• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

• Korean Journal of Remote Sensing
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• v.26 no.6
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• pp.693-703
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• 2010

High spectral resolution of hyperspectral data enables analysis of complex natural phenomena that is reflected on the data nonlinearly. Although many manifold learning methods have been developed for such problems, most methods do not consider the spatial correlation between samples that is inherent and useful in remote sensing data. We propose a manifold learning method which directly combines the spatial proximity and the spectral similarity through kernel PCA framework. A gain factor caused by spatial proximity is first modelled with a heat kernel, and is added to the original similarity computed from the spectral values of a pair of samples. Parameters are tuned with intelligent grid search (IGS) method for the derived manifold coordinates to achieve optimal classification accuracies. Of particular interest is its performance with small training size, because labelled samples are usually scarce due to its high acquisition cost. The proposed spatial kernel PCA (KPCA) is compared with PCA in terms of classification accuracy with the nearest-neighbourhood classification method.

• Bulletin of the Korean Mathematical Society
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• v.47 no.2
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• pp.341-353
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• 2010

In this paper, we study the geometry of screen conformal lightlike real hypersurfaces of an indefinite Kaehler manifold. The main result is a characterization theorem for screen conformal lightlike real hypersurfaces of an indefinite complex space form.

• Journal of the Korean Mathematical Society
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• v.33 no.1
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• pp.101-119
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• 1996

A complex $n(\geq 2)$-dimensional Kaehlerian manifold of constant holomorphic sectional curvature c is called a complex space form, which is denoted by $M_n(c)$.

• Communications of the Korean Mathematical Society
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• v.9 no.2
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• pp.369-383
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• 1994

A complex n-dimensional Kahler manifold of constant holomorphic sectional curvature c is called a complex space form, which is denoted by $M_{n}$ (c). A complete and simply connected complex space form consists of a complex projective space $P_{n}$ C, a complex Euclidean space $C^{n}$ or a complex hyperbolic space $H_{n}$ C, according as c > 0, c = 0 or c < 0.(omitted)

• Journal of the Korean Mathematical Society
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• v.32 no.2
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• pp.161-170
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• 1995

A complex $n(\geq 2)$-dimensional Kaehlerian manifold of constant holomorphic sectional curvature c is called a complex space form, which is denoted by $M_n(c)$. A complete and simply connected complex space form is a complex projective space $P_nC$, a complex Euclidean space $C^n$ or a complex hyperbolic space $H_nC$, according as c > 0, c = 0 or c < 0. Takagi [12] and Berndt [2] classified all homogeneous real hypersufaces of $P_nC$ and $H_nC$.

• Bulletin of the Korean Mathematical Society
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• v.29 no.1
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• pp.9-13
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• 1992

In this paper, we consider the function related with almost hermitian structure on a copact complex manifold. More precisely, on a 2n-diminsional complex manifold M admitting 2-form .ohm. of rank 2n everywhere, assume that M admits a metric g such that g(JX, JY)=g(X,Y), that is, assume that g defines an hermitian structure on M admitting .ohm. as fundamental 2-form-the 'almost complex structure' J being determined by g and .ohm.:g(X,Y)=.ohm.(X,JY). We consider the function I(g):=.int.$_{M}$ $N^{2}$d $V_{g}$, where N is the norm of Nijenhuis tensor N defined by (J,g). by (J,g).

• Journal of the Chungcheong Mathematical Society
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• v.24 no.3
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• pp.569-581
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• 2011

Let a finite group R act smoothly on a closed manifold M. We assume that R acts freely on M except a union of closed submanifolds with codimension at least two. Then, we show that there exists an isomorphism between equivariant topological complex vector bundles over M and nonequivariant topological complex vector orbibundles over the orbifold M/R. By using this, we can classify nonequivariant vector orbibundles over the orbifold especially when the manifold is two-sphere because we have classified equivariant topological complex vector bundles over two sphere under a compact Lie group (not necessarily effective) action in [6]. This classification of orbibundles conversely explains for one of two exceptional cases of [6].

• Honam Mathematical Journal
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• v.43 no.2
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• pp.289-304
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• 2021

In this paper, we establish several geometric characterizations focusing on the relationship between the squared norm of the second fundamental form and the warping function of SCR-lightlike warped product submanifolds in an indefinite Kaehler manifold. In particular, we find an estimate for the squared norm of the second fundamental form h in terms of the Hessian of the warping function λ for SCR-lightlike warped product submanifolds of an indefinite complex space form. Consequently, we derive an optimal inequality, namely $${\parallel}h{\parallel}^2{\geq}2q\{{\Delta}(ln{\lambda})+{\parallel}{\nabla}(ln{\lambda}){\parallel}^2+\frac{c}{2}p\}$$, for SCR-lightlike warped product submanifolds in an indefinite complex space form. We also provide one non-trivial example for this class of warped products in an indefinite Kaehler manifold.

• Bulletin of the Korean Mathematical Society
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• v.40 no.2
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• pp.327-340
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• 2003

We are devoted to dealing with the conformal theory of a Rizza manifold with a generalized Finsler metric $G_{ij}$ (x,y) and a new conformal invariant non-linear connection $M^{i}$ $_{j}$ (x,y) constructed from the generalized Cern's non-linear connection $N^{i}$ $_{j}$ (x,y) and almost complex structure $f^{i}$ $_{j}$ (x). First, we find a conformal invariant connection ( $M_{j}$ $^{i}$ $_{k}$ , $M^{i}$ $_{j}$ , $C_{j}$ $^{i}$ $_{k}$ ) and conformal invariant tensors. Next, the nearly Kaehlerian (G, M)-structures under conformal change in a Rizza manifold are investigate.