• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.386-390
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• 1992

Algorithmic or kinematic singularities are inevitably a introduced if optimality criteria or augmented kinematic equations are used to resolve the redundancy of almost any manipulator with rotary joints. In this paper, a sufficient condition for a singularity-free optimal solution of the kinematic control of a redundant manipulator is derived and, specifically, algorithmic singularities are analyzed for optimality-based methods. A singularity-free space (SFS) to characterize the performance of a secondary task for a redundant manipulator using the sufficient condition for a redundant manipulator is defined. The SFS is a set of regions classified by the loci of configurations satisfying the inflection condition for manipulability measure in the Configuration space. Using SFS, the topological property of the Configuration space and the invertible workspace without singularities are analyzed.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.2
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• pp.81-86
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• 2005

In this paper we consider an optimal configuration problem for redundant inertial sensors which have uncertainty such as misalignment, scale factor error. The optimal configuration problem is treated from the viewpoint of navigation accuracy. We propose a necessary and sufficient condition for the optimal configuration of redundant sensors with no uncertainty, and a sufficient condition for the optimal configuration of redundant sensors with uncertainty. Finally we propose a condition for the optimal configuration based both navigation performance and FDI(fault detection and isolation).

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.1
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• pp.21-31
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• 2000

In this paper, an analysis of the stability for a class of discrete-time neural network control systems is presentd. Based on Lyapunov's direct method, a sufficient stability condition for the neural network control systems is systematically derived and the modified back propagation algorithm which reflects the derived stability condition is suggested. The modified BP originates from the derived sufficient condition and guarantees the exponential stability of the resulting trained closed system. Finally, computer simulation is included to show an example where the derived stability condition and the BP modified bythe condition is used to train the control plant.

• Communications of the Korean Mathematical Society
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• v.3 no.2
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• pp.157-161
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• 1988

• Communications of the Korean Mathematical Society
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• v.8 no.3
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• pp.383-387
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• 1993

• Journal for History of Mathematics
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• v.22 no.1
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• pp.75-88
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• 2009

In this article it is investigated what role analysis play in the reasoning. The author suggests that the mathematical statements should be reformulated so that analysis can be activated in the reasoning.

• Communications of the Korean Mathematical Society
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• v.23 no.2
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• pp.241-250
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• 2008

In this article, we find a counter example which shows that the well-known necessary condition about the boundary regularity of a stable strictly convex body is not a sufficient condition.

• Journal of the Korean Statistical Society
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• v.30 no.4
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• pp.573-583
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• 2001

A condition in which the covariances of Matheron's variogram estimators are expressed in a simple form is reviewed. An asymptotic property of the covariances of the variogram estimators is examined, and a sufficient condition that guaranties the finiteness of the asymptotic variance of the normalized variogram estimators is provided.

• Journal of the Korean Data and Information Science Society
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• v.17 no.1
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• pp.205-211
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• 2006

For a linear regression model, the necessary and sufficient condition for the asymptotic consistency of the outlier test statistic is known. An analogous condition for the nonlinear regression model is considered in this paper.

• Journal of applied mathematics & informatics
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• v.25 no.1_2
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• pp.283-291
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• 2007

A simple graph G is said to be fractional n-factor-critical if after deleting any n vertices the remaining subgraph still has a fractional perfect matching. For fractional n-factor-criticality, in this paper, one necessary and sufficient condition, and three sufficient conditions related to maximum matching, complete closure are given.