Mark Sofroniou Giulia Spaletta Solving Orthogonal Matrix Differential Systems in Mathematica. 496-505 2002 conf/iccS/2002-3 International Conference on Computational Science (3) http://link.springer.de/link/service/series/0558/bibs/2331/23310496.htm db/conf/iccS/iccS2002-3.html#SofroniouS02