T. Kai and H. Kimura, “Theoretical Analysis of Affine Constraints on a Configuration Manifold—Part I: Integrability and Nonintegrability Conditions for Affine Constraints and Foliation Structures of a Configuration Manifold,” Transactions of the Society of Instrument and Control Engineers, Vol. 42, No. 3, 2006, pp. 212-221.
 T. Kai, “Mathematical Modelling and Theoretical Analysis of Nonholonomic Kinematic Systems with a Class of Rheonomous Affine Constraints,” Applied Mathematical Modelling, Vol. 36, 2012, pp. 3189-3200.
 T. Kai, “Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part I: Fundamental Properties and Integrability/Nonintegrability Conditions,” Mathematical Problems in Engineering, Vol. 2012, 2012, Article ID: 543098.
 T. Kai, “Theoretical Analysis for a Class of Rheonomous Affine Constraints on Configuration Manifolds—Part II: Foliation Structures and Integrating Algorithms,” Mathematical Problems in Engineering, Vol. 2012, 2012, Article ID: 345942. http://dx.doi.org/10.1155/2012/345942
 T. Kai, “On Integrability of Fully Rheonomous Affine Constraints,” International Journal of Modern Nonlinear Theory and Application, Vol. 2, No. 2, 2013, pp. 130-134.