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Interval Observer-based Robust Trajectory Tracking Control for Quadrotor Unmanned Aerial Vehicle
Kun Yan,Jing-Rong Zhang,Hai-Peng Ren 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
In this work, a robust trajectory tracking control strategy is developed for the quadrotor unmanned aerial vehicle (QUAV) with unknown external disturbance. The nonlinear dynamic model of QUAV is established. Different from the traditional disturbance observer and adaptive estimation method, this paper adopts the interval observer technique to approximate the upper and lower bounds of the unknown disturbance. In this way, the proposed interval observer can cover its all possible values and show its scope in real time, especially before the disturbance error estimation converges. Combining with the backstepping approach, a robust tracking control approach is proposed to ensure that the desired trajectory can be successfully followed. Finally, comparative numerical simulation results are provided to evaluate the presented robust tracking controller.
Tensions in gifted college programs in China: the case of “Mount Everest Plan”
Kun Yan,David C. Berliner 서울대학교 교육연구소 2016 Asia Pacific Education Review Vol.17 No.2
To date, no empirical study has focused upon understanding the tensions in gifted college programs in China. This qualitative inquiry examines the tensions the “Mount Everest Plan” programs face while initiating gifted education reform in China, how the gifted college students characterize these tensions, and what conditions they believe tend to account for the tensions. The voices of 18 gifted college students were heard through individual semi-structured interviews and the transcripts of the interviews were analyzed using thematic coding to uncover the themes related to the tensions. This qualitative case study identifies multiple tensions arise surrounding the “Mount Everest Plan” programs which include program training needs versus students’ personal growth needs, program identification purposes versus students’ personal motives, identification of a person versus identification of a path to success, and high variance within the gifted class versus undifferentiated curriculum. These tensions involve competing arguments on the genesis and the development of gifted education and gifted students. The study also discusses possible ways of resolving and easing these tensions so that the services and programs can be enhanced.
Current Status of Indoor Positioning System Based on Visible Light
Kun Yan,Haiyan Zhou,Hailin Xiao,Xiangli Zhang 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
With the flourishing of wireless information access, indoor positioning is becoming a topic of interest in both academic and industry community. Numerous techniques have been proposed to address this problem under diverse circumstances. Recently, the area of indoor positioning is dominated by three kinds of methodologies, such as rangebased positioning, fingerprint-based positioning and inertial positioning. This paper is presented to overview the indoor positioning techniques using visible light based on the range-based positioning. The state-of-the-art research results will be studied. The typical localization mechanisms used in visible light positioning systems are analyzed by evaluation metrics to provide an insight of the systems’ performances.
Kun Yan,Zhongwei Song 이화여자대학교 통역번역연구소 2021 T&I review Vol.11 No.2
Focusing on the specific exercise intended for eliciting summarization strategy to mitigate content omission for novice SI trainees, this article captures and analyses relevant longitudinal data from an action research conducted to investigate the extent to which sight translation (ST) facilitates skill development and transfer for simultaneous interpreting (SI) and to explore what specific strategies novice SI students could elicit from doing a dynamic type of sight translation (DST). Based on the action research conducted with three groups of student participants enrolled in Master of Conference Interpreting Program, a one-year program in 2014, 2015 and 2016 respectively, this article specifically reports the actions in eliciting the strategy of summarization via DST exercise and examines how the students responded to such a new teaching tool in a teaching environment. While the finding confirms that the progression from declarative knowledge to procedural knowledge takes time, it also supports that DST can be a useful driver of skill development and strategy application for novice interpreters at the beginning of conference interpreting training due to its similarities to SI.
Kun Yan,David C. Berliner 서울대학교 교육연구소 2011 Asia Pacific Education Review Vol.12 No.2
To date, few studies have focused solely upon understanding the unique characteristics of Chinese international students in the United States. This inquiry examines what Chinese international students' demographic trends are over decades, what their motivations are for studying in the United States, what the unique features of their group acculturation process are, and what special challenges they face in U.S. universities that are different from what they might face in Chinese universities? This study reveals that the life of Chinese students in the United States is not easy and they have to endure multifaceted life-stresses. These results can be used to help Chinese international students adapt to the American educational environment and improve the services and programs American universities deliver to their foreign students.
Zou, Kunyan,Kim, Ki-Seung,Lee, Daewoong,Jun, Tae-Hwan The Korean Society of Crop Science 2020 한국작물학회지 Vol.65 No.4
Peanut is an allotetraploid derived from a single recent polyploidization. Polyploidization has been reported to have caused significant loss in genetic diversity during the domestication of cultivated peanuts. Single nucleotide polymorphism (SNP)-based markers such as cleaved amplified polymorphic sequences (CAPS) derived from next-generation sequencing (NGS) have been developed and widely applied for breeding and genetic research in peanuts. This study aimed to identify the genetic diversity and population structure using 30 CAPS markers and 96 peanut accessions from five different origins. High genetic dissimilarities were detected between the accessions from Korea and those from the other three South American origins generally regarded as the origin of peanuts, while the accessions from Brazil and Argentina presented the lowest genetic dissimilarity. Based on the results of the present study, accessions from Korea have unique genetic variation compared to those from other countries, while accessions from the other four origins are closely related. Our study identified the genetic differentiation in 96 peanut accessions from five different origins, and this study also showed the successful application of SNP information derived from re-sequencing based on NGS technology.