Ross editing 1026 1100#27

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zj522 wants to merge 12 commits intomasterfrom

Ross-editing-1026-1075

Commits on Oct 20, 2017

1026 - 1050
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1051 - 1054
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Commits on Oct 22, 2017

finish until 1076
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Commits on Nov 2, 2017

final adjustment after meeting
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Commits on Nov 5, 2017

1076 - 1100
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