Submitted on: 28 April 1999.
Revised on: 29 May 1999.
Accepted on: 19 July 1999.
___________________Journal of Geometric Mechanics
Submitted on: 14 February 2014.
Revised on: 31 March 2014.
Accepted on: 13 May 2014.
___________________Journal of Geometric Mechanics
Submitted on: 05 April 2017.
Revised on: 18 July 2017.
Accepted on: 26 August 2017.
___________________Journal of Geometric Mechanics
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Submitted on: 07 February 2013.
Revised on: 28 May 2013.
Accepted on: 25 July 2013.
___________________Journal of Geometric Mechanics
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Submitted on: 16 April 2012.
Revised on: 07 August 2012.
Accepted on: 09 September 2012.
___________________Journal of Geometric Mechanics