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Miller, T. F., III and Eleftheriou, M. and Pattnaik, P. et al. (2002) Symplectic quaternion scheme for biophysical molecular dynamics. Journal of Chemical Physics, 116 (20). pp. 8649-8659. ISSN 0021-9606. doi:10.1063/1.1473654. https://resolver.caltech.edu/CaltechAUTHORS:MILjcp02b

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