application claims the benefit of U.S. Provisional Application 62/568,555, filed Oct. 5, 2017 and naming the same inventors, the entire contents of which are incorporated herein by reference.
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