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Schmidt, Bernd and Leyendecker, Sigrid and Ortiz, Michael (2009) Γ-convergence of Variational Integrators for Constrained Systems. Journal of Nonlinear Science, 19 (2). pp. 153-177. ISSN 0938-8974. http://resolver.caltech.edu/CaltechAUTHORS:20090914-142014445

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