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Unfortunately, obtaining channel knowledge is not always realizable when the channel changes quickly.
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Since every kinematic trajectory is not always dynamically realizable for the spherical robot driven by two actuators, the mathematical model of the robot is derived based on the angular momentum conservation principle.
Finding multiple solutions to a multi-modal optimization problem is especially useful in engineering, as the best solution may not always be the best realizable due to various practical constraints.
However, critical examination shows that the derivation does not always lead to a physically realizable system, as each powertrain mount is not referenced to a single location.
Not always perfectly.
Not always so handsome.
Although not always.
They are not always peaceful.
This is not always appropriate.
(They do not always).
This, however, is not always possible.
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