Coronavirus disease 2019 (COVID-19) is a highly communicable viral infection caused by the Severe Acute Respiratory Syndrome Coronavirus 2 (SARS-CoV2), which has spread rapidly throughout the world. From a computer science point of view, research efforts have focused on the use of approaches such as machine learning and curve fitting to predict or simulate disease behavior. However, the mathematical characterization of the spread of COVID-19 is a topic that has not yet been explored by these techniques. In this work, we propose a novel metaheuristic framework called META-COVID19, which merges the Generalized Boltzmann distribution and the family of Jacobi polynomials to automatically characterize the COVID-19 spread without prior knowledge of the data and without involving a human expert. In general terms, the algorithm receives as input a time series of daily reported cases and the output is a polynomial mathematical model. Our framework only needs a single parameter, which is the number of Jacobi polynomials to analyze during the iterative process, and it is capable of proposing polynomials whose adjustment error is close to 1E-3. Finally, we show the applicability of the polynomial models found by META-COVID19, through a theoretical mathematical analysis in order to know attributes of the spread of COVID-19 in different periods of time, allowing to generate better strategies to face it in the future.
Achieving the highest levels of repeatability and precision, especially in robot manipulators applied in automation manufacturing, is a practical pose-recognition problem in robotics. Deviations from nominal robot geometry could produce substantial errors at the end effector, which can be more than 0.5 inches for a 6 ft robot arm. In this research, a pose-recognition system is developed for estimating the position of each robot joint and end-effector pose using image processing. To generate the joint angle, the system is developed via the modeling of a pose obtained by combining a convolutional neural network (CNN) and a multi-layer perceptron network (MLP). The CNN categorizes the input image generated by a remote monocular camera and generates a classification probability vector. The MLP generates a multiple linear regression model based on the probability vector generated by a CNN and describes the values of each joint angle. The proposed model is compared with the P-n-Perspective problem-solving method, which is based on marker tracking using ArUco markers and the encoder values. The system was verified using a robot manipulator with four degrees of freedom. Additionally, the proposed method exhibits superior performance in terms of joint-by-joint error, with an absolute error that is three units less than that of the computer vision method. Furthermore, when evaluating the end-effector pose, the proposed method showed a lower average standard deviation of 9mm compared with the computer vision method, which had a standard deviation of 13 mm.
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