Accurate dynamic modeling and external force estimation are crucial for high-precision robot control and applications. However, model incompleteness and external disturbances inevitably lead to a residual between the actual joint torque and the torque calculated by the identified dynamic model. To address this, this paper proposes a hierarchical fusion framework. First, a multi-layer perceptron neural network (MLPNN) is employed to systematically compensate for these joint torque residuals. Subsequently, a generalized momentum-based third-order external force observer is designed to enhance the accuracy of estimating external forces acting on the manipulator. This approach retains the interpretability inherent in physics-based models while augmenting generalization capability through data-driven correction. The advantages of the third-order external force observer are substantiated via comparative analysis with first- and second-order observers on a Simulink simulation platform using a 2-DOF planar manipulator. Furthermore, the effectiveness of the proposed method was validated through a dragging experiment conducted on a 6-DOF manipulator without end-effector force/torque sensor, demonstrating its performance in practical applications.

This study aimed to provide strategies to optimize the prevention and control measures of echinococcosis in Gansu Province. Based on the transmission mechanism of echinococcosis, a System Dynamics (SD) model of echinococcosis in Gansu Province was established using Vensim software. Through this model, parameters such as vaccination coverage, domestic dog deworming coverage, slaughter management level, and health education level were adjusted to predict the changing trends in the number of human cases and infected sheep. The results showed that the number of human cases was most sensitive to the adjustment of health education level, followed by changes to vaccination coverage. The number of infected sheep was most sensitive to the adjustment of vaccination coverage, followed by the adjustment of slaughter management level. Based on these simulation results, the prevention and control measures for echinococcosis in Gansu Province were further optimized. The results showed that if the health education level and the vaccination coverage were increased by 50% and 40%, respectively, based on the current prevention and control levels, the number of human cases would approach zero by approximately 2026. When the vaccination coverage and slaughter management level increased by 60% and 45%, respectively, based on current prevention and control levels, the number of infected sheep would approach zero by approximately 2027. This study applied the SD method to the prevention and control of echinococcosis for the first time, and the results can provide key decision-making recommendations to optimize the prevention and control measures of echinococcosis in Gansu province.

Creating synthetic lines is the standard mating mode for commercial pig production. Traditional mating performance was evaluated through a strictly designed cross-combination test at the 'breed level' to maximize the benefits of production. The Duroc-Landrace-Yorkshire (DLY) three-way crossbred production system became the most widely used breeding scheme for pigs. Here, we proposed an 'individual level' genomic mating procedure that can be applied to commercial pig production with efficient algorithms for estimating marker effects and for allocating the appropriate boar-sow pairs, which can be freely accessed to public in our developed HIBLUP software at https://www.hiblup.com/tutorials#genomic-mating. A total of 875 Duroc boars, 350 Landrace-Yorkshire sows and 3573 DLY pigs were used to carry out the genomic mating to assess the production benefits theoretically. The results showed that genomic mating significantly improved the performances of progeny across different traits compared with random mating, such as the feed conversion rate, days from 30 to 120 kg and eye muscle area could be improved by -0.12, -4.64 d and 2.65 cm2, respectively, which were consistent with the real experimental validations. Overall, our findings indicated that genomic mating is an effective strategy to improve the performances of progeny by maximizing their total genetic merit with consideration of both additive and dominant effects. Also, a herd of boars from a richer genetic source will increase the effectiveness of genomic mating further.