• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.272-275
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• 1989

In this paper feedback linearization of valve-controlled nonlinear hydraulic velocity control system is studied. The $C^{\infty}$ nonlinear transformation T is obtained, and it is shown that this transformation is global one. Linear equivalence of nonlinear hydraulic velocity control system is obtained by this global nonlinear transformation, and linear state feedback control law is applied to this linear model. It is shown that this transformation method is to the linear approximation by simulation study..

• Journal of Advanced Marine Engineering and Technology
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• 제38권2호
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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.

• 한국정밀공학회지
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• 제13권2호
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• pp.94-101
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• 1996

The equations of motion for a basic industrial robotic system which has a rigid or a flexible arm are derived by Lagrange's equation, respectively. Especially, for the deflection of the flexible arm, the assumed mode method is employed. These equations are highly nonlinear equations with nonlinear coupling between the variables of motion. In order to design the control law for the rigid-arm robot, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory. The control law for the rigid-arm robot is employed to input the desired path and to provide the required nonlinear transformations for the flexible-arm robot to follow. By using the implicit Euler method to solve the nonlinear equations, the comparison of the motions between the flexible and the rigid robots and the effect of flexibility are examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.52.2-52
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• 2002

In this paper we consider an approach to a formal linearization for time-variant nonlinear systems. A time-variant nonlinear sysetm is assumed to be described by a time-variant nonlinear differential equation. For this system, we introduce a coordinate transformation function which is composed of the Chebyshev polynomials. Using Chebyshev expansion to the state variable and Laguerre expansion to the time variable, the time-variant nonlinear sysetm is transformed into the time-variant linear one with respect to the above transformation function. As an application, we synthesize a time-variant nonlinear observer. Numerical experiments are included to demonstrate the validity of...

• 대한수학회지
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• 제41권6호
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• pp.957-976
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• 2004

It is well known that the application of the nonlinear coordinate transformations is useful for efficient numerical evaluation of weakly singular integrals. In this paper, we consider the trapezoidal rule combined with a nonlinear transformation $\Omega$$_{m}$(b;$\chi$), containing a parameter b, proposed first by Yun [14]. It is shown that the trapezoidal rule with the transformation $\Omega$$_{m}$(b;$\chi$), like the case of the Gauss-Legendre quadrature rule, can improve the asymptotic truncation error by using a moderately large b. By several examples, we compare the numerical results of the present method with those of some existing methods. This shows the superiority of the transformation $\Omega$$_{m}$(b;$\chi$).TEX>).

• Journal of Mechanical Science and Technology
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• 제17권12호
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• pp.1922-1927
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• 2003

Nonlinear normal mode (NNM) vibration, in a nonlinear dual mass Hamiltonian system, which has 6$\^$th/ order homogeneous polynomial as a nonlinear term, is studied in this paper. The existence, bifurcation, and the orbital stability of periodic motions are to be studied in the phase space. In order to find the analytic expression of the invariant curves in the Poincare Map, which is a mapping of a phase trajectory onto 2 dimensional surface in 4 dimensional phase space, Whittaker's Adelphic Integral, instead of the direct integration of the equations of motion or the Birkhoff-Gustavson (B-G) canonical transformation, is derived for small value of energy. It is revealed that the integral of motion by Adelphic Integral is essentially consistent with the one obtained from the B-G transformation method. The resulting expression of the invariant curves can be used for analyzing the behavior of NNM vibration in the Poincare Map.

• 전기학회논문지
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• 제66권11호
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• pp.1612-1619
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• 2017

In this note, a complete proof of Utkin's theorem is presented for SI(single input) uncertain nonlinear systems. The invariance theorem with respect to the two nonlinear transformation methods so called the two diagonalization methods is proved clearly, comparatively, and completely for SI uncertain nonlinear systems. With respect to the sliding surface and control input transformations, the equation of the sliding mode i.e., the sliding surface is invariant, which is proved completely. Through an illustrative example and simulation study, the usefulness of the main results is verified. By means of the two nonlinear transformation methods, the same results can be obtained.

• 한국산업융합학회 논문집
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• 제13권1호
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• pp.23-30
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• 2010

This paper presents a histogram equalization based on the nonlinear transformation function for enhancing the quality of medical images. The nonlinear transformation function is applied to adaptively equalize the brightness of the image according to its intensity level frequency. The logistic function is used as a nonlinear transformation function, which is calculated by only using the intensity level with maximum frequency and the maximum intensity level in an histogram, and the total number of pixels. The proposed method has been applied for equalizing 8 medical images with a different resolution and histogram distribution. The experimental results show that the proposed method has the superior enhancement performances compared with the conventional histogram equalization. And the proposed histogram equalization can be used in various multimedia systems in real-time.

• 대한기계학회논문집A
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• 제21권11호
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• pp.1809-1818
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• 1997

Mathematical models of industrial robots or manipulators are highly nonlinear equations with nonlinear coupling between the variables of motion. As the working speed has been fast, the effects of nonlinear terms have become serious. So the control algorithm based on approximately linearized equation looses the efficiency. In order to design the control law for the nonlinear models, Hunt-Su's nonlinear transformation method and Marino's feedback equivalence condition are used with linear quadratic regulator(LQR) theory in this study. Nonlinear terms of the system are eliminated and coupled terms are decoupled by this feedback law. This method is applied to a 3-D.O.F. vertical articulated manipulator by both experiments and simulations and compared with PID control which is widely used in the industry.

• 한국방사선학회논문지
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• 제13권4호
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• pp.509-516
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• 2019

전산화단층촬영에서 선형 및 비선형변환방법을 이용하여 탐색밀도에 따른 압축률과 최대신호대 잡음비를 구하여 의료영상 압축의 화질에 대하여 알고자 한다. 선형변환방법은 원 영상을 여러 개의 레인지블록으로 나눈 후 각각의 레인지블록에 대하여 영상내의 존재하는 최적의 도메인블록을 찾는 부분변환시스템을 사용하여 닮은 블록을 찾아서 압축율과 화질의 성능을 조정가능 하므로 비선형변환방법은 8개의 셔플변환 중에서 회전변환만을 이용하는데, 한정된 도메인블록에서만 탐색이 이루어지므로 영상내의 임의의 블록에 대하여 도메인블록을 탐색하는 선형변환방법보다는 부호화 시간이 빠르나 실제 영상에서 레인지블록에 대한 최적의 도메인블록을 선택할 수 없기 때문에 성능은 다른 방법에서 보다 떨어질 수 있어서 비선형변환방법은 최적의 도메인블록을 선택하는 대신 밝기계수 변환의 근사화 정도를 높여서 성능을 개선하고, 블록의 크기가 작을수록 최대신호대 잡음비(PSNR;peak signal to noise ratio)값은 높아지며 블록의 크기가 클수록 압축비가 높아지므로 최적으로 영상을 부호화하기 위해 퀴드트리 블록분할을 하였다.