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A novel test pattern generation method for asynchronous circuits is described and evaluated in detail. The method combines conventional pattern generation with hazard-free state initialization. Any type of asynchronous circuit can be processed, and all stuck-at faults, even those inside state-holding elements, such as C-elements, are considered. The results on some of the largest benchmarks ever used for asynchronous circuit testing show fault coverage on the order of 99% with no area overhead for (quasi-)delay-insensitive datapath circuits.