• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2725-2728
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• 2003

The manipulability of robot provides useful Information for the design and path planning of robots. This paper shows an influence of joint velocities to acceleration of robot end-effector using a dynamic manipulability polytope. The main idea of this paper is that the dynamic manipulability polytope of robot can be divided to three intermediate polytope, the torque-dependant polytope, velocity-dependent polytope, and gravity-dependant polytope. The velocity-dependant polytope is made from the limits of robot joint velocities while the torque-dependant polytope is made from the limits of the joint torques. Combining of these two intermediate polytopes and considering the gravity-dependant polytope, the overall dynamic manipulability polytope of robot is obtained. This investigation will be useful on the field of space robot and high-speed application.

• Bulletin of the Korean Mathematical Society
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• v.58 no.5
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• pp.1247-1260
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• 2021

We introduce the notion of barycentric transformation of Fano polytopes, from which we can assign a certain type to each Fano polytope. The type can be viewed as a measure of the extent to which the given Fano polytope is close to be Kähler-Einstein. In particular, we expect that every Kähler-Einstein Fano polytope is of type B_∞. We verify this expectation for some low dimensional cases. We emphasize that for a Fano polytope X of dimension 1, 3 or 5, X is Kähler-Einstein if and only if it is of type B_∞.

• Journal of the Korean Mathematical Society
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• v.60 no.1
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• pp.91-113
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• 2023

The polytope of tristochastic tensors of degree three, the Latin polytope, has two kinds of extreme points. Those that are at a maximum distance from the barycenter of the polytope correspond to Latin squares. The remaining extreme points are said to be short. The aim of the paper is to determine the geometry of these short extreme points, as they relate to the Latin squares. The paper adapts the Latin square notion of an intercalate to yield the new concept of a cross-intercalate between two Latin squares. Cross-intercalates of pairs of orthogonal Latin squares of degree three are used to produce the short extreme points of the degree three Latin polytope. The pairs of orthogonal Latin squares fall into two classes, described as parallel and reversed, each forming an orbit under the isotopy group. In the inverse direction, we show that each short extreme point of the Latin polytope determines four pairs of orthogonal Latin squares, two parallel and two reversed.

• Journal of the Korean Mathematical Society
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• v.48 no.5
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• pp.1065-1081
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• 2011

For any field F, a polynomial f $\in$ F[$x_1,x_2,{\ldots},x_k$] can be associated with a polytope, called its Newton polytope. If the polynomial f has integrally indecomposable Newton polytope, in the sense of Minkowski sum, then it is absolutely irreducible over F, i.e., irreducible over every algebraic extension of F. We present some results giving new integrally indecomposable classes of polygons. Consequently, we have some criteria giving many types of absolutely irreducible bivariate polynomials over arbitrary fields.

• Honam Mathematical Journal
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• v.38 no.2
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• pp.393-401
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• 2016

In this article, we study the matroid base polytope for a matroid obtained from another matroid by a series or parallel extension of an element. We express this polytope as a wedge of a polytope. In particular, we provide the facial structure of the matroid base polytope corresponding to a series-parallel matroid.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.99-104
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• 2009

This article describes the analysis of stable grasping for multi-fingered robot. An analysis method of stable grasping, which is based on the three-dimensional acceleration convex polytope, is proposed. This method is derived from combining dynamic equations governing object motion and robot motion, force relationship and acceleration relationship between robot fingers and object's gravity center through contact condition, and constraint equations for satisfying no-slip conditions at every contact points. After mapping no-slip condition to torque space, we derived intersected region of given torque bounds and the mapped region in torque space so that the intersected region in torque space guarantees no excessive torque as well as no-slip at the contact points. The intersected region in torque space is mapped to an acceleration convex polytope corresponding to the maximum acceleration boundaries which can be exerted by the robot fingers under the given individual bounds of each joints torque and without causing slip at the contacts. As will be shown through the analysis and examples, the stable grasping depends on the joint driving torque limits, the posture and the mass of robot fingers, the configuration and the mass of an object, the grasp position, the friction coefficients between the object surface and finger end-effectors.

• Journal of the Chungcheong Mathematical Society
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• v.36 no.4
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• pp.195-213
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• 2023

Discrete volumes of poset polytopes for a variant of up-down posets introduced in [4] were studied. We obtained the generating functions for the discrete volumes of poset polytopes for a variant of up-down poset using the characteristic matrices.

• Proceedings of the IEEK Conference
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• 2003.07c
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• pp.2713-2716
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• 2003

This paper presents a dynamic manipulability analysis method of the limb moving in viscous fluid. The key idea of the presented method is that the boundary of joint velocity can be converted to the velocity-dependant dynamic manipulability polytope through the coriolis, centrifugal and drag terms in dynamic equation. The velocity-dependant dynamic manipulability polytope is added to the inertial and restoring force manipulability polytope to get overall manipulability polytope of the limb moving in the fluid Each of the torque and velocity bounds arc considered in the infinite norm sense in joint space, and the drag force of a limb moving in fluid viscous is modeled as a quadratic form An analysis example with proposed analysis scheme is presented to validate the method.

• Communications of the Korean Mathematical Society
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• v.37 no.2
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• pp.371-384
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• 2022

Fix an integer n ≥ 1. Then the simplex Π_n, Birkhoff polytope Ω_n, and Latin square polytope Λ_n each yield projective geometries obtained by identifying antipodal points on a sphere bounding a ball centered at the barycenter of the polytope. We investigate conditions for homogeneous coordinates of points in the projective geometries to locate exact vertices of the respective polytopes, namely crisp distributions, permutation matrices, and quasigroups or Latin squares respectively. In the latter case, the homogeneous conditions form a crucial part of a recent projective-geometrical approach to the study of orthogonality of Latin squares. Coordinates based on the barycenter of Ω_n are also suited to the analysis of generalized doubly stochastic matrices, observing that orthogonal matrices of this type form a subgroup of the orthogonal group.

• Honam Mathematical Journal
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• v.35 no.2
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• pp.211-223
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• 2013

We consider permanent function on the faces of the polytope of certain doubly stochastic matrices, whose nonzero entries coincide with those of fully indecomposable square (0, 1)-matrices containing identity submatrix. We determine the minimum permanents and minimizing matrices on the given faces of the polytope using the contraction method.