Trajectory generation and steering optimization for self-assembly of a modular robotic system

Abstract-A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states. The constraint properly aligns the docking mechanism, allowing modules to connect with one another along wheel surfaces. This paper presents an initial method for generating trajectories and control inputs that allow module assembly. It also provides an iterative method for locally optimizing a nominal control function using weighted perturbation functions, while preserving the final pose and internal states

Разработка системы управления электротехнологической установкой на основе беспроводного интерфейса

Развитие микроконтроллерной техники дает возможность создать беспроводное устройство управления ЭТУ, которое позволило бы решить ряд проблем, возникающих в проводных системах, и сделало бы работу оператора более комфортной и безопасной. Объектом исследования является система беспроводного управления макетом электротехнологической установки (ЭТУ). Цель работы – разработка беспроводной системы управления макетом ЭТУ. В результате исследования была разработана работоспособная система управления ЭТУ состоящая из интерфейса управления и макета ЭТУ.The development of microcontroller technology makes it possible to create a wireless control device for an electrical installation, which would solve a number of problems arising in wired systems, and would make the operator's work more comfortable and safe. The object of the research is the system of wireless control of the layout of the electrotechnological installation of the electrotechnical installation. The purpose of the work is to develop a wireless control system for the layout of an electrotechnical installation. As a result of the study, a workable control system for an electrical installation was developed, consisting of a control interface and a model for an electrical installation

Polymorphisms of the prion protein gene and their effects on litter size and risk evaluation for scrapie in Chinese Hu sheep

It is well known that scrapie is a fatal, neurodegenerative disease in sheep and goat, which belongs to the group of transmissible spongiform encephalopathies (TSEs) or prion diseases. It has been confirmed that the polymorphisms of prion protein gene (PRNP) at codons 136, 154, and 171 have strong relationship with scrapie in sheep. In the present study, nine polymorphisms of PRNP at codons 136, 154, and 171 and other six loci (at codons 101, 112, 127, 137, 138, and 152) were detected in 180 Chinese Hu sheep. All the alleles at codons 136, 154, and 171 have been identified and resulted in three new genotypes. The frequencies of predominant alleles were 85% (A136), 99.40% (R154), and 37.78% (Q171), respectively. The predominant haplotype ARQ has a relatively high frequency of 57.77%. The frequencies of dominant genotypes of ARR/ARQ and ARQ/ARQ were 30 and 26.67%, respectively. Three new found genotypes named ARQ/TRK, ARQ/TRR, and TRR/TRQ had the same lower frequencies (0.56%). The relationship of PRNP genotype with scrapie risk and litter size showed that the predominant genotypes are corresponded to the risk score of R1 (1.67%), R2 (32.22%), and R3 (42.22%). Just at the first parity, the individuals with ARH/ARH genotype had significantly larger litter size than the mean value and those with ARQ/ARQ and ARR/ARQ genotypes. In short, this study provided preliminary information about alleles and genotypes of PRNP in Chinese Hu sheep. It could be concluded that Hu sheep has a low susceptibility to natural scrapie, and the predominant PRNP genotype at least has no significant effect on litter size

Tularaemia seroprevalence of captured and wild animals in Germany: the fox (Vulpes vulpes) as a biological indicator

A total of 2475 animals from Germany, both captive and wild, were tested for antibodies against Francisella tularensis to obtain more knowledge about the presence of this pathogen in Germany. An indirect and a competitive ELISA served as screening methods, positive and inconclusive samples were confirmed by Western blot. Of the zoo animals sampled between 1992 and 2007 (n = 1122), three (0·3%) were seropositive. The seroconversion of a hippopotamus in Berlin Zoo was documented. From 1353 serum samples of wild foxes (Vulpes vulpes), raccoon dogs (Nyctereutes procyonoides) and wild boars (Sus scrofa), collected between 2005 and 2009 in the federal state of Brandenburg (surrounding Berlin), a total of 101 (7·5%) tested positive for antibodies to F. tularensis lipopolysaccharide. Our results indicate a higher seroprevalence of F. tularensis in wildlife in eastern Germany than commonly assumed. Furthermore, we found foxes and raccoon dogs to be biological indicators for tularaemia

Tularaemia seroprevalence of captured and wild animals in Germany: The fox (<em>Vulpes vulpes</em>) as a biological indicator.

A total of 2475 animals from Germany, both captive and wild, were tested for antibodies against Francisella tularensis to obtain more knowledge about the presence of this pathogen in Germany. An indirect and a competitive ELISA served as screening methods, positive and inconclusive samples were confirmed by Western blot. Of the zoo animals sampled between 1992 and 2007 (n=1122), three (0.3%) were seropositive. The seroconversion of a hippopotamus in Berlin Zoo was documented. From 1353 serum samples of wild foxes (Vulpes vulpes), raccoon dogs (Nyctereutes procyonoides) and wild boars (Sus scrofa), collected between 2005 and 2009 in the federal state of Brandenburg (surrounding Berlin), a total of 101 (7.5%) tested positive for antibodies to F. tularensis lipopolysaccharide. Our results indicate a higher seroprevalence of F. tularensis in wildlife in eastern Germany than commonly assumed. Furthermore, we found foxes and raccoon dogs to be biological indicators for tularaemia