• 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.

• Journal of the Chungcheong Mathematical Society
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• v.24 no.1
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• pp.91-104
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• 2011

We define a quarter-symmetric non-metric connection in an almost r-paracontact Riemannian manifold and we consider the submanifolds of an almost r-paracontact Riemannian manifold endowed with a quarter-symmetric non-metric connection. We also obtain the Gauss, Codazzi and Weingarten equations and the curvature tensor for the submanifolds of an almost r-paracontact Riemannian manifold endowed with a quarter-symmetric non-metric connection.

• Communications of the Korean Mathematical Society
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• v.25 no.2
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• pp.235-243
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• 2010

In a Riemannian manifold, the existence of a new connection is proved. In particular cases, this connection reduces to several symmetric, semi-symmetric and quarter symmetric connections, even some of them are not introduced so far. So, in this paper, we define a quarter symmetric semi-metric connection in an almost r-paracontact Riemannian manifold and consider invariant, non-invariant and anti-invariant hypersurfaces of an almost r-paracontact Riemannian manifold with that connection.

• Kyungpook Mathematical Journal
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• v.49 no.3
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• pp.533-543
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• 2009

We define a quarter symmetric non-metric connection in an almost r-paracontact Riemannian manifold and we consider invariant, non-invariant and anti-invariant hypersurfaces of an almost r-paracontact Riemannian manifold endowed with a quarter symmetric non-metric connection.

• Bulletin of the Korean Mathematical Society
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• v.46 no.3
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• pp.477-487
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• 2009

We define a quarter symmetric metric connection in an almost r-paracontact Riemannian manifold and we consider invariant, noninvariant and anti-invariant hypersurfaces of an almost r-paracontact Riemannian manifold endowed with a quarter symmetric metric connection.

• Journal of the Korean Mathematical Society
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• v.46 no.5
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• pp.1087-1103
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• 2009

Given a system of s independent 1-forms on a smooth manifold M of dimension m, we study the existence of integral manifolds by means of various generalized versions of the Frobenius theorem. In particular, we present necessary and sufficient conditions for there to exist s'-parameter (s' < s) family of integral manifolds of dimension p := m-s, and a necessary and sufficient condition for there to exist integral manifolds of dimension p', p' $\leq$ p. We also present examples and applications to complex analysis in several variables.

• Bulletin of the Korean Mathematical Society
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• v.56 no.4
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• pp.841-852
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• 2019

We establish the generalized Myers theorem for Finsler manifolds under integral Ricci curvature bound. More precisely, we show that the forward complete Finsler n-manifold whose part of Ricci curvature less than a positive constant is small in $L^p$-norm (for p > n/2) have bounded diameter and finite fundamental group.

• Journal of applied mathematics & informatics
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• v.41 no.3
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• pp.577-589
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• 2023

The aim of the present paper is to study LP-Sasakian manifolds admitting *-Einstein soliton satisfying certain curvature conditions. Finally, we have constructed a 3-dimensional example of an LP-Sasakian manifold admitting *-Einstein soliton.

• Journal of the Chungcheong Mathematical Society
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• v.25 no.1
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• pp.73-90
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• 2012

We define a quarter-symmetric non-metric connection in a nearly trans-Sasakian manifold and we consider semi-invariant submanifolds of a nearly trans-Sasakian manifold endowed with a quarter-symmetric non-metric connection. Moreover, we also obtain integrability conditions of the distributions on semi-invariant submanifolds.

• Honam Mathematical Journal
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• v.44 no.1
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• pp.1-16
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• 2022

In this paper, we define and study warped product skew semi-invariant submanifolds of a locally golden Riemannian manifold. We investigate a necessary and sufficient condition for a skew semi-invariant submanifold of a locally golden Riemannian manifold to be a locally warped product. An equality between warping function and the squared normed second fundamental form of such submanifolds is established. We also construct an example of warped product skew semi-invariant submanifolds.