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    1986
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    Lie algebra
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    Poisson algebra
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    group action
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    cochain
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    cohomology
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    connection
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    contact structure
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    cotangent bundle
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    energy
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    foliation
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    Lagrange equations
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    Hamiltonian systems
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    semi-basic forms
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    symplectic structure
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    Maslov index
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    Legendre transformation
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