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The earliest stone tools were crude, being little more than a fractured rock. In the Acheulian era, beginning approximately 1.65 million years ago, methods of working these stone into specific shapes, such as hand axes emerged. The Middle Paleolithic, approximately 300,000 years ago, saw the introduction of the prepared-core technique, where multiple blades could be rapidly formed from a single core stone.[23] The Upper Paleolithic, beginning approximately 40,000 years ago, saw the introduction of pressure flaking, where a wood, bone, or antler punch could be used to shape a stone very finely.[25]. | Hans p. Geering Optimal Control with Engineering Applications Springer Hans P. Geering Optimal Control with Engineering Applications Hans P. Geering Optimal Control with Engineering Applications With 12 Figures 1 .
