Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

A bstract We perform a detailed investigation of the phase structure and semiclassical effective action (2+1)-dimensional Causal Dynamical Triangulations (CDT) quantum gravity using computer simulations. On one hand, we study effect enlarging ensemble triangulations by relaxing simplicial manifold conditions in controlled way. other cast first look at CDT geometries with spatial topology beyond...

Evidence-based programs for prevention and intervention in substance abuse are increasing. Community needs assessments and health rankings provide descriptions of local behavioral health needs but do not provide public health practitioners and policy makers with guidelines on the number of programs, health care practitioners, or interventions needed in the local substance abuse care system. Thi...