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Leach, M., J. Rockström, P. Raskin, I. Scoones, A. C. Stirling, A. Smith, J. Thompson, E. Millstone, A. Ely, E. Arond, C. Folke, and P. Olsson. 2012. Transforming innovation for sustainability. Ecology and Society 17(2): 11. https://doi.org/10.5751/ES-04933-170211
Leach et al. (Sun,) studied this question.