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MR1141221 (93b:58057) 58F05 (70E15 70H05)
Oshemkov, A. A. Fomenko invariants for the main integrable cases of the rigid body motion equations. Topological classification of integrable systems, 67--146, Adv. Soviet Math., 6, Amer. Math. Soc., Providence, RI, 1991.
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