The incircle of triangle ABC touches the sides BC, CA, and AB at D, E, and F respectively. On the line segments EF, FD, and DE, consider the points M, N, and P respectively such that the sums BM+MC, CN+NA, and AP+PB are minimum.
a) Prove that the lines AM, BN, and CP are concurrent.
b) Prove that DM, EN and FP are the altitudes of triangle DEF.

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