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Holmes, Philip J. and Marsden, Jerrold E. (1982) Melnikov's method and Arnold diffusion for perturbations of integrable Hamiltonian systems. Journal of Mathematical Physics, 23 (4). pp. 669-675. ISSN 0022-2488. doi:10.1063/1.525415. https://resolver.caltech.edu/CaltechAUTHORS:HOLjmp82

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