• 대한수학회지
• /
• 제48권5호
• /
• pp.1065-1081
• /
• 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.

• 대한전자공학회:학술대회논문집
• /
• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
• /
• pp.2713-2716
• /
• 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.

• 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.

• 호남수학학술지
• /
• 제35권2호
• /
• pp.211-223
• /
• 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.

• 한국경영과학회:학술대회논문집
• /
• 한국경영과학회 2004년도 추계학술대회 및 정기총회
• /
• pp.225-228
• /
• 2004

The generalized knapsack problem, or gknap is the combinatorial optimization problem of optimizing a nonnegative linear functional over the integral hull of the intersection of a polynomially separable 0 - 1 polytope and a knapsack constraint. Among many potential applications, the knapsack, the restricted shortest path, and the restricted spanning tree problem are such examples. We prove via the ellipsoid method the equivalence between the fully polynomial approximability and a certain pseudo-polynomial separability of the gknap polytope.

• Kyungpook Mathematical Journal
• /
• 제61권2호
• /
• pp.409-439
• /
• 2021

We consider partial matchings, which are finite graphs consisting of edges and vertices of degree zero or one. We consider transformations between two states of partial matchings. We introduce a method of presenting a transformation between partial matchings. We introduce the notion of the lattice presentation of a partial matching, and the lattice polytope associated with a pair of lattice presentations, and we investigate transformations with minimal area.

• 전자공학회논문지C
• /
• 제34C권7호
• /
• pp.51-60
• /
• 1997

Prototype based methods are commonly used in cluster analysis and the results may be highly dependent on the prototype used. In this paper, we propose a fuzzy clustering method that involves adaptively expanding convex polytopes. Thus, the dependency on the use of prototypes can be eliminated. The proposed method makes it possible to effectively represent an arbitrarily distributed data set without a priori knowledge of the number of clusters in the data set. Specifically, nonlinear membership functions are utilized to determine whether a new cluster is created or which vertex of the cluster should be expanded. For this, the membership function of a new vertex is assigned according to not only a distance measure between an incoming pattern vector and a current vertex, but also the amount how much the current vertex has been modified. Therefore, cluster expansion can be only allowed for one cluster per incoming pattern. Several experimental results are given to show the validity of our mehtod.

• 제어로봇시스템학회논문지
• /
• 제4권1호
• /
• pp.105-112
• /
• 1998

Regarding the measure of dexterity of robot manipulators, two geometric tools, manipulability ellipsoids and manipulability polytopes, are examined and compared with each other. Even though the manipulability ellipsoid approach is the most widely used technique, it is shown that the manipulability ellipsoid transforms the inexact joint velocity constraints into task space and so it may fail to give an exact measure of dexterity and optimal direction of motion in task space. After showing that the polytope approach can handle such problems, we propose a practical polytope method which can be applied to 3-dimensional task space in general. The relation between manipulability ellipsoids and manipulability polytopes are also explored for a redundant case and a non-redundant one.

• 제어로봇시스템학회논문지
• /
• 제5권7호
• /
• pp.836-840
• /
• 1999

Linear motion and angular motion in task space are handled separately in joint velocity planning for redundant robot manipulators. In solving inverse kinematic equations with given joint velocity limits, we consider the order of priority for linear motion and angular motion. The proposed method will be useful in such applications where only linear motions are important than angular motions or vice versa.

• 전자공학회논문지SC
• /
• 제39권5호
• /
• pp.26-33
• /
• 2002

본 논문에서는 볼록 한계 불확실성(convex bounded uncertainty)을 가지는 이산시간 선형 시스템의 견실 $H_{\infty}$ 필터 설계 알고리듬을 제안한다. 다루고 있는 파라미터 불확실성은 폴리토프형(polytope type) 볼록 한계를 가지는 형태이다. 본 논문의 목적은 필터링 오차 시스템의 점근 안정성(asymptotic stability)과 변형한 성능지수의 유도 $L_2$ 노옴($L_2$ induced norm) 한계치를 해적적으로 제시하는 안정한 견실 $H_{\infty}$ 필터를 설계하는 것이다. 견실 $H_{\infty}$ 필터가 존재할 충분조건과 필터 설계 방법은 볼록 최적화 기법에 의하여 효과적으로 해를 구하는 선형행렬부등식 방법에 의하여 제시한다. 제안한 알고리듬의 타당성은 예제를 통하여 확인한다.