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Jumping motion planning for biped robot based on hip and knee joints coordination control
Yongming Bian,Jie Shao,Jixiang Yang,Ao Liang 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.3
This paper proposes a method of hip and knee joints coordination control planning based on virtual force. Firstly, the kinematic model of biped robot is established according to the physiological structure of human body. Secondly, the kinematics equation is established based on the jumping motion characteristics of the hip and knee joints, and the motion angles and angular velocities of the hip and knee joints are solved by inverse kinematics. Then, in order to optimize the motion posture, balance the driving power of the joints, and reduce the driving burden of the knee joint, a coordinated hip-knee joint control strategy and its implementation method for biped robot jumping motion are proposed based on virtual force control method. Finally, the effectiveness of the proposed method is verified by comparing and analyzing the simulation data of biped robot with the measurement data of human motion.
Yongming Hu,Yu Wang,Haoshuang Gu,Rongxin Wang,Xiaoming Tao 한국물리학회 2011 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.58 No.41
A simple hydrothermal approach for coating of Zn_(1−x)Al_xO nanocrystals on cotton fabrics was developed. The phase, microstructures, and the ultraviolet protection properties of the samples were characterized by using X-ray diffraction (XRD), scanning electron microscopy (SEM) and ultraviolet-visible spectrophotometry. The results showed that for 2 and 4 atom% Al-doped ZnO, a large number of small particles with diameters of 50 ∼ 300 nm was obtained, which provided excellent protection from solar irradiation, and that the UV-blocking property of the fabric could be improved by increasing the Al-doping in ZnO. In addition, the cotton fabric coated with Aldoped ZnO nanoparticles showed surface-enhanced Raman scattering properties, which might have been caused by a charge-transfer resonance.
A note on multilinear pseudo-differential operators and iterated commutators
Yongming Wen,Huoxiong Wu,Qingying Xue 대한수학회 2020 대한수학회보 Vol.57 No.4
This paper gives a sparse domination for the iterated commutators of multilinear pseudo-differential operators with the symbol $\sigma$ belonging to the H\"ormander class, and establishes the quantitative bounds of the Bloom type estimates for such commutators. Moreover, the $C_p$ estimates for the corresponding multilinear pseudo-differential operators are also obtained.
Asymptotic normality of wavelet estimator for strong mixing errors
Li Yongming,Guo jianhua 한국통계학회 2009 Journal of the Korean Statistical Society Vol.38 No.4
In this paper, we consider a non-parametric fixed design regression model based on strong mixing sequences. We use a new tool presented in the literature recently for the weighted sum estimate, and establish the asymptotic normality of a wavelet estimator for an unknown regression function.
A NOTE ON MULTILINEAR PSEUDO-DIFFERENTIAL OPERATORS AND ITERATED COMMUTATORS
Wen, Yongming,Wu, Huoxiong,Xue, Qingying Korean Mathematical Society 2020 대한수학회보 Vol.57 No.4
This paper gives a sparse domination for the iterated commutators of multilinear pseudo-differential operators with the symbol σ belonging to the Hörmander class, and establishes the quantitative bounds of the Bloom type estimates for such commutators. Moreover, the C<sub>p</sub> estimates for the corresponding multilinear pseudo-differential operators are also obtained.
Studies on the Evaluation Method for Small and Medium Enterprises’ EPR Project Risks
Li-Yongming 보안공학연구지원센터 2016 International Journal of u- and e- Service, Scienc Vol.9 No.4
This paper explains the studies of recent years on development of EPR system and the project risk and then illustrates respectively the external risks and internal risks of EPR project based on the theory. Taking the EPR project of G company the author actually took part in as an example, the author firstly applies fuzzy evaluating method to evaluate project risks and draw a clear distinction between the primary and the secondary to achieve overall evaluation for project risk. And then the author worked out a plan for the main risks of the project and applied multiple management methods to control. And in practical implementation steps, the author implemented management method in every segment and did supervising and controlling to gain the lowest negative influence resulting from risks. Lastly, the author concluded the effects of risks management, learned lessons and proposed perspectives.
전라남도 노인공동생활가정의 물리적 주거생활환경 개선에 관한 연구
양영명(Yang Yongming),정금호(Kum-Ho Chung) 한국주거학회 2018 한국주거학회 학술대회논문집 Vol.30 No.2
Housing is a container for human daily life, and it is the most basic environment that has been created to achieve the quality of life, also it has a greater significance to the elderly than the ordinary public. Elderly residential welfare facilities are divided into nursing homes, elderly group-home in partnership, and welfare facilities. This subject focused at all the elderly group-home live in Jeollanamdo. The elderly group-home improment plans by analyze the architectural characteristics, safety, convenience, and comfort of residential environment. This subject were based on actual surveys from September 27, 2018 to October 5, 2018. The results of the survey and research are as bellows. First, the security and convenience of access to rooms space needs to be improved. Second, for an elderly person with physical activity, the toilet and the safety features (none-slip tread, emergency bell) need to be improved. Third, considering the elderly with poor mobility and adaptability, the connection of each space needs to be accessible. Fourth, given the convenience of the facility, the handle of the doors and windows needs to be adjusted so that it can be used. Fifth, the lighting in the bedroom is directly related to the health of the elderly, so it needs to head the south. Sixth, the colour of the elderly living space planning needs to be improved.
GaN nanorods gas sensor for highly sensitive n-butanol detection at room temperature
Shuai Han,Yongming Fu,Donghui Li,Dan Han,Qinjun Sun 대한금속·재료학회 2023 ELECTRONIC MATERIALS LETTERS Vol.19 No.3
Safe and effi cient detection of hazardous n-butanol gas is very great signifi cance to the health of workers and researchers inchemical environments. In this work, we successfully developed a GaN gas sensor by a simple solvothermal method and alow-temperature nitridation process. Material characterization results show that one-dimensional nanorods structures wereobtained and the products presented a superior growth orientation along with (101) plane. The gas sensing test results showthat the sensor exhibits excellent responsivity, repeatability, and selectivity to n-butanol at room temperature. The responseand recovery time of the sensor to 200 ppm n-butanol gas was 45 s/34 s. Gas adsorption model and electron depletion layertheory were established to understand the n-butanol sensing mechanism. This work provides the possibility for its realapplication in n-butanol detection with safe and effi cient at room temperature.
Peng Xu,Yongming Li,Shaocheng Tong 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.7
This paper investigates the problem of fuzzy adaptive finite-time fault tolerant control (FTC) for a classof multi-input and multi-output (MIMO) nonlinear systems with actuator failure. In control design, the fuzzylogic systems (FLSs) are adopted to identify the unknown nonlinear functions and a state observer is constructedto estimate the unmeasurable states. By combining dynamic surface control (DSC) technique with backsteppingdesign, a novel finite-time fuzzy adaptive FTC strategy is proposed based on fault-tolerant control technique toovercomes the “explosion of complexity” problem. The presented control method demonstrates that all signals ofthe closed-loop system are semi-global practical finite-time stability (SGPFS), and the tracking errors converge to asmall neighborhood of zero in a finite time. Finally, a numerical example is provided to illustrate the effectivenessof the presented control method.