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\usepackage{pdfescape}
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\makeatletter
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\let\saved@hyper@linkurl\hyper@linkurl
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\renewcommand*{\hyper@linkurl}[2]{%
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\saved@hyper@linkurl{#1}{#2}%
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\footnote{\protect\url{#1}}%
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}
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\let\href@original\href
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\renewcommand*{\href}{\protect\href@original}
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\makeatother
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