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The aim is not to be 100% sure that something is in the public domain, but to avoid the obviously illegal content. What I do myself is to do a quick check of the author's name in Wikipedia. If the author is still living, or has only recently died, there may be reason to doubt the legitimacy of the book, unless it's been released under a Creative Commons licence, or something similar. This is a very quick and easy check to make.
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