• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1153-1159
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• 2007

This paper presents the hardware implementation of nonlinear PID controllers for the ROBOKER humanoid robot arms. To design the nonlinear PID controller on an FPGA chip, nonlinear functions as well as the conventional PID control algorithm have to be implemented by the hardware description language. Therefore, nonlinear functions such as trigonometric or exponential functions are designed on an FPGA chip. Simulation studies of the position control of humanoid arms are conducted and results are compared. Superior performances by the nonlinear PID controllers are confirmed when disturbances are present. Experiments of humanoid robot arm control tasks are conducted to confirm the performance of our hardware design and the simulation results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.6C
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• pp.763-769
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• 2004

It is known that a bent function corresponds to a perfect nonlinear function, which makes it difficult to do the differential cryptanalysis in DES and in many other block ciphers. In this paper, for an odd prime p, quadratic p-ary bent functions defined on finite fields are given from the families of p-ary sequences with optimal correlation properly. And quadratic p-ary bent functions, that is, perfect nonlinear functions from the finite field F $_{p^{m}}$ to its prime field $F_{p}$ are constructed by using the trace functions. trace functions.

• Proceedings of the KIEE Conference
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• 2000.11d
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• pp.703-705
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• 2000

In this paper, we design a robust adaptive controller for a nonlinear systems with uncertainties to be rejected via disturbance adaptation law. The nonlinear system considered in this paper has unknown nonlinear functions being influenced by external disturbance. The upper bounds of unknown nonlinear functions at each time is estimated by using disturbance adaptation law. The estimated nonlinear functions are used to design stabilizing function and control of input. Tuning function is used to estimate unknown system parameter without overparametrization. A set-point regulation error converges to a residual set close to zero asymptotically fast.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.7
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• pp.605-613
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• 2001

In this paper, we design a robust adaptive controller for a nonlinear system with uncertainties to be rejected via disturbance adaptation law. The nonlinear system considered has unknown nonlinear functions being influenced by external disturbance. The upper bound of unknown nonlinear functions at each time is estimated by using a disturbance adaptation law. The estimated nonlinear functions are used to design a stabilizing function a control input. Tuning function is used to estimates unknown system parameter without overparametrization. A set-point regulation error converges to a residual set close to zero asymptotically. The effectiveness of the proposed controller is investigated by computer simulation.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.394-400
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• 2008

A known nonlinear compensator design approach is adapted to allow design of nonlinear lead and/or lag compensators, and a number of MATLAB functions are developed that automate the compensator design procedure. With this design tool, control engineers would be able to rapidly design nonlinear lead and/or lag compensators. An example of a tutorial nature is presented.

• ETRI Journal
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• v.15 no.2
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• pp.35-51
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• 1993

This paper presents function approximation based on nonparametric estimation. As an estimation model of function approximation, a three layered network composed of input, hidden and output layers is considered. The input and output layers have linear activation units while the hidden layer has nonlinear activation units or kernel functions which have the characteristics of bounds and locality. Using this type of network, a many-to-one function is synthesized over the domain of the input space by a number of kernel functions. In this network, we have to estimate the necessary number of kernel functions as well as the parameters associated with kernel functions. For this purpose, a new method of parameter estimation in which linear learning rule is applied between hidden and output layers while nonlinear (piecewise-linear) learning rule is applied between input and hidden layers, is considered. The linear learning rule updates the output weights between hidden and output layers based on the Linear Minimization of Mean Square Error (LMMSE) sense in the space of kernel functions while the nonlinear learning rule updates the parameters of kernel functions based on the gradient of the actual output of network with respect to the parameters (especially, the shape) of kernel functions. This approach of parameter adaptation provides near optimal values of the parameters associated with kernel functions in the sense of minimizing mean square error. As a result, the suggested nonparametric estimation provides an efficient way of function approximation from the view point of the number of kernel functions as well as learning speed.

• Structural Engineering and Mechanics
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• v.77 no.4
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• pp.535-547
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• 2021

This paper concerns with free torsional vibration analysis of size dependent circular nanobars with von kármán type nonlinearity. Although review of the literature suggests several studies employing nonlocal elasticity theory to investigate linear torsional behavior, linear/nonlinear transverse vibration and buckling of the nanoscale structures, so far, no study on the nonlinear torsional behavior of the nanobars, considering the size effect, has been reported. This study employs nonlocal elasticity theory along with a variational approach to derive nonlinear equation of motion of the nanobar. Then, the nonlinear equation is solved using the elliptic functions to extract the natural frequencies of the structure under fixed-fixed and fixed-free end conditions. Finally, the natural frequencies of the nanobar under different nanobar lengths, diameters, nonlocal parameters, and amplitudes of vibration are reported to illustrate the effect of these parameters on the vibration characteristics of the nanobars. In addition, the phase plane diagrams of the nanobar for various cases are reported.

• Bulletin of the Korean Chemical Society
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• v.24 no.8
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• pp.1107-1110
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• 2003

Valuable insight into the nonlinear dynamics of a system can be gleaned from its response to a single intense short pulse. We derive expressions for the corresponding nonlinear response functions and show that the fluctuation-dissipation theorem may be extended beyond the linear response limit to an arbitrary pulse intensity. As an illustrative example, we calculate response functions up to 11th order for the regular Lorentz gas in two dimensions.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.2
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• pp.182-187
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• 2014

We propose nonlinear GMM-based transformation functions in an attempt to deal with the over-smoothing effects of linear transformation for voice processing. The proposed methods adopt RBF networks as a local transformation function to overcome the drawbacks of global nonlinear transformation functions. In order to obtain high-quality modifications of speech signals, our voice conversion is implemented using the Harmonic plus Noise Model analysis/synthesis framework. Experimental results are reported on the English corpus, MOCHA-TIMIT.

• Bulletin of the Korean Mathematical Society
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• v.57 no.5
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• pp.1095-1113
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• 2020

In this paper, we investigate the transcendental meromorphic solutions for the nonlinear differential equations $f^nf^{(k)}+Q_{d_*}(z,f)=R(z)e^{{\alpha}(z)}$ and fⁿf^(k) + Q_d(z, f) = p₁(z)e^α₁(z) + p₂(z)e^α₂(z), where $Q_{d_*}(z,f)$ and Q_d(z, f) are differential polynomials in f with small functions as coefficients, of degree d_* (≤ n - 1) and d (≤ n - 2) respectively, R, p₁, p₂ are non-vanishing small functions of f, and α, α₁, α₂ are nonconstant entire functions. In particular, we give out the conditions for ensuring the existence of these kinds of meromorphic solutions and their possible forms of the above equations.