Robotic Perception-motion Synergy for Novel Rope Wrapping Tasks

This paper introduces a novel and general method to address the problem of using a general-purpose robot manipulator with a parallel gripper to wrap a deformable linear object (DLO), called a rope, around a rigid object, called a rod, autonomously. Such a robotic wrapping task has broad potential applications in automotive, electromechanical industries construction manufacturing, etc., but has hardly been studied. Our method does not require prior knowledge of the physical and geometrical properties of the objects but enables the robot to use real-time RGB-D perception to determine the wrapping state and feedback control to achieve high-quality results. As such, it provides the robot manipulator with the general capabilities to handle wrapping tasks of different rods or ropes. We tested our method on 6 combinations of 3 different ropes and 2 rods. The result shows that the wrapping quality improved and converged within 5 wraps for all test cases

A New Neumann Series Method for Solving a Family of Local Fractional Fredholm and Volterra Integral Equations

We propose a new Neumann series method to solve a family of local fractional Fredholm and Volterra integral equations. The integral operator, which is used in our investigation, is of the local fractional integral operator type. Two illustrative examples show the accuracy and the reliability of the obtained results

The Research of Population Genetic Differentiation for Marine Fishes (Hyporthodus septemfasciatus) Based on Fluorescent AFLP Markers

Hyporthodus septemfasciatus is a commercially important proliferation fish which is distributed in the coastal waters of Japan, Korea, and China. We used the fluorescent AFLP technique to check the genetic differentiations between broodstock and offspring populations. A total of 422 polymorphic bands (70.10%) were detected from the 602 amplified bands. A total of 308 polymorphic loci were checked for broodstock I (Pbroodstock I = 55.50%) coupled with 356 and 294 for broodstock II (Pbroodstock II = 63.12%) and offspring (Poffspring = 52.88%), respectively. The levels of population genetic diversities for broodstock were higher than those for offspring. Both AMOVA and Fst analyses showed that significant genetic differentiation existed among populations, and limited fishery recruitment to the offspring was detected. STRUCTURE and PCoA analyses indicated that two management units existed and most offspring individuals (95.0%) only originated from 44.0% of the individuals of broodstock I, which may have negative effects on sustainable fry production