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Biodiversity research is rapidly accelerated by low-coverage sequencing of total genomic DNA (genome skimming). This technique can simultaneously recover the plastid, mitochondrial, and nuclear regions across hundreds of species. PhyloHerb is a command-line-based tool that can efficiently assemble phylogenomic data sets derived from genome skimming. The poster introduces the algorithm and performance of PhyloHerb.

Vehicle pose estimation is one of the most essential functions for the clamping parking robot. In order to detect the parameter information of a car accurately, laser scanners are used widely for their highly precise distance measurements. However, the price of laser scanners, especially 3D laser scanners, is usually very expensive, and the pose estimating algorithm is complex. In this paper, an innovative vehicle pose estimation system based on pressure sensor array is proposed. In order to improve the estimation accuracy, a rectangle fitting based on the least square method are applied. The suggested algorithm is simple and effective, it can not only estimate the pose of a car, but also achieve the parameters of wheel width, wheel tread, wheel base, weight and gravity center position. In addition, whether the steering wheel is back can also be detected. All the information above is important for clamping parking robot. What is more, it's much cheaper than laser scanners. In order to verify the algorithm, two experiment prototypes were built. The results proved that the proposed system provides an effective method of vehicle pose estimation for clamping parking robot.

In order to meet the requirement of assisting the lower extremity exoskeleton in different scenes, a knee exoskeleton elastic driver with clutch structure was proposed. By applying screw pressure and combining with corresponding braking mechanism, the actuators could assist the lower extremity exoskeleton in different scenes. The dynamics of the clutch device is studied and the mathematical physical model is established. ln order to select a suitable friction plate, the clutch braking force test was carried out. lt provides a theoretical basis for the design of the lower extremity assisted exoskeleton actuator.

In order to help the people with lower extremity dyskinesia work and live in a better way, a self-care assistive robot is proposed in this paper. The robot mainly consists of a flexible moving chassis, an adjustable seat, a step training mechanism, a lifting arm and an electrical control system. Compared with traditional walking AIDS, such as wheelchairs, the ideal objective of the robot is that it can assist users to independently complete daily activities, such as getting in and out bed, going to the toilet, rehabilitation training, outdoor travel and shopping in supermarkets without the help of other people, so that users can basically take care of themselves and their living quality has been greatly improved. In particular, the user can perform all the operations with one hand alone, which is very beneficial for patients with hemiplegia. The experimental results show that, the principle prototype basically realized the functions of assistive standing up, sitting pose adjustment, assistive sitting down and step training, which laid a foundation for the further optimization work.

This paper brings forwards a new Auto-docking charging method for the mobile robot based on infrared and ultrasonic sensors. The auto docking process can be divided into three sections: wall following, coarse positioning and accurate positioning. The method involves two devices: one device installed on a mobile robot includes two infrared receivers, at least two ultrasonic transceivers and a RF transceiver; the other one fixed on a charging pile contains an infrared transmitter, two ultrasonic transmitters and a RF transceiver. As usual, a wall following algorithm and the infrared sensors are used to help the mobile robot find rough direction of the charging pile. An adaptive square-root unscented Kalman filter (ASUKF) with several ultrasonic measurements are used to obtain precise relative pose in this paper. In order to reduce the dimension of the system and the computational complexity, an innovative master-slave filter structure is designed. The simulation results show that, this method is feasible and effective, and also can satisfy the demands of auto-docking charging for the mobile robot.

The seminal work of Chow and Liu (1968) shows that approximation of a finite probabilistic system by Markov trees can achieve the minimum information loss with the topology of a maximum spanning tree. Our current paper generalizes the result to Markov networks of tree width $\leq k$, for every fixed $k\geq 2$. In particular, we prove that approximation of a finite probabilistic system with such Markov networks has the minimum information loss when the network topology is achieved with a maximum spanning $k$-tree. While constructing a maximum spanning $k$-tree is intractable for even $k=2$, we show that polynomial algorithms can be ensured by a sufficient condition accommodated by many meaningful applications. In particular, we prove an efficient algorithm for learning the optimal topology of higher order correlations among random variables that belong to an underlying linear structure., Comment: 18 pages main text, 2 pages appendix