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Bloch, Anthony and Krishnaprasad, P. S. and Marsden, Jerrold E. et al. (1996) The Euler-Poincare Equations and Double Bracket Dissipation. Communications in Mathematical Physics, 175 (1). pp. 1-42. ISSN 0010-3616. http://resolver.caltech.edu/CaltechAUTHORS:20100713-150040832

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