This paper presents an algorithm for the efficient numerical analysis and simulation of modest to heavily constrained multi-rigid-body dynamic systems. The algorithm can accommodate the spatial motion of general multi-rigid-body systems containing arbitrarily many closed loops in O(n+m) operations overall for systems containing n generalized coordinates, and m independent algebraic constraints....

The dark energy cosmology with the equation of state w = constant is considered in this paper. The ΩDE−ΩM plane has been used to study the present state and expansion history of the universe. Through the mathematical analysis, we give the theoretical constraint of cosmological parameters. Together with some observations such as the transition redshift from deceleration to acceleration, more pre...

The origins and development of human cognition constitute one of the most interesting questions to which archaeology can contribute today. In this paper, we do so by presenting an overview of the evolution of artefact technology from the maker's point of view, and linking that development to some hypotheses on the evolution of human cognitive capacity. Our main hypothesis is that these data ind...

The paper presents a new method of sliding mode control for cable suspended load with acceleration constraint. The method employs a time-varying switching line which moves with a decreasing velocity and a constant angle of inclination to the origin of the error state space. Then, it stops moving and it remains fixed. Since at the initial time the line consists of these points in the error state...

Abstract We have developed a self-reconfigurable robot which can form a 5R closed kinematic chain, only two of whose joints are actuated. This paper discusses its dynamic rolling. When it rolls, it has one DOF of its absolute orientation besides two DOFs of its shape. We show that the absolute orientation is subject to an acceleration constraint, not a velocity constraint. Therefore, the dynami...

In this paper the robust motion control systems in the sliding mode framework are discussed. Due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed of n second order systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constraint...

The compactification of M theory with time dependent hyperbolic internal space gives an effective scalar field with exponential potential which provides a transient acceleration in Einstein frame in four dimensions. Ordinary matter and radiation are present in addition to the scalar field coming from compactification. We find that we have to fine-tune the initial conditions of the scalar field ...

In this paper the design of a time varying switching plane for the sliding mode control of the third order system subject to the velocity and acceleration constraints is considered. Initially the plane passes through the system representative point in the error state space and then it moves with a constant velocity to the origin of the space. Having reached the origin the plane stops and remain...

The compactification of M theory with time dependent hyperbolic internal space gives an effective scalar field with exponential potential which provides a transient acceleration in Einstein frame in four dimensions. Ordinary matter and radiation are present in addition to the scalar field coming from compactification. We find that we have to fine-tune the initial conditions of the scalar field ...

A new technique named as model predictive spread acceleration guidance (MPSAG) is proposed in this paper. It combines nonlinear model predictive control and spread acceleration guidance philosophies. This technique is then used to design a nonlinear suboptimal guidance law for a constant speed missile against stationary target with impact angle constraint. MPSAG technique can be applied to a cl...