From http://www.cs.utah.edu/~bigler/code/sshkeys.html Generate your key pair (do no enter password when prompted)
ssh-keygen -t rsa
Copy public key to remote server
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cat ~/.ssh/id_rsa.pub | ssh firstname.lastname@example.org 'cat >> .ssh/authorized_keys'
# If you need to make a .ssh directory on the remote machine
cat ~/.ssh/id_rsa.pub | ssh email@example.com 'mkdir .ssh; cat >> .ssh/authorized_keys'