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Nishimura, T., Fukuda, T. & Aoki, K. An algebraic formula for the topological types of one parameter bifurcation diagrams. Arch. Rational Mech. Anal. 108, 247–265 (1989). https://doi.org/10.1007/BF01052973
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DOI: https://doi.org/10.1007/BF01052973