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On Bangu’s Comment “Many Old‐text Book of Shang Is in the Record of History”
( Ma Nan ) 성균관대학교 유교문화연구소 2013 儒敎文化硏究(中文版) Vol.0 No.19
《漢書·儒林傳》稱:“遷書載《堯典》、《禹貢》、《洪範》、《微子》、《金縢》諸篇多古文說”。“班固所謂”“多古文說”者,言《史記》載《尙書》本伏生以來今文說,自不待言;因孔安國起其家逸書,史遷從而問故,於是《堯典》以下五篇兼采古文說。采摭數條卽可稱“多古文說”,而篇次大義、文句釋義同伏生說則不言而喩,班書擧其難明,省其易曉。段玉裁、臧庸、陳壽祺、陳喬樅、皮錫瑞皆明其意。惜孫星衍《尙書今古文注疏》出江聲、王鳴盛、段玉裁三家之後,得享盛譽,學者多從其說而不辨其失;今人承孫氏之誤,引《漢書》此句,以爲《史記》述《尙書》用孔壁古文《尙書》及孔安國說。兹歷擧《堯典》等五篇今古文《書》說之異,及馬遷“古文說”,則《史記》述《尙書》係古文說、或與今文說小異者,《堯典》一、《禹貢》二、《鴻範》三、《微子》一、《金縢》一,班書所謂”多古文說”,不過如此。 Biographies of scholars in The history of the Han Dynasty (《漢書·儒林傳》) said, Records of the Historian (Shi Ji, 《史記》) had cited five sections in The Book of Historical Documents (Shang Shu《尚書》) : Yao Dian(《堯典》), Yu Gong (《禹貢》), Hong Fan (《洪範》), Wei Zi (《微子》) and Jin Teng (《金縢》 ), which had a lot of content from “Old Text” Shang Shu. It means that the foundation of the Shi Ji citing Shang Shu is the “New Text” Shang Shu, which was inherited from FuSheng (伏生). This was a commonsense in scholars of Han Dynasty. After the discovery of “Old Text” Shang Shu from Confucius’s old house, KongAnGuo (孔安國) researched these unearthed literature, and then SiMaQian (司馬遷) had an experience of learning with KongAnGuo. So the Shi Ji citing Shang Shu had also used the literatures of “Old Text” Shang Shu. Although in fact it only used a few points of “Old Text” Shang Shu, and the orders and main ideas of it’s chapters and paragraphs and the textual's explanations were consistent with “New Text” Shang Shu, but for scholars in that time, they could also think that Shi Ji “had a lot of content from ‘Old Text’ Shang Shu”. BanGu (班固) omitted the commonsense, and recorded the fact which had been noticed by relatively few people. Qing scholars, such as DuanYuCai (段玉裁), ZangYong (臧庸), ChenShouQi (陳壽祺), ChenQiaoCong (陳喬樅), PiXiRu (皮錫瑞), understood the fact, but SunXingYan (孙星衍) misunderstood the point. SunXingYan published his book the Research on “New Text” Shang Shu and “Old Text” Shang Shu (《尚書今古文注疏》) after DuYuCai, and his book gain a great reputation in academia. After that, Scholars often refers to SunXingYan’s point without in-depth analysis. Based on SunXingYan’s point, they subjectively think that the Shi Ji citing Shang Shu used the “Old Text” Shang Shu and the KongAnGuo’s points of view. This paper analyzes the difference between “New Text” Shang Shu and “Old Text” Shang Shu in five sections(Yao Dian, Yu Gong, Hong Fan, Wei Zi and Jin Teng), and enumerate all cases that Shi Ji had really cited the “Old Text” Shang Shu: there were only one point in Yao Dian ; two point in Yu Gong; three point in Hong Fan; one point in Wei Zi ; and one point in Jin Teng, that’s the true meaning of what BanGu said Shi Ji citing Shang Shu “had a lot of content from ‘Old Text’ Shang Shu”. [Article in Chinese]
Manan Liang,Dejian Zhou 한국정밀공학회 2022 International Journal of Precision Engineering and Vol.23 No.2
This paper proposes a nonlinear friction identification method for friction compensation in servo-driven mechanisms. The proposed identification method captures the nonlinear Stribeck effect at low velocity which exacerbates the degradation on accuracy performance. Without the requirement of closed loop scheme, the proposed method approximates the friction along a specific stroll with Stribeck model in least squares sense, utilizes a separable least squares (SLS) approach for nonlinear optimization, uses the kinematic orthogonal property (KOP) to avoid inertial force estimation, and takes the features: (1) Computational cost is considerably reduced compared with conventional least squares approaches. (2) It identifies the friction model parameters without any inertial information, and noise introduced by acceleration estimation is avoided. (3) It can be implemented under open loop scheme which does not require controller tuning like most of other identifications do. Component-wise sensitivity analysis is also applied to evaluate the derivation of the model parameters. Additionally this identification method of combining SLS and KOP can also be generalized to other nonlinear mechanical systems while keeping these favorable features. The proposed method is implemented on the friction compensation in the feed drive control of a machine tool. The accuracy of the identified Stribeck model is evaluated and the compensation performance with implementation feasibility considered is validated by experimental comparisons.
환자와 로봇의 모델 불확도를 고려한 상지재활로봇의 채터링 없는 슬라이딩 모드 제어
압둘 마난 칸(Abdul Manan Khan),윤덕원(Deok-Won Yun),한창수(Changsoo Han) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.5
Need to develop human body’s posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.
장혜연,지영훈,한정수,Abdul Manan Khan,안재용,한창수 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
In this study, we developed a wearable robot operating on the external skeleton to support the movements of a weak person’s upper limbs, mainly 3-degree of freedom (DOF) of the shoulder, 1-degree of freedom of the elbow. Moreover, we applied a redundant degree of freedom to design an upper extremities wearable robot that accurately follows the movement of the upper limbs. Namely, we applied 4 driving parts to the robot to enable 3-degree of freedom for shoulders by optimizing the conformance between the links and body movement range. The optimal design which minimizes error where the robot and the body is adjusted, improves wear sensation and signal input. We attached a multi-axes load-cell to generate motion intent signals detecting the movements of the body. According to the EMG signal measurements when moving the upper limbs with the robot on, the RMS value decreased compared to that without the robot. This is due to the decrease in muscle activity, which results from using smaller muscular strength. That is to say, when comparing the same movements, the person wearing the robot used less muscular strength with the help of the robot. Also through SEF50 analysis of the EMG signals, we were able to verify that the muscle fatigue lessened.