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Wendlandt, Jeffrey M. and Marsden, Jerrold E. (1997) Mechanical Integrators Derived from a Discrete Variational Principle. Physica D, 106 (3-4). pp. 223-246. ISSN 0167-2789. http://resolver.caltech.edu/CaltechAUTHORS:20100917-091859665

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