Expression 11: "M" Subscript, "Q" , Baseline left parenthesis, "p" , "q" , right parenthesis equals left bracket, left parenthesis, "p" left bracket, 1 , right bracket times "q" left bracket, 1 , right bracket minus "p" left bracket, 2 , right bracket times "q" left bracket, 2 , right bracket , 0 , 0 , right parenthesis , "p" left bracket, 1 , right bracket . "x" "q" left bracket, 2 , right bracket plus "q" left bracket, 1 , right bracket . "x" "p" left bracket, 2 , right bracket plus "p" left bracket, 2 , right bracket times "q" left bracket, 2 , right bracket , right bracketMQp,q=p1·q1−p2·q2,0,0,p1.xq2+q1.xp2+p2×q2
11
Expression 12: "R" Subscript, "Q" , Baseline left parenthesis, "v" , "q" , right parenthesis equals "M" Subscript, "Q" , Baseline left parenthesis, "q" , "M" Subscript, "Q" , Baseline left parenthesis, left bracket, left parenthesis, 0 , 0 , 0 , right parenthesis , "v" , right bracket , left bracket, "q" left bracket, 1 , right bracket , negative "q" left bracket, 2 , right bracket , right bracket , right parenthesis , right parenthesis left bracket, 2 , right bracketRQv,q=MQq,MQ0,0,0,v,q1,−q22
12
Expression 13: "q" Subscript, 1 , Baseline equals left bracket, left parenthesis, cos left parenthesis, phi Subscript, 0 , Baseline . "x" , right parenthesis , 0 , 0 , right parenthesis , left parenthesis, sin left parenthesis, phi Subscript, 0 , Baseline . "x" , right parenthesis , 0 , 0 , right parenthesis , right bracketq1=cosϕ0.x,0,0,sinϕ0.x,0,0
equals=
left parenthesis, 1 , 0 , 0 , right parenthesis1,0,0
left parenthesis, 0 , 0 , 0 , right parenthesis0,0,0
13
Expression 14: "q" Subscript, 2 , Baseline equals left bracket, left parenthesis, cos left parenthesis, phi Subscript, 0 , Baseline . "y" , right parenthesis , 0 , 0 , right parenthesis , left parenthesis, 0 , sin left parenthesis, phi Subscript, 0 , Baseline . "y" , right parenthesis , 0 , right parenthesis , right bracketq2=cosϕ0.y,0,0,0,sinϕ0.y,0
equals=
left parenthesis, 0.8 1 7 3 , 0 , 0 , right parenthesis0.8173,0,0
left parenthesis, 0 , 0.5 7 6 1 , 0 , right parenthesis0,0.5761,0
left parenthesis, 0.8 1 7 3 , 0 , 0 , right parenthesis0.8173,0,0
left parenthesis, 0 , 0.5 7 6 1 , 0 , right parenthesis0,0.5761,0
15
Expression 16: "R" Subscript, "Q" , Baseline left parenthesis, "C" Subscript, "u" , Baseline left parenthesis, "u" , "v" , left parenthesis, 1 , 1 , 1 , right parenthesis , right parenthesis , "q" Subscript, 12 , Baseline , right parenthesisRQCuu,v,1,1,1,q12
00
domain u Minimum:
less than or equal to "u" less than or equal to≤u≤
11
domain u Maximum:
00
domain v Minimum:
less than or equal to "v" less than or equal to≤v≤
11
domain v Maximum:
16
Expression 17: "R" Subscript, "Q" , Baseline left parenthesis, "C" Subscript, "u" , Baseline left parenthesis, "u" , "v" , left parenthesis, 1.5 , 1.5 , 0.1 , right parenthesis , right parenthesis , "q" Subscript, 1 , Baseline , right parenthesisRQCuu,v,1.5,1.5,0.1,q1
00
domain u Minimum:
less than or equal to "u" less than or equal to≤u≤
11
domain u Maximum:
00
domain v Minimum:
less than or equal to "v" less than or equal to≤v≤
11
domain v Maximum:
17
Expression 18: "a" equals left parenthesis, left parenthesis, "R" Subscript, "Q" , Baseline left parenthesis, left parenthesis, 0 , 0 , negative 1 , right parenthesis , "q" Subscript, 1 , Baseline , right parenthesis times "N" Subscript, 0 , Baseline , right parenthesis . "x" , right parenthesisa=RQ0,0,−1,q1×N0.x
equals=
00
18
Expression 19: "N" Subscript, 0 , Baseline equals left parenthesis, 1 , 0 , negative 1 , right parenthesisN0=1,0,−1
19
Expression 20: "N" Subscript, 1 , Baseline equals StartFraction, "N" Subscript, 0 , Baseline Over StartRoot, "N" Subscript, 0 , Baseline times "N" Subscript, 0 , Baseline , EndRoot , EndFractionN1=N0N0·N0
