A5066480152- Bird parasitology and diseases
- Vector-borne infectious diseases
- Avian ecology and behavior
- Viral Infections and Vectors
- Robot Manipulation and Learning
- Robotic Mechanisms and Dynamics
- Robotic Path Planning Algorithms
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Space Satellite Systems and Control
- Forest ecology and management
- Vector-Borne Animal Diseases
- Hate Speech and Cyberbullying Detection
- Neurogenetic and Muscular Disorders Research
- Misinformation and Its Impacts
- Animal Behavior and Reproduction
- Study of Mite Species
- Astro and Planetary Science
- Heavy metals in environment
- Lepidoptera: Biology and Taxonomy
- Mathematical Approximation and Integration
- Soft Robotics and Applications
- AI-based Problem Solving and Planning
- Spider Taxonomy and Behavior Studies
- Orthoptera Research and Taxonomy
Bulgarian Academy of Sciences
2015-2024
Institute of Biodiversity and Ecosystem Research
2015-2024
Institute of Oceanology
2024
Medical University of Sofia
2023
University of Mining and Geology "Saint Ivan Rilski"
2023
Stephan Angeloff Institute of Microbiology
2021-2022
Forest Research Institute
2014-2022
Sofia University "St. Kliment Ohridski"
2022
National Museum of Natural History
2012-2019
Centre Inria de l'Université Grenoble Alpes
2015-2017
The goal of this paper is to demonstrate the capacity model predictive control (MPC) generate stable walking motions without use predefined footsteps. Building up on well-known MPC schemes for motion generation, we show that a minimal modification these allows designing an online generator can track given reference speed robot and decide automatically footstep placement. Simulation results are proposed HRP-2 humanoid robot, showing significant improvement over previous approaches.
Building on previous propositions to generate walking gaits online through the use of linear model predictive control, goal this paper is show that it possible allow top a continuous adaptation positions foot steps, allowing generation stable even in presence strong perturbations, and additional requires only minimal modification schemes, especially maintaining same form. Simulation results are proposed then HRP-2 humanoid robot, showing significant improvement over schemes.
We propose a constraint-based approach to address class of problems encountered in combined task and motion planning (CTAMP), which we call kinematically constrained problems. CTAMP is hybrid process geometric reasoning are interleaved. During this process, symbolic action sequences generated by planner geometrically evaluated. This evaluation search problem per se, refer as backtrack search. In problems, significant computational effort spent on search, impairs at the level. At basis our...
A crucial part in biped walking motion generation is to ensure dynamic feasibility, which takes the form of a nonlinear constraint general case. Our proposition bound feasibility between some properly chosen extreme values. Making sure that this satisfied for values guarantees its satisfaction all possible between. This follows classical approach from robust control theory, consider dynamical system as specific selection time-invariant Linear Differential Inclusion. As result, can be imposed...
Abstract We used a nested PCR protocol to examine the genetic diversity of cytochrome b (cyt b) lineages from blood parasites genera Plasmodium and Haemoproteus in birds Bulgaria. In total, 460 43 species 14 families (mostly passerines) were examined for presence infections. Of them, 267 recognised as infected with haemosporidian parasites. Mixed infections recorded 24 individuals (9%). Besides mix infections, 114 (43%) positive spp. 129 (48%) identified 52 parasites: 38 Plasmodium. Twelve...
Knowing the genetic variation that occurs in pathogen populations and how it is distributed across geographical areas essential to understand parasite epidemiology, local patterns of virulence, evolution host‐resistance. In addition, important identify pathogens are evolutionarily independent thus ‘free’ adapt hosts environments. Here, we investigated globally distributed, highly invasive avian malaria Plasmodium relictum , which has several distinctive mitochondrial haplotyps (cyt b...
Experimental work increasingly suggests that non-random pathogen associations can affect the spread or severity of disease. Yet due to difficulties distinguishing and interpreting co-infections, evidence for presence directionality co-occurrences in wildlife is rudimentary. We provide empirical by analysing infection matrices avian malaria (Haemoproteus Plasmodium spp.) parasitic filarial nematodes (microfilariae) wild birds (New Caledonian Zosterops spp.). Using visual genus-specific...
In this article, we address the problem of realizing a complete efficient system for automated management fleets autonomous ground vehicles in industrial sites. We elicit from current practice and scientific state art key challenges related to transport environments relate them enabling techniques perception, task allocation, motion planning, coordination, collision prediction, control. propose modular approach based on least commitment, which integrates all modules through uniform...
This paper deals with problems related to the capture of a tumbling satellite by space robot. The minimization base attitude deviation before and after contact target is discussed from viewpoint angular momentum distribution. By using bias approach during approaching phase, impedance control impact, distributed post-impact we propose possible sequence for successful completion capturing operation
The combination of task and motion planning presents us with a new problem that we call geometric backtracking. This arises from the fact single symbolic state or action may be geometrically instantiated in infinitely many ways. When cannot validated, need to backtrack space configurations, which greatly increases complexity whole process. In this paper, address using intervals represent constraint propagation techniques shrink these according constraints problem. After propagation, either...
Plasmodium polymorphum n. sp. (Haemosporida, Plasmodiidae) was found in the skylark, Alauda arvensis (Passeriformes: Alaudidae), during autumnal migration southern Italy. This organism is illustrated and described based on morphology of its blood stages. The most distinctive feature this malaria parasite clear preference stages (trophozoites, meronts, gametocytes) for immature red cells, including erythroblasts. Based erythrocytic meronts P. similar to species subgenus Huffia. can be readily...
Haemoproteus parasites are widespread, and several species cause diseases both in birds blood-sucking insects. These pathogens transmitted by dipterans belonging to the Ceratopogonidae Hippoboscidae, however certain vector remain unknown for majority of spp. Owls often infected parasites, but experimental studies on vectors these infections lacking. The aim this study was investigate sporogonic development two widespread owls, H. noctuae syrnii experimentally biting midges Culicoides...
This article addresses the real-time implementation issues of a model predictive control based walking pattern generation for humanoid robot. We approximate multibody dynamic with linear discrete time system, and at each step solve quadratic program in order to keep output within predefined set constraints. The focus is on creating an efficient framework forming solving underlying optimization problem. For that purpose we develop: a) reliable guess active constraints optimality; b) fast way...
Blood parasites (Haemosporidia) are thought to impair the flight performance of infected animals, and therefore, birds expected differ from their non-infected counterparts in migratory capacity. Since haemosporidians invade host erythrocytes, it is commonly assumed that individuals will have compromised aerobic capacity, but this has not been examined free-living birds. We tested if haemosporidian infections affect by examining metabolic rates exercise endurance great reed warblers (...
We introduce a novel multilingual hierarchical corpus annotated for entity framing and role portrayal in news articles. The dataset uses unique taxonomy inspired by storytelling elements, comprising 22 fine-grained roles, or archetypes, nested within three main categories: protagonist, antagonist, innocent. Each archetype is carefully defined, capturing nuanced portrayals of entities such as guardian, martyr, underdog protagonists; tyrant, deceiver, bigot antagonists; victim, scapegoat,...
This paper presents a new strategy for capturing free floating satellite initially having angular momentum. The main focus is on the base attitude before, during and after catch. We use joint space orthogonal decomposition procedure involving so-called reaction null pre-impact post-impact phases. idea of preloading bias momentum in robot system discussed. Furthermore, we show that if proper post impact control utilized deviation can be minimized.
Abstract Many biting midges of the genus Culicoides L atreille, 1809 ( D iptera: C eratopogonidae) are competent vectors a diverse number pathogens. The identification their feeding behaviour and vector–host associations is essential for understanding transmission capacity. By applying two different nested polymerase chain reaction PCR ) assays, which one targeted avian cyt b gene other COI wide range vertebrates, we identified blood hosts six midge species including circumscriptus ,...
Detailed knowledge about claw formation and growth rate is a prerequisite for the interpretation of avian stable isotopes, as commonly done with feather isotopes to e.g. infer habitat use, dietary specialisations, spatial occurrence. In this study, we provide basic information empirical evidence time scale archiving isotopic develop reliable assessment archived pattern in claws passerines. Avian grow conically from tip bone phalanx. The length an claw, suitable isotope analysis, 42 ± 6.8%...