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The research of both authors is partially supported by NSF Grant MPS 71-03072
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Jaco, W., Shalen, P.B. Peripheral structure of 3-manifolds. Invent Math 38, 55–87 (1976). https://doi.org/10.1007/BF01390169
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DOI: https://doi.org/10.1007/BF01390169