We present a new method and software tool called that applies a pangenome index to the problem of inferring genotypes from short-read sequencing data. The method uses a novel indexing structure called the marker array. Using the marker array, we can genotype variants with respect from large panels like the 1000 Genomes Project while reducing the reference bias that results when aligning to a single linear reference. can infer accurate genotypes in less time and memory compared to existing graph-based methods. The method is implemented in the open source software tool available at
Robotically assisted painting is widely used for spray and dip applications. However, use of robots for coating substrates using a roller applicator has not been systematically investigated. We showed for the first time, a generic robot arm-supported approach to painting engineering substrates using a roller with a constant force at an accurate joint step, while retaining compliance and thus safety. We optimized the robot design such that it is able to coat the substrate using a roller with a performance equivalent to that of a human applicator. To achieve this, we optimized the force, frequency of adjustment, and position control parameters of robotic design. A framework for autonomous coating is available at
- Award ID(s):
- 1925360
- NSF-PAR ID:
- 10403168
- Publisher / Repository:
- Springer Science + Business Media
- Date Published:
- Journal Name:
- Journal of Coatings Technology and Research
- Volume:
- 20
- Issue:
- 4
- ISSN:
- 1547-0091
- Page Range / eLocation ID:
- p. 1369-1381
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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