@article{computationalunderstandingandmanipulatio,
  title = {Computational Understanding and Manipulation of Symmetries},
  author = {Attila Egri-Nagy and Chrystopher L. Nehaniv},
  year = {2009},
  eprint = {0908.3091},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/0908.3091v2},
}