• 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.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.4
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• pp.1-8
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• 1998

In order to solve the conflict problem between the ride comfort and the road holding, the optimal design of shock absorber that minimizes the r.m.s. of sprung mass vertical acceleration and pitch rate with the understeer characteristics constraints in the high speed stability is proposed. The design of experiments and the nonlinear optimization algorithm are used together to obtain the optimal design of shock absorber. The second order regression models of the input variables(front and rear damping coefficients) and the output variables (ride comfort index and road holding one) are obtained by the central composite design in the design of experiments. Then the optimal design of shock absorber can be systematically adjusted with applying the nonlinear optimization algorithm to the obtained second order regression model. The frequency response analysis of sprung mass acceleration and pitch rate shows the effectiveness of the proposed optimal design of shock absorber in the sprung mass resonance range with the understeer characteristics constraints.

• Journal of the Society of Naval Architects of Korea
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• v.60 no.5
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• pp.341-350
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• 2023

In this paper, numerical experiments are performed to examine the collision between a solitary wave and a wave-packet (dispersive wave) in shallow water. We attempt to introduce the improved Boussinesq equation governing the experiments, which is solved by using a semi-analytical approach, called Pseudo-parameter Iteration method(PIM). Using various numerical experiments, we have observed that the wave-packet (propagating dispersive wave) experiences a phase shift after collision with a solitary wave. This phenomenon may be considered as a nonlinear wave-wave interaction in shallow water.

• Journal of Biomedical Engineering Research
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• v.16 no.3
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• pp.359-366
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• 1995

The parameter, B/A, quantifies nonlinearity of the pressure-density relationship of propagation medium. This study investigated quantitative evaluation technique for healing fractured bones using this ultrasonic nonlinear parameter, B/A, obtained by the second harmonic amplitude method. A series of fundamental experiments were performed on cylinder phantoms made of aluminium, which demonstrated potential capability of nonlinear parameter B/A in the diagnosis of healing fractured bones using ultrasound.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.286-291
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• 1991

This paper discusses sliding made control of robot manipurators assuming that nonlinear terms, which are inertia term, Coriolis force term and centrifugal taffn, are external disturbances. We obtained the unknown parameter of its linear terms by Signal Compression Method. We propose a new control input algorithm to decrease chattering in the application of sliding mode control of manipulator whose nonlinear components are regarded as disturbances. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by obtaining a quick switching speed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.11a
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• pp.373.2-373
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• 2002

This research is concerned with dynamic modeling of satellite with deployable solar arrays equipped with strain energy hinges (SEH). It is found from experiments that the SEH has nonlinear dynamic characteristics and complex buckling behavior, which is difficult to explain theoretically In this paper, we use an equivalent one dimensional nonlinear torsional spring for the SEH. Lagrangian equations of motion are used for the derivations.

• Journal of Ocean Engineering and Technology
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• v.19 no.2 s.63
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• pp.29-33
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• 2005

The accuracy of predicting wave transformation in the nearshore is very important to wave hydrodynamics, sediment transport, and design of coastal structures. Numerical experiments are conducted to identify the shoaling and breaking characteristics of a fully nonlinear Boussinesq equation-based model. Simulated shoaling showed good agreement with the Shouto's formula, and the results of the breaking experiment agreed well with experimented data, over several beach profile.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.6
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• pp.908-919
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• 1998

This paper describes implementation and simulation of Chua's oscillator circuits with a cubic non-linear resistor. The two-terminal nonlinear resistor NR consists of one Op Amp two multipliers and five resistors. The Chua's oscillator circuit is implemented with analog electronic devices. Period-1 limit cycle period-2 limit cycle period-4 limit cycle and spiral attractor double-scroll attractor and 2-2 window are observed experimentally from the laboratory model and simulated by computer for the presented model. Comparing the result of experiments and simulations the spectrums are satisfied.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.189-193
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• 1996

Piezoelectric actuator is widely used in precision positioning applications due to its excellent positioning resolution. However, serious hysteresis nonlinearity of the actuator deteriorates its open loop positioning capability. Generally, a nonlinear hysteresis model is used in feedforward loop to improve positioning accuracy. In this study, however, a simple lead compensator is proposed as a substitution for a complex nonlinear hysteresis model and tested through experiments for precision position control.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2146-2148
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• 2002

In this paper, PID control method using genetic algorithm to control the nonlinear multivariable system is presented. Genetic algorithms are global search techniques for nonlinear optimization. For experiment, the x-y rod balancing system with driver circuit board is fabricated. Experiments such as angle and position control for system are performed. The validity and control performance of the GA-based PID controller are confirmed by experimental results.