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Number of results: 7
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Abstract

In this paper, we present an optimization mechanism for two popular landmark-based mobile robot visual homing algorithms (ALV and HiSS), called vector pre-assigned mechanism (VPM). VPM contains two branches, both of which can promote the homing performance effectively. In addition, to make the landmark distribution satisfy the equal distance assumption, a landmark optimization strategy is proposed based on imaging principle of the panoramic vision. Experiments on both panoramic image database and a real mobile robot have confirmed the effectiveness of the proposed methods.
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Abstract

Compared with the robots, humans can learn to perform various contact tasks in unstructured environments by modulating arm impedance characteristics. In this article, we consider endowing this compliant ability to the industrial robots to effectively learn to perform repetitive force-sensitive tasks. Current learning impedance control methods usually suffer from inefficiency. This paper establishes an efficient variable impedance control method. To improve the learning efficiency, we employ the probabilistic Gaussian process model as the transition dynamics of the system for internal simulation, permitting long-term inference and planning in a Bayesian manner. Then, the optimal impedance regulation strategy is searched using a model-based reinforcement learning algorithm. The effectiveness and efficiency of the proposed method are verified through force control tasks using a 6-DoFs Reinovo industrial manipulator.
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Abstract

Canine parvovirus (CPV) causes acute gastroenteritis in domestic dogs, cats, and several wild carnivore species. In this study, the full-length VP2 gene of 36 CPV isolates from dogs and cats infected between 2016 and 2017 in Beijing was sequenced and analyzed. The results showed that, in dogs, the new CPV-2a strain was the predominant variant (n = 18; 50%), followed by the new CPV-2b (n = 6; 16.7%) and CPV-2c (n = 3; 8.3%) strains, whereas, among cats, the predominant strain was still CPV-2 (n = 9; 25%). One new CPV-2a strain, 20170320-BJ-11, and two CPV-2c strains, 20160810-BJ-81 and 20170322-BJ-26, were isolated and used to perform experimental infections. Multiple organs of beagles that died tested PCR positive for CPV, and characteristic histopathological lesions were observed in organs, including the liver, spleen, lungs, kidneys, small intestines, and lymph nodes. Experimental infections showed that the isolates from the epidemic caused high morbidity in beagles, indicating their virulence in animals and suggesting the need to further monitor evolution of CPV in China.
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