The Blandford-Znajek constraint equation for a stationary, axisymmetric black-hole force-free magnetosphere is cast in a 3+1 absolute space and time formulation, following Komissarov (2004). We derive an analytic solution for fields and currents to the constraint equation in the far-field limit that satisfies the Znajek condition at the event horizon. This solution generalizes the Blandford-Zna...

The method of variation of constants is an important tool used to solve systems of ordinary differential equations, and was invented by Euler and Lagrange to solve a problem in orbital mechanics. This methodology assumes that certain "constants" associated with a homogeneous problem will vary in time in response to an external force. It also introduces one or more constraint equations. We show ...

A numerical dynamic-aerodynamic interface for simulating the separation dy­n­a­m­ic­s of co­n­­s­t­r­a­i­ned strap-on boosters jettisoned in the atmosphere is presented. A 6-DOF multi body dynamic solver ،using Constraint For­ce Equation Methodology is coupled with a numerical time dependent Euler flow solver. An automatic dyna­m­i­­c mesh updating proc­e­d­ure is employed using smoothing and l...

Using a phenomenological form of the equation of state of neutron matter near the saturation density which has been previously demonstrated to be a good characterization of quantum Monte Carlo simulations, we show that currently available neutron star mass and radius measurements provide a significant constraint on the equation of state of neutron matter. At higher densities we model the equati...

Transient diffusion equations arise in many branches of engineering and applied sciences (e.g., heat transfer and mass transfer), and are parabolic partial differential equations. It is well-known that, under certain assumptions on the input data, these equations satisfy important mathematical properties like maximum principles and the non-negative constraint, which have implications in mathema...

Basing on a constraint Jacobian induced orthogonal decomposition of the task space and by requiring the force controller to be orthogonal to the constraint manifold, the dynamics of the constrained robots under hybrid control is decomposed into a set of two equations. One describes the motion of robots moving on the constraint manifold, while the other relates the constraint force with the hybr...

A new passive wheel type leg-wheeled hybrid mobile robot based on surface motion principle was introduced. To produce the propulsion force, a passive wheel was installed at the end of the parallel mechanism structured leg connecting with the frame-body to make the wheel vertical to the ground at any time. With the inertia framework, the robot framework and some assumptions, two forms of Maggie ...

A direct method called fixation is introduced for solving the general motion vision problem, arbitrary motion relative to an arbitrary environment. This method results in a linear constraint equation which explicitly expresses the rotational velocity in terms of the translational velocity. The combination of this constraint equation with the Brightness-Change Constraint Equation solves the gene...

We present a method to compute the interaction force during an imposed movement. First, we show how to incorporate a kinematic constraint into the equation of motion of a simple but realistic model of the arm. Second, we apply this method to predict the interaction force during an imposed movement of the arm. The results of these simulations are compared to the interaction force recorded when a...

The motions of planar tracked vehicles are govemed by three force and moment equations, but driven by only two independent control variables. The force equation perpendicular to the tracks represents a d y n a m i c nonholonomic constraint which is explicitly dependent on vehicle speed. It couples path planning with trajectory planning, that is, solving for vehicle kinematic motions requires sp...