@article{JLT_2014_24_2_JLT_2014_24_2_a4,
     author = {B. A. Shipman and P. D. Shipman },
     title = {A {Lie-Algebraic} {Formulation} for {Triply} {Orthogonal} and {General} {Coordinate} {Systems} in {Three-Dimensional} {Euclidean} and {Lorentz} {Spaces}},
     journal = {Journal of Lie theory},
     pages = {397--419},
     publisher = {mathdoc},
     volume = {24},
     number = {2},
     year = {2014},
     url = {http://geodesic.mathdoc.fr/item/JLT_2014_24_2_JLT_2014_24_2_a4/}
}