@article {1134,
	title = {Triangularization Kinematic Constraint Equations using Grobner Bases for Real-time Dynamic Simulation},
	journal = {Multibody System Dynamics},
	volume = {25},
	year = {2011},
	pages = {335-356},
	type = {Published},
	author = {T Uchida and John McPhee}
}
