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We develop accurate one-dimensional Extrinsic Information Transfer (EXIT) chart methods for the design of Raptor codes over arbitrary parallel AWGN channels and slow-fading MIMO channels with CSIR. The code design is optimized over any desired finite set of operating points, each of which is specified by a channel matrix. We develop techniques to minimize the number of constraining channel matrices required for the design. We simulate Raptor codes on MIMO channels using designed code distributions and achieve throughputs that are consistently above 82% of Shannon capacity.