• 제어로봇시스템학회논문지
• /
• 제15권1호
• /
• pp.99-104
• /
• 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.

• 대한수학회지
• /
• 제36권4호
• /
• pp.823-823
• /
• 1999

• 한국실내디자인학회논문집
• /
• 제15권5호
• /
• pp.247-254
• /
• 2006

The museum has steadily been evolved by time with its function and social idea differently. As the museum makes its evolution, its architecture has also been changed. This study aims to find out the characteristics of museum architecture by applying Space Syntax for space correspondence of museum architecture changed by the time. And the characteristics could be used as project guide by making data for building up museum architecture changed by social concept with efficient and functional system. The method of the study is to divide the museum into three generations, and give case for each generation. And the each chosen case was analyzed by convex space of space syntax. The order of the analysis is to divide the case as the unit space, make out the Convex Map. And finally get the analysis variable by carrying out a mathematical operation. The characteristics found in these operations are as follows. First, the major space has been planed for convenience of spectators. Second, exhibition space located on specific area in entire plot planning makes spectators easy to recognize in terms of the line of flow toward exhibition space and also relieves character of major and exhibition space. Third, it is getting hard to comprehend the entire space as forming diverse space in process that museum accepts many request from spectators.

• 대한수학회보
• /
• 제21권1호
• /
• pp.1-5
• /
• 1984

The notion of linear 2-normed spaces was introduced by S. Gahler ([8,9,10,11]), and these space have been extensively studied by C. Diminnie, R. Ehret, S. Gahler, K. Iseki, A. White, Jr, and others. For nonzero vectors x,y in X, let V(x,y) denote the subspace of X generated by x and y. A linear 2-normed space (X,v) is said to be strictly convex ([3]) if v(x+y,z)=v(x,z)+v(y+z) and z not.mem.V(x,y) imply that y=ax for some a>0. Some characterizations of strict convexity for linear 2-normed spaces are given in [1,3,4,5,12]. Also, a linear 2-normed space (X,v) is said to be strictly 2-convex ([6]) if v(x,y)=v(x,z)=v(y,z)=1/3v(x+z, y+z)=1 implies that z=x+y. These space have been studied in [2,4,6,13]. It is easy to see that every strictly convex linear 2-normed space is always strictly 2-convex but the converse is not necessarily true. Throughout this paper, let (X,v) denote a linear 2-normed space.

• 대한수학회보
• /
• 제45권4호
• /
• pp.671-680
• /
• 2008

Necessary conditions for the existence of common fixed points for noncommuting mappings satisfying generalized contractive conditions in a Menger convex metric space are obtained. As an application, related results on best approximation are derived. Our results generalize various well known results.

• Journal of applied mathematics & informatics
• /
• 제30권1_2호
• /
• pp.93-100
• /
• 2012

In this paper, we present a strongly convergent parallel projection algorithm by introducing some parameter sequences for convex feasibility problem. To prove the strong convergence in a simple way, we transmit the parallel algorithm in the original space to an alternating one in a newly constructed product space. Thus, the strong convergence of the parallel projection algorithm is derived with the help of the alternating one under some parametric controlling conditions.

• 대한수학회논문집
• /
• 제33권4호
• /
• pp.1271-1284
• /
• 2018

In this paper, we establish strong convergence of the modified Ishikawa iterates of an asymptotically non expansive self-mapping of a nonempty closed bounded and convex subset of a uniformly convex Banach space under a variety of new control conditions.

• East Asian mathematical journal
• /
• 제26권1호
• /
• pp.39-47
• /
• 2010

Existence of common fixed points for generalized S-nonexpansive subcompatible mappings in convex metric spaces have been obtained. Invariant approximation results have also been derived by its application. These results extend and generalize various known results in the literature with the aid of more general class of noncommuting mappings.

• Nonlinear Functional Analysis and Applications
• /
• 제26권3호
• /
• pp.601-610
• /
• 2021

A convergence theorem for a generalized 𝜑-weakly contractive mapping is proved which satisfy a generalized contraction condition on a complete metrically convex metric space. The result in this paper generalizes the relevant results due to Rhoades [18], Alber and Guerre-Delabriere [1], Khan and Imdad [14], Xue [20] and others. An illustrative example is also furnished in support of our main result.

• 대한수학회보
• /
• 제49권6호
• /
• pp.1147-1161
• /
• 2012

In this paper, a coincidence theorem for a compact ${\Re}\mathfrak{C}$-map is proved in an abstract convex space. Several more general coincidence theorems for noncompact ${\Re}\mathfrak{C}$-maps are derived in abstract convex spaces. Some examples are given to illustrate our coincidence theorems. As applications, an alternative theorem concerning the existence of maximal elements, an alternative theorem concerning equilibrium problems and a minimax inequality for three functions are proved in abstract convex spaces.