@InProceedings{park89harmonic,
  author = 	 {Frank C. Park and Roger W. Brockett},
  title = 	 {Harmonic Maps and the Optimal Design of Mechanisms},
  booktitle = 	 {Proc. 28th IEEE Conf. Dec. and Control},
  pages = 	 {206--210},
  year = 	 {1989},
  address = 	 {Tampa, FL},
  month = 	 {Dec.}
}