@article{VUU_2009_2_a14,
     author = {I. S. Mamaev},
     title = {Multipurpose software system for research of mechanical systems with nonholonomic constraints},
     journal = {Vestnik Udmurtskogo universiteta. Matematika, mehanika, kompʹ\^uternye nauki},
     pages = {147--160},
     publisher = {mathdoc},
     number = {2},
     year = {2009},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VUU_2009_2_a14/}
}