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We present a technique to derive fully testable circuits under the stuck-at fault model (SAFM) and the path-delay fault model (PDFM). Starting from a function description as a binary decision diagram, the netlist is generated by a linear time mapping algorithm. Only one additional input and one inverter are needed to achieve 100% testable circuits under SAFM and PDFM. Experiments are given to show the advantages of the technique.