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Modified for LEONARDO#49

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asficas wants to merge 8 commits intoscottgchin:masterfrom asficas:master

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Commits on Sep 12, 2017

Commits on Sep 13, 2017

Commits on Aug 20, 2018

Commits on Sep 1, 2018

Commits on Oct 6, 2018

Commits on Oct 23, 2018