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Six Emmys each went to the police drama ''Hill Street Blues'' and epic mini-series ''The Thorn Birds'' in the annual TV awards ceremony Sunday night. Overall, NBC overwhelmed its competition with 33 Emmys; ABC had 14; and CBS trailed with 11. But the comments of co-host Joan Rivers added controversy to the proceedings. Hundreds of angry viewers called NBC stations nationwide to complain about Miss Rivers, who used profanity and made several off-color remarks.