Ribosome profiling is emerging as a powerful technique that enables genome-wide investigation of in vivo translation at sub-codon resolution. The increasing application of ribosome profiling in recent years has achieved remarkable progress toward understanding the composition, regulation and mechanism of translation. This benefits from not only the awesome power of ribosome profiling but also an extensive range of computational resources available for ribosome profiling. At present, however, a comprehensive review on these resources is still lacking. Here, we survey the recent computational advances guided by ribosome profiling, with a focus on databases, Web servers and software tools for storing, visualizing and analyzing ribosome profiling data. This review is intended to provide experimental and computational biologists with a reference to make appropriate choices among existing resources for the question at hand.

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External disturbance forces caused by nonlinear springy electrical cables in the master tool manipulator (MTM) of the da Vinci Research Kit (dVRK) limits the usage of the existing gravity compensation methods. Significant motion drifts at the MTM tip are often observed when the MTM is located far from its identification trajectory, preventing the usage of these methods for the entire workspace reliably. In this letter, we propose a general and systematic framework to address the problems of the gravity compensation for the MTM of the dVRK. Particularly, high-order polynomial models were used to capture the highly nonlinear disturbance forces and integrated with the multi-step least square estimation framework. This method allows us to identify the parameters of both the gravitational and disturbance forces for each link sequentially, preventing residual error passing among the links of the MTM with uneven mass distribution. A corresponding gravity compensation controller was developed to compensate the gravitational and disturbance forces. The method was validated with extensive experiments in the majority of the manipulator's workspace, showing significant performance enhancements over existing methods. Finally, a deliverable software package in MAT-LAB and C++ was integrated with dVRK and published in the dVRK community for open-source research and development.Index Terms-Medical robots and systems, calibration and identification, surgical robotics: laparoscopy.

The da Vinci Research Kit (dVRK) is a teleoperated surgical robotic system. For dynamic simulations and modelbased control, the dynamic model of the dVRK is required. We present an open-source dynamic model identification package for the dVRK, capable of modeling the parallelograms, springs, counterweight, and tendon couplings, which are inherent to the dVRK. A convex optimization-based method is used to identify the dynamic parameters of the dVRK subject to physical consistency. Experimental results show the effectiveness of the modeling and the robustness of the package. Although this software package is originally developed for the dVRK, it is feasible to apply it on other similar robots.

With the increasing penetration of renewable energy in power grid, many inertia emulation control strategies have been proposed to provide extra support to the power grid in system disturbances. To explain the physical resemblance and relations among all kinds of inertia emulation strategies, a proper double-fed induction generator (DFIG) model is proposed based on equivalent electromotive force E eq r and equivalent power angle δ eq . A co-simulation research platform is also designed based on a real-time digital simulator (RTDS) and GH Bladed simulation software, and the detailed comparisons are made in terms of inertia response performance, weak grid operation stability, secondary frequency drop, and wind tower fatigue load. Research results point out that different control schemes are similar in inertia response while virtual synchronous generator (VSG) control and inertial synchronization control (ISynC) can improve weak grid operation stability, the VSG strategy is also effective in reducing frequency secondary drop and wind tower fatigue load, and the combination of the VSG for RSC and the ISynC for GSC can achieve the best control performance in all evaluation indexes. INDEX TERMS Comprehensive evaluation, doubly fed induction generator, equivalent modeling, inertia emulation control.