The Triaxial Attitude Control Testbed has been developed as part of a research program at the University of Michigan on multibody rotational dynamics and control. In this paper, equations of motionâ€¦ (More)

Let H2 be the group of isotopy classes of orientation-preserving homeomorphisms of S that preserve a Heegaard splitting of genus two. In this paper, we construct a tree in the barycentric subdivisionâ€¦ (More)

We study feedback control laws that can stabilize an equilibrium position of an underactuated planar PPR robot manipulator. The manipulator operates in a horizontal plane, and it consists of twoâ€¦ (More)

We present a new theory which describes the collection of all tunnels of tunnel number 1 knots in S (up to orientation-preserving equivalence in the sense of Heegaard splittings) using the diskâ€¦ (More)

The theory of tunnel number 1 knots detailed in [4] provides a non-negative integer invariant depth(Ï„ ) for a knot tunnel Ï„ . We give various results related to the depth invariant. Noting that itâ€¦ (More)

We present a new theory which describes the collection of all tunnels of tunnel number 1 knots in S (up to orientation-preserving equivalence in the sense of Heegaard splittings) using the diskâ€¦ (More)