• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.540-546
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• 2013

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

• Journal of the Korean Mathematical Society
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• v.55 no.6
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• pp.1359-1380
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• 2018

In this paper, we prove that if a metric measure space satisfies the volume doubling condition and the Hardy type inequality with the same exponent n ($n{\geq}3$), then it has exactly the n-dimensional volume growth. Besides, three interesting applications of this fact have also been given. The first one is that we prove that complete noncompact smooth metric measure space with non-negative weighted Ricci curvature on which the Hardy type inequality holds with the best constant are isometric to the Euclidean space with the same dimension. The second one is that we show that if a complete n-dimensional Finsler manifold of nonnegative n-Ricci curvature satisfies the Hardy type inequality with the best constant, then its flag curvature is identically zero. The last one is an interesting rigidity result, that is, we prove that if a complete n-dimensional Berwald space of non-negative n-Ricci curvature satisfies the Hardy type inequality with the best constant, then it is isometric to the Minkowski space of dimension n.

• Bulletin of the Korean Mathematical Society
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• v.35 no.4
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• pp.757-767
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• 1998

For a Riemannian manifold $(M^n, g)$ we consider the space $V(M^n, g)$ of all smooth functions on $M^n$ whose Hessian is proportional to the metric tensor $g$. It is well-known that if $M^n$ is a space form then $V(M^n)$ is of dimension n+2. In this paper, conversely, we prove that if $V(M^n)$ is of dimension $\ge{n+1}$, then $M^n$ is a Riemannian space form.

• Communications of the Korean Mathematical Society
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• v.5 no.2
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• pp.79-86
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• 1990

• Communications of the Korean Mathematical Society
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• v.8 no.4
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• pp.699-707
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• 1993

• East Asian mathematical journal
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• v.25 no.1
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• pp.27-37
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• 2009

In this paper, we introduce an iterative method for a pair of nonexpansive mappings. Strong convergence theorems are established in a real uniformly smooth Banach space.

• East Asian mathematical journal
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• v.24 no.1
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• pp.57-65
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• 2008

The approximate solvability of a generalized system for non-linear variational inequality in Hilbert spaces was studied, based on the convergence of projection methods. But little research was done in Banach space. The primary reason was that projection mapping lacked preferably property in Banach space. In this paper, we introduced the generalized projection methods. By using these methods, the results presented in this paper extended the main results of S. S. Chang [3] from Hilbert spaces to Banach space.

• The Pure and Applied Mathematics
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• v.11 no.4
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• pp.293-308
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• 2004

Let K be a nonempty convex subset of an arbitrary Banach space X and $T\;:\;K\;{\rightarrow}\;K$ be a uniformly continuous strictly hemi-contractive operator with bounded range. We prove that certain Ishikawa iteration scheme with errors both converges strongly to a unique fixed point of T and is almost T-stable on K. We also establish similar convergence and almost stability results for strictly hemi-contractive operator $T\;:\;K\;{\rightarrow}\;K$, where K is a nonempty convex subset of arbitrary uniformly smooth Banach space X. The convergence results presented in this paper extend, improve and unify the corresponding results in Chang [1], Chang, Cho, Lee & Kang [2], Chidume [3, 4, 5, 6, 7, 8], Chidume & Osilike [9, 10, 11, 12], Liu [19], Schu [25], Tan & Xu [26], Xu [28], Zhou [29], Zhou & Jia [30] and others.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.23 no.4
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• pp.301-327
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• 2019

The proper orthogonal decomposition (POD) method for time-dependent problems significantly reduces the computational time as it reduces the original problem to the lower dimensional space. Even a higher degree of reduction can be reached if the solution is smooth in space and time. However, if the solution is discontinuous and the discontinuity is parameterized e.g. with time, the POD approximations are not accurate in the reduced space due to the lack of ability to represent the discontinuous solution as a finite linear combination of smooth bases. In this paper, we propose to post-process the sample solutions and re-initialize the POD approximations to deal with discontinuous solutions and provide accurate approximations while the computational time is reduced. For the post-processing, we use the Gegenbauer reconstruction method. Then we regularize the Gegenbauer reconstruction for the construction of POD bases. With the constructed POD bases, we solve the given PDE in the reduced space. For the POD approximation, we re-initialize the POD solution so that the post-processed sample solution is used as the initial condition at each sampling time. As a proof-of-concept, we solve both one-dimensional linear and nonlinear hyperbolic problems. The numerical results show that the proposed method is efficient and accurate.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.12
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• pp.1124-1132
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• 2011

This paper deals with smooth path generation using B-spline for fixed-wing unmanned aerial vehicles manuevering in 2D environment. Hexagonal cell representation is employed to model the 2D environment, which features increased connectivity among cells over square cell representation. Subsequently, hexagonal cell representation enables smoother path generation based on a discrete sequence of path from the path planner. In addition, we present an on-line path smoothing algorithm incorporating B-spline path templates. The path templates are computed off-line by taking into account all possible path sequences within finite horizon. During on-line implementation, the B-spline curves from the templates are stitched together repeatedly to come up with a reference trajectory for UAVs. This method is an effective way of generating smooth path with reduced on-line computation requirement, hence it can be implemented on a small low-cost autopilot that has limited computational resources.