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What are the origins of the 「こそあど」 demonstratives?

I've noticed the following sets of words that seem to have a very obvious pattern, and, of course, their meanings are very closely related: これ、 それ、 あれ、 どれ この、 その、 あの、 どの ここ、 そこ、 あそこ、 どこ What are ...