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Liyang Wang,Zhi Liu,Chun Lung Philip Chen,Yun Zhang,이석한 한국정밀공학회 2012 International Journal of Precision Engineering and Vol. No.
A kind of support vector machine based optimal control (SVM-OC) approach for minimizing energy consumption of biped walking motions is proposed in this work. Different from existing learning controllers, a SVM controller is incorporated into an optimal controller for biped robots, which aims at minimize an energy-related cost function with three constraints of biped walking robots,including the system dynamics in the single support phase, the system dynamics in the impact phase, and the initial state of the biped. The controller is deduced under the condition of small sample sizes for the SVM. Main contributions of this paper include two aspects:First, a SVM-OC problem for minimizing energy consumption of biped walking motions is defined, which provides new clues to design a kind of optimal controller under the condition of unknown system dynamic model and small sample sizes. Secondly, derivation of the proposed SVM-OC problem is provided in detail, and simulation results demonstrate the advantage of the proposed method compared with conventional SVM control methods and neural network (NN) control methods.
Wang Liyang,Wu Hongxuan,He Wei,Zhou Qiang 한국응용곤충학회 2023 Journal of Asia-Pacific Entomology Vol.26 No.4
Pseudoligosita yasumatsui (Viggiani and Rao, 1978) (Hymenoptera: Trichogrammatidae) is an egg parasitoid wasp that preys on rice planthoppers, one of the most significant pests in Asian rice-growing regions. An enriched mitochondrial genome database of rice planthopper egg parasitoids is the basis for phylogenetic analysis. Therefore, the complete mitochondrial genome of P. yasumatsui was sequenced using NGS sequencing. The total length of the mitochondrial genome of P. yasumatsui is 16,036 bp, containing 13 protein-coding genes (PCGs), 22 transfer RNA genes (tRNAs), two ribosomal RNA genes (rRNAs) and a control region (CR). The mitochondrial genome showed a negative AT skew (-0.09) and a positive GC skew (0.19). Thirteen PCGs all started with ATN codons and ended with TAA. All 22 tRNAs have a typical cloverleaf structure. A comparison with the presumed arthropod ancestral mitochondrial genome using CREx web serve observed a large number of tRNAs as well as PCGs inversions, rearrangements, and inversion reversals of large gene segments (trnE-rrnL). Based on the Bayesian inference (BI) and maximum likelihood (ML) phylogenetic tree of P. yasumatsui and other 14 mito chondrial genomes from the Chalcidoidea superfamily, the phylogenetic relationship of P. yasumatsui within the Trichogrammatidae family was found to be ((Pseudoligosita + Megaphragma) + Trichogamma), and the phylo genetic relationship of five families was (Mymaridae + (Trichogrammatidae + (Aphelinidae + (Eulophidae + Pteromalidae)))). The close relationship between Pseudoligosita and Megaphragma as sister groups was suggested, and the data provide support for the monophyly of Oligositini.
Energy-Efficient SVM Learning Control System for Biped Walking Robots
Liyang Wang,Zhi Liu,Chen, C. L. P.,Yun Zhang,Sukhan Lee,Xin Chen IEEE 2013 IEEE transactions on neural networks and learning Vol.24 No.5
<P>An energy-efficient support vector machine (EE-SVM) learning control system considering the energy cost of each training sample of biped dynamic is proposed to realize energy-efficient biped walking. Energy costs of the biped walking samples are calculated. Then the samples are weighed with the inverses of the energy costs. An EE-SVM objective function with energy-related slack variables is proposed, which follows the principle that the sample with the lowest energy consumption is treated as the most important one in the training. That means the samples with lower energy consumption contribute more to the EE-SVM regression function learning, which highly increases the energy efficiency of the biped walking. Simulation results demonstrate the effectiveness of the proposed method.</P>
A UKF-Based Predictable SVR Learning Controller for Biped Walking
Liyang Wang,Zhi Liu,Chen, C. L. Philip,Yun Zhang,Sukhan Lee,Xin Chen IEEE 2013 IEEE transactions on systems, man, and cybernetics Vol.43 No.6
<P>An unscented Kalman filter (UKF)-based predictable support vector regression (SVR) learning controller is proposed to improve the flexibility of biped walking robots. After estimating the biped states of the next moment using a UKF, an SVR learning controller with the predicted biped states is implemented to ensure the zero moment point (ZMP) stability. Using the predicted biped states, the SVR learning controller can predictably adjust the posture of the trunk timely and properly to adapt to the dynamic posture of the whole body. The flexibility of biped robots is enhanced by the proposed method, which is promising for realizing the stable biped walking in unstructured environments. Simulation and experimental results demonstrate the superiority of the proposed methods.</P>
Hao Jiang,Wenhuan Wang,Jiawei Li,Liyang Zhu,Dun Zhang,Peng Wang,Guoqing Wang 한국공업화학회 2022 Journal of Industrial and Engineering Chemistry Vol.109 No.-
Slippery liquid-infused porous surfaces (SLIPS) have attracted wide attention in the field of marine anticorrosion. However, the stability problem severely restricts the broad applications of SLIPS. Herein, wefabricated a polyurethane-based ultraslippery surface with lubricant self-replenishing and matrix selfhealingproperties owing to the huge amount of dynamic hydrogen-bond. Besides, the bacteria culturetest and electrochemical analysis results indicate the prepared surface possesses superior properties inthe protection of microbiologically influenced corrosion (MIC). This paper offers an efficient strategy tosolve stability problem of SLIPS, and the as-obtained self-healable ultraslippery surface can be used asa promising material in mitigating MIC.
The Solution for Cooperative Beamforming Design in MIMO Multi-way Relay Networks
( Yong Wang ),( Hao Wu ),( Liyang Tang ),( Hui Li ) 한국인터넷정보학회 2015 KSII Transactions on Internet and Information Syst Vol.9 No.3
In this paper, we study the design of network coding for the generalized transmit scheme in multiple input multiple output Y channel, where K users wish to exchange specified and shared information with each other within two slots. Signal space alignment at each user and the relay is carefully constructed to ensure that the signals from the same user pair are grouped together. The cross-pair interference can be canceled during both multiple accessing channel phase and broadcasting channel phase. The proposed signal processing scheme achieves the degrees of η(K)=K<sup>2</sup> freedom of with fewer user antennas.
Yu Liyang,Wang Dongsheng,Huang Ruimin,Cao Fei,Guo Chunlei,Zhang Jingzheng 한국식물생명공학회 2024 Plant biotechnology reports Vol.18 No.1
The B-box (BBX) proteins are a class of zinc finger transcription factors and play critical roles in plant development and growth. However, they have not been systematically characterized in Chinese chestnut (Castanea mollissima), an important nut with rich nutrition and high economic value. Here, 18 BBX genes were identified in Chinese chestnut genome and divided into five groups through phylogenetic analysis, with members in the same group containing the same conserved domain organization. The collinearity analysis showed that dispersed duplication played a major role in the expansion of CmBBX gene family inferred to have evolved through purifying selection. Transcriptome analysis and qRT-PCR experiments suggested that CmBBX genes showed different expression patterns in different Chinese chestnut tissues, and revealed some CmBBXs may have potential functions in the development of Chinese chestnut buds, nuts, fertile/abortive ovules. Combined with the analysis of conserved domain, motif, cis-elements, expression level and protein three-dimensional structure, the lack of cis- acting elements related to meristem expression and gibberellin-responsiveness may lead to the no-expression of CmBBX9 in Chinese chestnut. The systematic analysis of Chinese chestnut BBX genes provides a basis for further understanding the characteristics and potential functions of BBX gene family.
Jianbo Feng,Liyang He,Yanxue Wang,Jianwei Yang,Hongbin Ren 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.3
The vehicle platoon is subject to dynamic uncertainty and external disturbance, such as air drag and parameter variation in practice, so lack of consideration for those factors can deteriorate control performance. This paper proposes a nonlinear control algorithm based on a novel adaptive backstepping method to cope with the uncertainty and disturbance. The virtual controller in the backstepping method utilizes only the local information of the individual vehicle, rather than the global state information, in the control algorithm design. A third-order vehicle dynamics model was built to incorporate the nonlinearity and the factor of actuation delay. The fuzzy logic system (FLS) is applied to estimate the nonlinearity in vehicle dynamics to facilitate the adaptive control. Five scenarios with different settings were constructed to verify the control performance in the simulation, which indicates the effectiveness and robustness of the controller to dynamic uncertainty and external disturbance.