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A self-stabilised walking gait for humanoid robots based on the essential model with internal states

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IET Cyber-Systems and Robotics 2022年第4期4卷 283-297页

作者： Qiuyue Luo Christine Chevallereau yongsheng ou Jianxin Pang Victor De-León-Gómez Yannick Aoustin Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhenChina Research Institute of UBTech Robotics ShenzhenChina Laboratoire des Sciences du Numerique de Nantes(LS2N) CNRSCentrale NantesNantes UniversitéNantesFrance FCA at the Univerdidad Autónoma de Coahuila TorreónMéxico

Walking stability is one of the key issues for humanoid robots.A self-stabilised walking gait for a full dynamic model of humanoid robots is *** simplified models,that is,the linear inverted pendulum model and variable-length inverted pendulum model,self-stabilisation of walking gait can be obtained if virtual constraints are properly *** result is extended to the full dynamic model of humanoid robots by using an essential dynamic model,which is developed based on the zero dynamics *** the proposed method,a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically,following its intrinsic dynamic *** exempts the robot from the time-consuming high-level control approaches,especially when a full dynamic model is *** different walking patterns/features(i.e.,the swing foot motion,the vertical centre of mass motion,the switching manifold configuration,etc.)affect the stability of the walking gait is *** are conducted on robots Romeo and TALOS to support the results.

关键词： dynamic stability humanoid and bipedal locomotion passive walking

Impulsive dynamics and stabilization of a single wheel robot

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Engineering Sciences 2011年第1期9卷 76-83页

作者： ou yongsheng Wu Xinyu Xu Yangsheng Department of Mechanical and Automation Engineering The Chinese University of Hong Kong Hong Kong China Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen Guangdong 518055 China

The impulsive motion of a dynamically stabilized robot—Gyrover, which is a single-wheel gyroscopically stabilized robot is studied. A method based on the D’Alembert-Lagrange principle is proposed to develop the impulsive dynamic model of the single wheel robot. This method that can be used to find ways to investigate a single wheel mobile robot rolling on a rough terrain is tested using the experimental platform Gyrover. The conditions of falling over without actuators are addressed. Simulations that validate the analysis are provided as well.

关键词： impulsive dynamics single wheel robot dynamically stabilized system

Summary of the Best Evidence for Preoperative Pre-Rehabilitation in Patients with Lung Cancer Complicated with COPD

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Open Journal of Nursing 2023年第9期13卷 601-614页

作者： Panpan Zheng yongsheng ou Hongting Liu Jinling Li Shanghai Pulmonary Hospital Affiliated to Tongji University Shanghai China Shanghai Baoshan District Hospital of Integrated Traditional Chinese and Western Medicine Shanghai China

Objective: To search, evaluate and integrate the best domestic and foreign evidence on the preoperative pre-rehabilitation of lung cancer patients with COPD, and summarize the best evidence. Methods: Cochrane Library, BMJ Best Practice, JBI Center for International Cooperation in Evidence-Based Health Care Library, and Up to were searched by computer system Date, Embase, CINAHL, PubMed, Evidence-Based Health Care Center Database (JBI), American Guidenet, Global Guidenet, CNKI, CMBM, Wanfang, and VIP databases on preoperative pre-rehabilitation of patients with lung cancer and COPD. Literature screening and quality evaluation were conducted independently by two researchers, and evidence was extracted, summarized and summarized according to the theme. Results: A total of 13 kinds of literature were included, including 4 guidelines, 4 systematic reviews, 3 evidence summaries, and 2 expert consensus articles. This paper summarizes 44 best evidence on pre-rehabilitation of lung cancer patients with COPD, including 8 aspects: pre-rehabilitation content and principle, pre-rehabilitation assessment, exercise rehabilitation, nutrition management, psychological guidance, health education, multidisciplinary cooperation, quality control and follow-up. Conclusion: The best evidence of preoperative pre-rehabilitation for patients with lung cancer complicated with COPD is rich in content, and needs to be selected according to the characteristics of the hospital and the clinical environment. Some of the evidence still needs to be confirmed by higher-quality studies. .

关键词： Lung Cancer COPD Chronic Obstructive Pulmonary Disease Preoperative Pre-Rehabilitation Summary of Evidence

Meta-Analysis of Aspirin for Primary Prevention of Stroke

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Yangtze Medicine 2022年第2期6卷 41-55页

作者： Panpan Zheng Yanjun Mao Xiaoxia Yan Junrong Ding yongsheng ou Shanghai Pulmonary Hospital Affiliated to Tongji University Shanghai China Shanghai Baoshan District Hospital of Integrated Traditional Chinese and Western Medicine Shanghai China

Objective: This paper aims to evaluate the safety and efficacy of aspirin in primary stroke prevention by meta-analysis. Methods: By searching PubMed, Cochrane Library, Embase, MEDLINE, Web of Science, CNKI, China Biomedical Literature Database, VIP Database and Wanfang Database, we collected randomized controlled trials on aspirin for primary prevention of stroke. The retrieval time limit is from the establishment of the database to December 2021. Two researchers independently conducted literature search, screening, data extraction and quality evaluation, and Meta-analysis was performed using RevMan 5.3. Results: A total of 19 articles were included, including 220,636 subjects. Meta-analysis results show that long-term preventive use of aspirin can reduce the incidence of stroke [RR = 0.91, 95% CI (0.85, 0.98), P = 0.009], and reduce the incidence of ischemic stroke [RR = 0.84, 95% CI] (0.77, 0.91), P RR = 0.80, 95% CI (0.72, 0.88), P RR = 0.85, 95% CI (0.75, 0.97), P RR = 1.23, 95% CI (1.04, 1.46), P = 0.01] and gastrointestinal bleeding [RR = 1.62, 95% CI (1.35, 1.93), P RR = 0.97, 95% CI (0.93, 1.02), P = 0.20]. Conclusion: Long-term prophylactic use of aspirin can reduce the overall incidence of stroke, but there is also a risk of bleeding. The advantages and disadvantages of aspirin should be fully evaluated and strict screening should be carried out before medication, which can minimize adverse reactions and improve the safety and effectiveness of aspirin in the primary prevention of stroke.

关键词： Aspirin Stroke Primary Prevention Meta-Analysis

国际油价、世界储蓄和世界投资与世界真实利率

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世界经济研究 2005年第7期 37-41页

作者：欧永生华中科技大学经济学院

本文通过对国际油价、世界储蓄、世界投资与世界真实利率的分析,得出结论认为, 近年来,世界真实利率下降的主要原因在于世界储蓄的增加。世界储蓄增加的原因则在于近年国际油价的大幅上涨,而不是在于世界负债的减少;2004年世界真实利率... 详细信息

本文通过对国际油价、世界储蓄、世界投资与世界真实利率的分析,得出结论认为, 近年来,世界真实利率下降的主要原因在于世界储蓄的增加。世界储蓄增加的原因则在于近年国际油价的大幅上涨,而不是在于世界负债的减少;2004年世界真实利率小幅上升的原因,主要在于世界投资的增长超过了世界储蓄增长。

关键词：国际油价世界储蓄与投资世界真实利率

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课程实施的叙说研究

全球教育展望 2006年第10期35卷 12-19页

作者：欧用生台湾吴凤技术学院

课程实施(curriculum implementation)是课程发展中的重要过程,也是课程研究的重要主题,但它的概念一直未被深究。Aoki(2005)质疑一向未被质疑的根本问题:"如何理解课程实施?"并从现象学、批判理论和后结构主义的观点,企图将"课程实施"... 详细信息

课程实施(curriculum implementation)是课程发展中的重要过程,也是课程研究的重要主题,但它的概念一直未被深究。Aoki(2005)质疑一向未被质疑的根本问题:"如何理解课程实施?"并从现象学、批判理论和后结构主义的观点,企图将"课程实施"再概念化,将它从"工具性的行动"转变为"情境的实践",并强调教师叙说在课程实施上的重要性。本文依据这些理念探讨课程实施的研究方法,并阐述教师叙说在课程实施研究上的意义。全文分为三部分:首先以 Aoki(2005)的课程理论为中心,检讨课程实施为研究;其次分析课程实施的叙说性质,以及教师叙说在课程实施上的应用;最后则邀请教师一起说故事,想像课程实施的可能性。

关键词：课程实施

Summary of the Best Evidence for the Evaluation and Management of Chemotherapy-Related Nausea and Vomiting in Cancer Patients

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Yangtze Medicine 2023年第1期7卷 27-42页

作者： Panpan Zheng yongsheng ou Jinyan Jiang Hongting Liu Xinxia Mo Jinling Li Shanghai Pulmonary Hospital Affiliated to Tongji University Shanghai China Shanghai Baoshan District Hospital of Integrated Traditional Chinese and Western Medicine Shanghai China

Objective: To summarize the best evidence for the evaluation and management of chemotherapy-related nausea and vomiting in cancer patients, so as to promote the standardized management of chemotherapy-related nausea and vomiting in cancer patients. Methods: A computer search was conducted for all evidence on chemotherapy-associated nausea and vomiting interventions, including guidelines, expert consensus, best clinical practice information booklet, recommended practice, evidence summary, and systematic review. The search period is from April 30, 2022. After the literature quality evaluation, the evidence extraction and summary of the literature meeting the quality standards. Results: A total of 16 literatures were included, including 9 guidelines, 5 systematic reviews and 2 expert consensus papers. 46 pieces of best evidence on the assessment and management of chemotherapy related nausea and vomiting in cancer patients were summarized, including 6 aspects including risk assessment and management, non-drug management, drug management, multidisciplinary cooperation, education and training, and health education. Conclusion: This study summarized the current best evidence on the assessment and management of chemotherapy-related nausea and vomiting in cancer patients. Clinical staff should apply evidence according to specific clinical scenarios, professional skills and patients’ wishes in order to reduce the degree and incidence of chemotherapy-related nausea and vomiting in cancer patients and improve the quality of care.

关键词： Cancer Patients Chemotherapy Nausea Vomit Evidence-Based Nursing Summary of Evidence

Dependency Analysis of Input Selection for Learning Human Control Strategy

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Dependency Analysis of Input Selection for Learning Human Co...

2003年中国智能自动化会议

作者： yongsheng ou and Yangsheng Xu Department of Automation and Computer-Aided Engineering The Chinese University of Hong Kong

In this paper, we study the input selection for problem related to the case where high dimension of input variables severely affects the learning control performance. First we carefully select and organize data into new groups. Second, we locally transform a nonlinear mapping problem into an almost linear mapping by using its first-order derivatives. Then, based on this generated linear mapping, we perform an independence analysis for the selected set of features. We utilize the scheme in abstracting human expert skill for controlling a dynamically stabilized robot, and the implementation validates the proposed approach.

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来源： cnki会议评论

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诗性智慧的课程论述

幼儿教育（教育科学） 2006年第12期 4-6页

作者：欧用生吴凤技术学院

诗性智慧是“最深层的个人的活生生的经验”,诗性智慧的课程论述已经成为对抗理性主义课程论的有力武器。人类社会的起源是“诗性的”,诗性智慧包括感性、情绪、想象、热情、创造等方面的能力,这与儿童的天性相契合,应该成为儿童学习的... 详细信息

诗性智慧是“最深层的个人的活生生的经验”,诗性智慧的课程论述已经成为对抗理性主义课程论的有力武器。人类社会的起源是“诗性的”,诗性智慧包括感性、情绪、想象、热情、创造等方面的能力,这与儿童的天性相契合,应该成为儿童学习的主要课程。诗性智慧的课程论述强调利用儿童的这些特质,发挥故事的教育价值,创设体验学习的机会,大力发展儿童的想象力,最终实现儿童的精神解放。诗性智慧的课程论述将为我国的幼儿园教育教学实践注入活力。

关键词：诗性诗性智慧课程