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Kanso, E. and Marsden, J. E. and Rowley, C. W. et al. (2005) Locomotion of Articulated Bodies in a Perfect Fluid. Journal of Nonlinear Science, 15 (4). pp. 255-289. ISSN 0938-8974. http://resolver.caltech.edu/CaltechAUTHORS:20100819-133718721

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