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I'm not entirely sure where or when it was introduced, the first mention of it I could find was May 1989 (pg 25) ftp://ftp.cs.princeton.edu/reports/1989/220.pd

I'm not entirely sure where or when it was introduced, the first mention of it I could find was May 1989 (pg 25) ftp://ftp.cs.princeton.edu/reports/1989/220.pdf