Robotic Assembly Control Reconfiguration Based on Transfer Reinforcement Learning for Objects with Different Geometric Features

Robotic force-based compliance control is a preferred approach to achieve high-precision assembly tasks. When the geometric features of assembly objects are asymmetric or irregular, reinforcement learning (RL) agents are gradually incorporated into the compliance controller to adapt to complex force-pose mapping which is hard to model analytically. Since force-pose mapping is strongly dependent on geometric features, a compliance controller is only optimal for current geometric features. To reduce the learning cost of assembly objects with different geometric features, this paper is devoted to answering how to reconfigure existing controllers for new assembly objects with different geometric features. In this paper, model-based parameters are first reconfigured based on the proposed Equivalent Theory of Compliance Law (ETCL). Then the RL agent is transferred based on the proposed Weighted Dimensional Policy Distillation (WDPD) method. The experiment results demonstrate that the control reconfiguration method costs less time and achieves better control performance, which confirms the validity of proposed methods

Modulation of Host Antiviral Innate Immunity by African Swine Fever Virus: A Review

African swine fever (ASF), caused by African swine fever virus (ASFV), is a highly contagious and fatal disease found in swine. However, the viral proteins and mechanisms responsible for immune evasion are poorly understood, which has severely hindered the development of vaccines. This review mainly focuses on studies involving the innate antiviral immune response of the host and summarizes the latest studies on ASFV genes involved in interferon (IFN) signaling and inflammatory responses. We analyzed the effects of candidate viral proteins on ASFV infection, replication and pathogenicity and identified potential molecular targets for novel ASFV vaccines. These efforts will contribute to the construction of novel vaccines and wonder therapeutics for ASF