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Lew, A. and Marsden, J. E. and Ortiz, M. et al. (2003) Asynchronous Variational Integrators. Archive for Rational Mechanics and Analysis, 167 (2). pp. 85-146. ISSN 0003-9527. http://resolver.caltech.edu/CaltechAUTHORS:20100823-112128812

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