• Journal of the Institute of Convergence Signal Processing
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• v.2 no.1
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• pp.95-100
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• 2001

In this paper, we proposed the robust control scheme for a class of nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r＜n and zero dynamics is stable. It is also shown that the global asymtotically stability is guaranted. And we verified that the proposed control scheme Is the feasible through a computer simulation.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2003.06a
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• pp.177-182
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• 2003

The robust output tracking control problem of general nonlinear MIMO systems is discussed. The robustness against parameter uncertainties is considered. In this paper, we proposed the robust output tracking control scheme for a class of MIMO nonlinear dynamical systems using output feedback linearization method. The presented control scheme is based on the VSS. We assume that the nonlinear dynamical system is minimum phase, the relative degree of the system is r$_{1}$＋r$_{2}$＋…r$_{m}$$\leq$ n and zero dynamics is stable. It is shown that the outputs of the closed-loop system asymptotically track given output trajectories despite the uncertainties while maintaining the boundedness of all signals inside the loop. And we verified that the proposed control scheme is then applied to the control of a two degree of freedom (DOF) robotic manipulator with payload.d.

• Journal of Information Processing Systems
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• v.18 no.4
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• pp.510-523
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• 2022

Considering the problems of poor control effect, weak disturbance rejection ability and adaptive ability of two-wheeled self-balanced robot (TWSBR) systems on undulating roads, this paper proposes a fuzzy neural network active disturbance rejection controller (FNNADRC), that is based on fuzzy neural network (FNN) for online correction of active disturbance rejection controller (ADRC)'s nonlinear control rate. Firstly, the dynamic model of the TWSBR is established and decoupled, the extended state observer (ESO) is used to compensate dynamically and linearize the upright and displacement subsystems. Then, the nonlinear PD control rate and FNN are designed, and the FNN is used to modify the control parameters of the nonlinear PD control rate in real time. Finally, the proposed control strategy is simulated and compared with the traditional ADRC and fuzzy active disturbance rejection controller (FADRC). The simulation results show that the control effect of the proposed control strategy is slightly better than ADRC and FADRC.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.215-220
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• 2005

Nowadays, various speech processing systems are being introduced in the fields of robotics. However, real-time processing and high performances are required to properly implement speech processing system for the autonomous robots. Achieving these goals requires advanced hardware techniques including intelligent software algorithms. For example, we need nonlinear amplifier boards which are able to adjust the compression radio (CR) via computer programming. And the necessity for noise reduction, double-buffering on EPLD (Erasable programmable logic device), simultaneous multi-channel AD conversion, distant sound localization will be explained in this paper. These ideas can be used to improve distant and omni-directional speech recognition. This speech processing system, based on embedded Linux system, is supposed to be mounted on the new home service robot, which is being developed at KIST (Korea Institute of Science and Technology)

• 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.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.1
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• pp.7-12
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• 2020

Various parameters are used to measure anesthetic depth during surgery using brain waves, and in actual clinical use, the linear analysis SEF is widely used. However, with recent studies showing that biological signals including EEG, contain nonlinear properties interest in nonlinear analysis of brain signals is increasing and parameters based on these are being developed. In this study, we are going to develop a parameter that can measure EEG using the nonlinear analysis method and extract noise that can be mixed with external electronic equipment and EEG instrumentation by comparing it with the data from the bispectrum analysis of static waves.

• Proceedings of the Korea Information Processing Society Conference
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• 2007.11a
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• pp.113-116
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• 2007

In this paper, our proposed Nonlinear Autoregressive Exogenous (NARX) based on Least Square-Support Vector Regression (LS-SVR) is introduced and tested for producing natural sounds. This nonlinear synthesizer perfectly reproduce voiced sounds, and also conserve the naturalness such as jitter and shimmer, compared to LPC does not keep these naturalness. However, the results of some phonation are quite different from the original sounds. These results are assumed that single-band model can not afford to control and decompose the high frequency components. Therefore multi-band model with wavelet filterbank is adopted for substituting single band model. As a results, multi-band model results in improved stability. Finally, nonlinear speech modeling using NARX based on LS-SVR can successfully reconstruct synthesized sounds nearly similar to original voiced sounds.

• International Journal of Contents
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• v.10 no.1
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• pp.18-22
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• 2014

Hidden nodes have a key role in the information processing of feed-forward neural networks in which inputs are processed through a series of weighted sums and nonlinear activation functions. In order to understand the role of hidden nodes, we must analyze the effect of the nonlinear activation functions on the weighted sums to hidden nodes. In this paper, we focus on the effect of nonlinear functions in a viewpoint of information theory. Under the assumption that the nonlinear activation function can be approximated piece-wise linearly, we prove that the entropy of weighted sums to hidden nodes decreases after piece-wise linear functions. Therefore, we argue that the nonlinear activation function decreases the uncertainty among hidden nodes. Furthermore, the more the hidden nodes are saturated, the more the entropy of hidden nodes decreases. Based on this result, we can say that, after successful training of feed-forward neural networks, hidden nodes tend not to be in linear regions but to be in saturated regions of activation function with the effect of uncertainty reduction.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.17 no.12 s.115
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• pp.1164-1171
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• 2006

In this paper, a simple and nonlinear MMSE detector is derived from the conventional linear MMSE detector to improve the system performance in turbo processing MIMO system and a new turbo processing MIMO system with nonlinear MMSE detector and Gaussian approximation is proposed. In turbo coded turbo processing MIMO system, the proposed system of M=N=4 performs about 0.5 dB better than the conventional system and the proposed system of M=N=8 performs about 0.4 dB better than conventional system at 1 % FER. In addition, the average number of outer iterations of proposed system shows lower than that of conventional system. This is caused by the fact that the nonlinear MMSE detector of proposed system decides soft-outputs of coded bits based on the observation of received signals, so that it can reduce the uncertainty region in estimating the coded bits.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.9
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• pp.540-546
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• 2003

A fast pattern classification algorithm with Cellular Nonlinear Network-based dynamic programming is proposed. The Cellular Nonlinear Networks is an analog parallel processing architecture and the dynamic programing is an efficient computation algorithm for optimization problem. Combining merits of these two technologies, fast pattern classification with optimization is formed. On such CNN-based dynamic programming, if exemplars and test patterns are presented as the goals and the start positions, respectively, the optimal paths from test patterns to their closest exemplars are found. Such paths are utilized as aggregating keys for the classification. The algorithm is similar to the conventional neural network-based method in the use of the exemplar patterns but quite different in the use of the most likely path finding of the dynamic programming. The pattern classification is performed well regardless of degree of the nonlinearity in class borders.