In this paper, the UDUT decomposition of the generalized inertia matrix o f an n-link serial manipulator is presented in symbolic form, where U and D, respectively, are the upper triangular and diagonal matrices. To render the decomposition, the elementary upper triangular matrices, associated to a modified Gaussian elimination, are introduced, whereas each element of the inertia matrix is writ...

Superregular matrices are a type of lower triangular Toeplitz matrix that arises in the context of constructing convolutional codes having a maximum distance profile. These matrices are characterized by the property that the only submatrices having a zero determinant are those whose determinants are trivially zero due to the lower triangular structure. In this paper, we discuss how superregular...

Let k be an algebraically closed field. Let B be the Borel subgroup of GLn(k) consisting of nonsingular upper triangular matrices. Let b = LieB be the Lie algebra of upper triangular n × n matrices and u the Lie subalgebra of b consisting of strictly upper triangular matrices. We classify all Lie ideals n of b, satisfying u ⊆ n ⊆ u, such that B acts (by conjugation) on n with a dense orbit. Fur...