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- Abarenkov, Kessy, et al.
(author)
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The UNITE database for molecular identification and taxonomic communication of fungi and other eukaryotes: sequences, taxa and classifications reconsidered
- 2024
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In: Nucleic Acids Research. - 0305-1048 .- 1362-4962. ; 52:D1, s. D791-D797
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Journal article (peer-reviewed)abstract
- UNITE (https://unite.ut.ee) is a web-based database and sequence management environment for molecular identification of eukaryotes. It targets the nuclear ribosomal internal transcribed spacer (ITS) region and offers nearly 10 million such sequences for reference. These are clustered into similar to 2.4M species hypotheses (SHs), each assigned a unique digital object identifier (DOI) to promote unambiguous referencing across studies. UNITE users have contributed over 600 000 third-party sequence annotations, which are shared with a range of databases and other community resources. Recent improvements facilitate the detection of cross-kingdom biological associations and the integration of undescribed groups of organisms into everyday biological pursuits. Serving as a digital twin for eukaryotic biodiversity and communities worldwide, the latest release of UNITE offers improved avenues for biodiversity discovery, precise taxonomic communication and integration of biological knowledge across platforms. Graphical Abstract
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- Iagnemma, Karl, et al.
(author)
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Design and Development of an Agile, Man Portable Unmanned Ground Vehicle
- 2008
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In: Proceedings of the 26th Annual Army Science Conference. ; , s. 1-8
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Conference paper (peer-reviewed)abstract
- An omnidirectional unmanned ground vehicle (UGV)is able to move in any planar direction regardless of itscurrent pose. To date, nearly all designs and analyses ofomnidirectional robots have considered the case ofmotion on flat, smooth terrain. This paper presents thedesign, analysis, and prototype development of a manportable omnidirectional UGV designed for operation inrough terrain. Design guidelines are presented that arederived from geometric constraints on wheel and linkagesizes. The effects of terrain roughness and loss of wheelcontact on UGV mobility are also analyzed.Aframework for UGV design optimization is presented thatconsiders vehicle kinematic isotropy, wheel-terraininteraction properties, predicted obstacle traversability,and maximum traversable distance over various outdoorterrain types. The results are used to design two small(i.e. 1m characteristic length), lightweight (i.e.approximately 25 kg) UGV prototypes.
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- Ishigami, G., et al.
(author)
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Multi-material Anisotropic Friction Wheels for Omnidirectional Ground Vehicles
- 2010
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In: <em>Proceedings of the</em> <em>ICAM 5th International Conference on Advanced Mechatronics</em>. ; , s. 658-662
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Conference paper (peer-reviewed)abstract
- In this paper, a novel omnidirectional vehicle with anisotropic friction wheels is presented. The proposed wheel has a series of bendable “nodes” on its circumference, each of which is made of two materials with differing friction properties: one material exhibits high friction, and the other exhibits low friction. The high friction section of the node generates a high traction force, while the low friction section enables the wheel to passively slide. The wheels are arranged such that the robot wheel exhibits high traction in its driving direction (much like a conventional tire), but low traction when sliding laterally. Due to this “anisotropic friction” property, the proposed wheel enables a vehicle to realize omnidirectional motion (i.e. the vehicle can move any direction within the plane—forward, back, or laterally). While many other omnidirectional wheel drives exist, the proposed wheel is simpler than any other existing design because the wheel is composed of a single, moldable element. This paper summarizes the design of the proposed wheel and presents a comparison between a small omnidirectional vehicle that uses the proposed wheel and an omnidirectional vehicle that uses conventional wheels.
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- Ishigami, G., et al.
(author)
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Performance analysis and odometry improvement of an omnidirectional mobile robot for outdoor terrain
- 2011
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In: Proceedings. - Piscataway, N.J. : IEEE Press. - 9781612844541 ; , s. 4091-4096
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Conference paper (peer-reviewed)abstract
- In this paper an omnidirectional mobile robot that possesses high mobility in rough terrain is presented. The omnidirectional robot has four active split offset caster (ASOC) modules, enabling the robot to move in any planar direction. It also possesses passive suspension articulation, allowing the robot to conform to uneven terrain. The agility of the robot is experimentally evaluated in various configurations. In addition, an odometry method that mitigates position estimation error due to wheel slippage is proposed. A key aspect of the proposed method is to utilize sensory data of wheel velocity, and turning rate around each ASOC pivot shaft, along with kinematic constraints of the robot configuration. Experimental odometry tests with different maneuvers in rough terrain are presented that confirm the utility of the proposed method. © 2011 IEEE.
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